CN116353861A - Integrated inspection, beating and supplementing type split, recycling and supplementing cross-medium unmanned platform and system - Google Patents
Integrated inspection, beating and supplementing type split, recycling and supplementing cross-medium unmanned platform and system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
Abstract
The invention provides a cross-medium unmanned platform and a system which are integrated in a checking and repairing way and can be separated, recovered and replenished, wherein the cross-medium unmanned platform comprises: unmanned plane; an underwater vehicle; the main hull is provided with an unmanned aerial vehicle recovery positioning structure which is matched with the unmanned aerial vehicle and automatically realizes recovery fixing and separation, the lower part is provided with an aircraft recovery positioning structure which is matched with the underwater aircraft and automatically realizes recovery fixing and separation, and a main body area is used for storing a large amount of energy and equipment; wherein, the unmanned plane, the underwater vehicle and the main hull are all provided with power sources and the three parts can mutually supply energy; in the platform integrated state, the unmanned plane and the underwater vehicle are connected with the main hull through an unmanned plane installation positioning structure and an underwater vehicle installation positioning structure respectively to form a whole; under the split state of the platform, the unmanned plane and the underwater vehicle are respectively separated from the unmanned plane recovery positioning structure and the vehicle recovery positioning structure, and various tasks are respectively executed from the air, the underwater and the water surface in a super-long distance and super-long time.
Description
Technical Field
The invention belongs to the technical field of flying/navigation/submarines, and particularly relates to a cross-medium unmanned platform and system which are integrated in a detection and repair mode and can be separated, recovered and supplied.
Background
In the present era, the ocean rights and interests are increasingly vigorous, the exploration of the ocean is increasingly strengthened in countries around the world, single submarine equipment is obviously insufficient to meet the current demands, and in order to further expand the working space and service range of the existing single medium mobile platform, researchers gradually shift the working targets to the multi-motor mobile platform as shown in fig. 1, and research progress is made in the aspects of amphibious planes and submersible vehicles.
However, the existing amphibious unmanned aerial vehicle and the existing submarine have the following problems:
1. the existing unmanned equipment is biased to scout, but weak in attack capability and lacks the capability of balanced scout and hit.
2. The hidden throwing can not be realized, the throwing, the guarantee and the recovery can not be realized by means of a mother ship or a ship body, and the independent task execution can not be realized.
3. The long-endurance capacity is not provided, and the long-endurance capacity mainly comprises the duration and the endurance mileage, and cannot meet the requirement of long-term task execution in a deep sea area.
4. The following table shows that various unmanned devices have their own advantages and disadvantages. The existing unmanned equipment design cannot consider the sensitivity of an aerial unmanned plane, the long endurance of a water surface unmanned platform and the concealment of an underwater unmanned submarine, and cannot realize the capabilities of three in one of air, water surface and underwater, such as information monitoring, environment reconnaissance, area interception, burst attack prevention, ocean investigation, deep sea exploration, communication navigation, open sea supply and the like.
Disclosure of Invention
The invention aims to solve the problems, and aims to provide a cross-medium unmanned platform and system which are integrated in a reconnaissance and repair way and can be separated, recovered and supplied, realize long-term monitoring and duty-on in a deep-open sea area, realize large-scale multidimensional sensing, namely the functions of reconnaissance and balanced reconnaissance and quick supply, have the functions of sensitivity, long endurance and concealment, and realize the functions of reconnaissance, navigation, communication, striking and supply in the air, on the water and under water.
In order to achieve the above object, the present invention adopts the following scheme:
< platform >
The invention provides a cross-medium unmanned platform which is integrated with scouting, beating and supplementing and can be separated, recovered and supplemented, and is characterized by comprising the following components:
the unmanned aerial vehicle is used for performing air reconnaissance, data analysis, target locking and task command;
an underwater vehicle for underwater environment and target detection, tracking and hit;
the main hull can be remotely communicated with the unmanned aerial vehicle and the underwater vehicle, the unmanned aerial vehicle recovery and recovery positioning structure which is matched with the unmanned aerial vehicle and automatically realizes recovery, fixation and separation of the unmanned aerial vehicle is arranged at the upper part, the vehicle recovery positioning structure which is matched with the underwater vehicle and automatically realizes recovery, fixation and separation of the underwater vehicle is arranged at the lower part, and the main body area is used for storing a large amount of energy and equipment;
The unmanned aerial vehicle and the underwater vehicle are in remote communication through the main hull; the unmanned plane, the underwater vehicle and the main hull are taken as the separable body and the combined body of the cross-medium unmanned platform, are provided with power sources, and can be mutually supplied for energy supply;
in the platform integrated state, the unmanned plane and the underwater vehicle are respectively connected with the main hull through the unmanned plane recovery positioning structure and the vehicle recovery positioning structure to form a whole, so that the unmanned plane and the underwater vehicle move towards a target or submerge into an underwater preset position together for concealment;
under the split state of the platform, the unmanned plane and the underwater vehicle are respectively separated from the unmanned plane recovery positioning structure and the unmanned plane recovery positioning structure, the unmanned plane, the underwater vehicle and the main hull respectively execute various tasks from the air, the underwater and the water surface in a super-long distance and super-long time, and meanwhile, the unmanned plane, the underwater vehicle and the main hull communicate with each other to transmit information and are supplied in a remote mode or a partial split mode when the unmanned plane, the underwater vehicle and the main hull are required to be supplied.
< system 1 >
The invention provides a cross-medium unmanned platform system which is integrated in a checking, beating and supplementing way and can be separated, recovered and supplemented, and is characterized by comprising the following components:
a plurality of cross-media unmanned platforms, each of the cross-media unmanned platforms being a separable, recyclable, rechargeable cross-media unmanned platform as described in < platform > above;
All unmanned aerial vehicles crossing medium unmanned platforms, underwater vehicles and main hulls can be mutually combined and matched to realize functions; when any unmanned plane and any underwater vehicle are matched with any main hull for recovery, fixation or matched communication, the unmanned plane, the underwater vehicle and the main hull can form a cross-medium unmanned platform; when any unmanned plane or underwater vehicle is matched with any main hull for recycling, fixing or matched communication, recycling, supplying and information interaction can be realized.
< System two >
The invention provides a cross-medium unmanned platform system which is integrated in a checking, beating and supplementing way and can be separated, recovered and supplemented, and is characterized by comprising the following components:
the unmanned aerial vehicles are used for performing aerial reconnaissance, data analysis, target locking and task command;
a plurality of underwater vehicles for underwater environment and target detection, tracking and hit;
the unmanned aerial vehicle recovery positioning structure is matched with the unmanned aerial vehicle and automatically realizes recovery fixing and separation, the unmanned aerial vehicle recovery positioning structure is matched with the underwater vehicle and automatically realizes recovery fixing and separation, and the main body area is used for storing a large amount of energy and equipment;
Wherein, the number of at least two of the unmanned plane, the underwater vehicle and the main hull is different; for example, the number of unmanned aerial vehicles is A, the number of underwater vehicles is B, A > B, and the number of main hulls is A, i.e. the number of platforms is still three, but the number of platforms is only two (no underwater vehicle);
when any unmanned plane and any underwater vehicle are matched, recovered and fixed or communicated with any main hull, the unmanned plane, the underwater vehicle and the main hull form a cross-medium unmanned platform together; when any unmanned plane or underwater vehicle is matched with any main hull for recovery, fixation or matched communication, recovery, replenishment and information interaction can be realized;
in a cross-medium unmanned platform, the unmanned aerial vehicle and the underwater vehicle are remotely communicated through a main hull; the unmanned plane, the underwater vehicle and the main hull are taken as the separable body and the combined body of the cross-medium unmanned platform, are provided with power sources, and can be mutually supplied for energy supply;
in the platform integrated state, the unmanned plane and the underwater vehicle are respectively connected with the main hull through the unmanned plane recovery positioning structure and the vehicle recovery positioning structure to form a whole, so that the unmanned plane and the underwater vehicle move towards a target or submerge into an underwater preset position together for concealment;
Under the split state of the platform, the unmanned plane and the underwater vehicle are respectively separated from the unmanned plane recovery positioning structure and the unmanned plane recovery positioning structure, the unmanned plane, the underwater vehicle and the main hull respectively execute various tasks from the air, the underwater and the water surface in a super-long distance and super-long time, and meanwhile, the unmanned plane, the underwater vehicle and the main hull communicate with each other to transmit information and are supplied in a remote mode or a partial split mode when the unmanned plane, the underwater vehicle and the main hull are required to be supplied.
Preferably, the inspection, beating and supplementing integrated and separable, recovered and supplemented cross-medium unmanned platform or cross-medium unmanned platform system provided by the invention can also have the following characteristics:
when the unmanned aerial vehicle sails on the water surface, lift force is provided by the fixed wings of the unmanned aerial vehicle, so that the draft of the platform is reduced, the resistance of the platform is reduced, and meanwhile, the rotor wings or the ducted propeller of the unmanned aerial vehicle provide forward propulsion force for the platform, so that the unmanned aerial vehicle can take off from the main hull rapidly under the complex sea condition;
the cross-medium unmanned platform can be partially combined or partially separated: only the drone or only the underwater vehicle is connected to the main hull, or only the drone or only the underwater vehicle is disconnected from the main hull.
Preferably, the inspection, beating and supplementing integrated and separable, recovered and supplemented cross-medium unmanned platform or cross-medium unmanned platform system provided by the invention can also have the following characteristics:
In a cross-medium unmanned platform, the unmanned aerial vehicle serves as a control center to coordinate the operation of each part, the underwater vehicle serves as a main power to provide the maximum driving force for the platform when high-speed movement is required, and the main hull serves as a warehouse for storage and replenishment.
Preferably, the inspection, beating and supplementing integrated and separable, recovered and supplemented cross-medium unmanned platform or cross-medium unmanned platform system provided by the invention can also have the following characteristics:
unmanned aerial vehicle retrieves location structure includes: a semicircular column-shaped groove formed at the upper part of the main hull and extending along the axial direction, and a mortise and tenon mechanism which is positioned in the groove and can be stretched, fixed and retracted for separation; the lower part of the unmanned aerial vehicle body is embedded into the groove and is buckled and connected with the main hull through the mortise and tenon mechanism; the back end of the unmanned aerial vehicle is provided with a thrust block so as to limit the degree of freedom of the unmanned aerial vehicle;
or, unmanned aerial vehicle lower part or both sides are equipped with a plurality of telescopic stock mechanisms, and unmanned aerial vehicle retrieves location structure includes: a plurality of anchor holes matched with the anchor rod mechanism; after the unmanned aerial vehicle and the main hull are in a relatively static state, the lower part or two sides of the machine body extend out of the anchor rod mechanism, and the unmanned aerial vehicle is connected with the main hull through the anchor rod mechanism;
or be equipped with a plurality of shackles on the unmanned aerial vehicle, unmanned aerial vehicle retrieves location structure and includes: a plurality of anchor openings mated to the plurality of shackles; after the unmanned aerial vehicle and the main hull are in a relatively static state, the hook of the main hull stretches out and hooks the hook ring, so that the unmanned aerial vehicle is connected with the main hull;
Or, the unmanned aerial vehicle retrieves location structure for setting up the extensible structure on the main hull, after unmanned aerial vehicle is in relative stationary state with the main hull: the extensible structure extends upwards and clamps the unmanned aerial vehicle in a surrounding mode, or extends out of one side of the main hull to the other side of the main hull to clamp the unmanned aerial vehicle body;
alternatively, the unmanned aerial vehicle recycling location structure may be any combination of the above structures/mechanisms.
Preferably, the inspection, beating and supplementing integrated and separable, recovered and supplemented cross-medium unmanned platform or cross-medium unmanned platform system provided by the invention can also have the following characteristics:
the aircraft recovery positioning structure includes: the annular taping mechanism is formed at the lower part of the main hull and is embedded with the underwater vehicle, and the limiting mechanism can be fixed and separated with the underwater vehicle;
alternatively, the aircraft recovery positioning structure includes: the underwater vehicle is embedded into the groove at the lower half part of the main hull and is fixed through the positioning mechanism;
or, the upper part of the aircraft is provided with a hanging ring, the recovery positioning structure of the aircraft comprises a slotted hole with a hook, which is matched with the hanging ring, and the hanging ring can be embedded into the slotted hole;
Or the recovery positioning structure of the underwater vehicle is an extensible annular structure, when the underwater vehicle is mounted on the main hull, the lower annular structure extends out from one side of the main hull, bypasses the underwater vehicle to the other side of the main hull and is locked, and the annular structure is embedded into the surface of the underwater vehicle to realize fixation and transfer thrust;
alternatively, the aircraft recovery positioning structure may be any combination of the above structures/mechanisms.
Preferably, the inspection, beating and supplementing integrated and separable, recovered and supplemented cross-medium unmanned platform or cross-medium unmanned platform system provided by the invention can also have the following characteristics: the unmanned aerial vehicle comprises a fuel engine, a lithium battery, a fixed wing and four rotary wings with adjustable angles as power sources; the power source of the main hull is a small diesel engine unit, a lithium battery and two nacelle propellers; the power source of the underwater vehicle is a large diesel engine unit, a lithium battery and a propeller;
the diesel engine unit charges each lithium battery, and the lithium batteries supply energy for the propeller;
under the quiet working condition, the cross-medium unmanned platform submerges below the water surface and is propelled by a lithium battery; under the economic working condition, the cross-medium unmanned platform directly supplies energy to propel by means of a diesel generator set; under the high-speed working condition, the medium-crossing unmanned platform is powered by the diesel generator set, the lithium battery and the unmanned aerial vehicle on the water surface at the same time, the rotor wing of the unmanned aerial vehicle provides forward driving force, and all the propellers work at the same time.
Preferably, the inspection, beating and supplementing integrated and separable, recovered and supplemented cross-medium unmanned platform or cross-medium unmanned platform system provided by the invention can also have the following characteristics: the unmanned aerial vehicle is also provided with a solar energy collecting device as an auxiliary power source, the main hull is also provided with a renewable energy collecting device, and the renewable energy collecting device is used as an auxiliary power source by at least one energy collecting and utilizing device of solar energy, wind energy and wave energy.
Preferably, the cross-medium unmanned platform system which is integrated with the inspection, beating and supplementing and can be separated, recovered and supplemented, provided by the invention, can also have the following characteristics: the cross-medium unmanned platforms fight in a cluster mode, after being separated, one or more unmanned aerial vehicles are adopted to control all the platforms, and different unmanned aerial vehicles and underwater vehicles can carry different equipment to execute different tasks such as reconnaissance, anti-diving and hitting; the main hull bears functions of an equipment library, an energy library and a communication relay station and has secondary striking capability; the underwater vehicle mainly depends on the concealment of the underwater vehicle to bear the battle tasks of battling and underwater reconnaissance; according to the control instruction requirement, unmanned aerial vehicle and/or underwater vehicle of arbitrary platform can be with the main hull matching of other platforms to carry out communication, retrieve, collaborative work and supply.
Effects and effects of the invention
Platform advantage:
1) The main hull is used as a recycling and replenishing center, and the unmanned aerial vehicle and the underwater vehicle can recycle for a plurality of times through the main hull and directly acquire energy replenishment from the main hull, so that the range of executing tasks of the platform is enlarged;
2) The design of three-in-one of air, water surface and water improves the comprehensiveness and reliability of information capture, improves the sensitivity of task reaction, realizes the instant sensing, instant analysis, instant reaction and instant replenishment of multi-dimensional information, and does not need to interact with the back;
3) The whole platform can be submerged collectively, so that hidden throwing is realized;
4) The standardized and decentralised design is that when a plurality of platforms are on duty in a target sea area, the underwater vehicle and the unmanned aerial vehicle can achieve any main ship body recovery guarantee, and low cost is achieved.
Power advantage:
1) The unmanned plane, the underwater vehicle and the main hull are taken as the separable body and the combined body of the cross-medium unmanned platform, and are provided with power sources, and the three parts can be mutually supplied for energy supply, so that the power utilization efficiency is improved, the cost and the space are saved, and the duty ratio of the combat load on the whole platform is improved;
2) The main ship body is used as an energy source library for storing a large amount of fuel oil and batteries, and any main ship body can supply energy for unmanned aerial vehicles and underwater vehicles, so that long-term residence and task execution in open sea are facilitated;
3) The renewable energy device is arranged, and renewable energy sources such as solar energy, wind energy, wave energy and the like are utilized for energy supply, so that the duty capacity of open sea operation is further enhanced;
4) When the unmanned aerial vehicle sails on the water surface, the fixed wings of the unmanned aerial vehicle can provide lifting force, the draft of the platform is reduced, the resistance of the platform is reduced, meanwhile, the rotor wings or the ducted propeller of the unmanned aerial vehicle can provide forward propelling force for the platform, and the unmanned aerial vehicle can rapidly take off from a small-sized platform under the complex sea condition;
on duty replenishment advantage:
1) When the three parts of the whole platform need to move synchronously at ordinary times, the whole platform can be formed, and when tasks need to be executed separately, the three parts of the whole platform can be separated to execute various tasks from underwater, water surface and air cross-medium domain super-long-range super-long time, and meanwhile, communication and information interaction are kept;
2) The unmanned plane and the underwater vehicle can be recycled for a plurality of times through the main hull, and energy source supplement is directly obtained from the main hull;
3) In the system, if any part of any one of the plurality of cross-medium unmanned platforms is damaged (for example, the main hull) due to emergency, the rest parts (for example, unmanned aerial vehicles and underwater vehicles) which are not damaged can be matched and communicated with the corresponding parts (for example, the main hull) of other cross-medium unmanned platforms and are fixedly connected in a recycling mode, so that information interaction and replenishment are realized, and the performance of duty operation is guaranteed to the greatest extent.
In summary, the cross-medium unmanned platform and system which are integrated in a reconnaissance and repair manner and can be separated, recycled and replenished can furthest realize long-term duty, large-scale multidimensional sensing, monitoring, quick response, striking and replenishment in a far-sea area, and realize the functions of reconnaissance, navigation, communication, striking and replenishment (integrated in reconnaissance and repair) of three-in-one air, water surface and underwater.
Drawings
FIG. 1 is a schematic diagram of main characteristics of various unmanned equipment in the prior art;
FIG. 2 is a schematic structural diagram of a cross-media unmanned platform according to a first embodiment of the present invention;
FIG. 3 is a schematic structural diagram II of a cross-medium unmanned platform according to a first embodiment of the present invention;
FIG. 4 is an exploded view of a cross-media unmanned platform in accordance with an embodiment of the present invention;
FIG. 5 is an exploded view of a cross-media unmanned platform according to a first embodiment of the present invention;
FIG. 6 is a perspective view of a cross-media unmanned platform in accordance with a first embodiment of the present invention;
FIG. 7 is a schematic view of a process of remotely replenishing an unmanned aerial vehicle and an underwater vehicle according to a first embodiment of the present invention;
fig. 8 is a schematic diagram of a recovery process of a unmanned aerial vehicle according to a first embodiment of the present invention;
FIG. 9 is a schematic view of a recovery process of an underwater vehicle according to a first embodiment of the present invention;
FIG. 10 is a schematic view of a process for simultaneous recovery of an unmanned aerial vehicle and an underwater vehicle according to an embodiment of the present invention;
fig. 11 is a schematic front view of a unmanned aerial vehicle according to a modification of the present invention;
fig. 12 is a schematic view of a back structure of a unmanned aerial vehicle according to a modification of the present invention;
FIG. 13 is a schematic view of a part of the structure of a cross-medium unmanned platform according to a second modification of the present invention;
fig. 14 is a schematic structural view of a main hull and a unmanned aerial vehicle according to a second modification of the present invention;
fig. 15 is a partial schematic view of a main hull according to a second modification of the present invention;
fig. 16 is a schematic structural diagram of a cross-medium unmanned platform system according to a second embodiment of the present invention;
fig. 17 is a schematic diagram of a cross-medium unmanned platform system transmitting a hit target according to a second embodiment of the present invention.
Detailed Description
The cross-medium unmanned platform and system which are integrated in inspection, beating and repair and can be separated, recovered and replenished according to the invention are described in detail below with reference to the accompanying drawings.
Example 1
As shown in fig. 2 to 5, the cross-medium unmanned platform 10 which is provided by the embodiment and is integrated with the functions of inspection, repair and separation, recovery and replenishment comprises an unmanned plane 11, an underwater vehicle 12 and a main hull 13.
The unmanned aerial vehicle 11 is used as a brain (control center) of the whole platform 10 to coordinate the operation of each part, and is mainly used for information reconnaissance, remote communication, data analysis, target locking and task command, and radar, communication devices and sonar buoys are arranged on the unmanned aerial vehicle 11. The unmanned aerial vehicle 11 adopts a tilting rotor wing type or a tilting duct type, realizes vertical take-off by means of an angle-adjustable tilting rotor wing structure, and the wings can be contracted and folded as required.
Underwater vehicle 12 (UUV) is primarily used for underwater environment and target detection, tracking and hit, and is equipped with sonar and a large number of sensors. The underwater vehicle 12 as the main power provides the maximum propulsion force for the platform 10 when high speed movement is required.
The main hull 13 is capable of remote communication with both the unmanned aerial vehicle 11 and the underwater vehicle 12, has an unmanned aerial vehicle recovery positioning structure 13a that is matched with the unmanned aerial vehicle 11 in the upper portion and automatically realizes recovery fixation and separation, and has an aircraft recovery positioning structure 13b that is matched with the underwater vehicle 12 in the lower portion and automatically realizes recovery fixation and separation, and the main body area is used for storing a large amount of energy (fuel, battery, etc.) and equipment (power propulsion device, ammunition, weapon, tool, etc.). The main hull 13 serves as a "warehouse" for the entire platform and is also a signal relay between the unmanned aerial vehicle 11 and the underwater vehicle 12. The overall ship shape employs an improved catamaran configuration to improve platform stability.
Combining and separating:
in this embodiment, as shown in fig. 2 to 6, the unmanned aerial vehicle recovery positioning structure 13a includes: a semicircular column-shaped groove 13a-1 formed at the upper portion of the main hull 13 to extend in the axial direction, a mortise and tenon mechanism provided in the groove 13a-1 to be extendable, fixed and retractable separately, and upper limit mechanisms 13a-2 provided on the main hull 13 to the left and right sides of the groove 13 a-1. Five groups of upper limiting mechanisms 13a-2 are arranged in total, and after the unmanned aerial vehicle 11 enters the semicircular column-shaped groove 13a-1, each group of upper limiting mechanisms 13a-2 can approach from the left side and the right side until encircling the unmanned aerial vehicle 11. When the unmanned aerial vehicle 11 needs to be separated, the unmanned aerial vehicle 11 is released through the mortise and tenon mechanisms and the upper limiting mechanisms 13a-2.
In this embodiment, as shown in fig. 2 to 6, the aircraft recovery positioning structure 13b includes: an annular strapping mechanism 13b-1 formed at the lower portion of the main hull 13 to be engaged with the underwater vehicle 12, and a lower limit mechanism 13b-2 to be fixed to and separated from the underwater vehicle 12. As shown in fig. 4 and 6, the lower limit mechanisms 13b-2 are provided with six sets in total, and each set of lower limit mechanisms 13b-2 can approach from the left and right sides until the underwater vehicle 12 is clamped (locked) after the underwater vehicle 12 is engaged with the annular strapping mechanism 13 b-1. When the split is required, the underwater vehicle 12 is released through the annular taping mechanism 13b-1 and the lower limit mechanism 13b-2.
In the state of the medium-crossing unmanned platform 10 being integrated, the unmanned aerial vehicle 11 and the underwater vehicle 12 are connected with the main hull 13 through the unmanned aerial vehicle recovery positioning structure 13a and the vehicle recovery positioning structure 13b respectively to be integrated, so as to move together towards a target or submerge together in an underwater predetermined position for concealment.
In the state of the split of the cross-medium unmanned platform 10, the unmanned aerial vehicle 11 and the underwater vehicle 12 are respectively separated from the unmanned aerial vehicle recovery positioning structure 13a and the unmanned aerial vehicle recovery positioning structure 13b, the unmanned aerial vehicle 11, the underwater vehicle 12 and the main hull 13 respectively execute various tasks from the air, the underwater and the water surface in a super-long distance and super-long time, and meanwhile, communicate with each other to transmit information, and when the replenishment is needed, the replenishment is carried out in a remote mode or a partial integrated mode. And the cross-media unmanned platform 10 can be partially integrated or partially split: only the drone 11 or only the underwater vehicle 12 is connected to the main hull 13, or only the drone 11 or only the underwater vehicle 12 is separated from the main hull 13.
Power energy source:
the unmanned plane 11, the underwater vehicle 12 and the main hull 13 are taken as the separable and combined parts of the cross-medium unmanned platform 10, are provided with power sources, can supply energy mutually, and the whole platform 10 adopts a comprehensive electric power system. In addition, the unmanned aerial vehicle 11 may further be provided with a solar energy collecting device as an auxiliary power source, and the main hull 13 may further be provided with a renewable energy collecting device, where the renewable energy collecting device is a device for collecting and utilizing at least one energy source such as solar energy, wind energy, and wave energy, as an auxiliary power source.
When the unmanned aerial vehicle is on the water surface and sails, lift force is provided through the fixed wings of the unmanned aerial vehicle 11, the draft of the platform 10 is reduced, the resistance of the platform 10 is reduced, and meanwhile, the rotor wings or the ducted propeller of the unmanned aerial vehicle 11 provide forward propulsion for the platform 10, so that the unmanned aerial vehicle 11 can rapidly take off from the main hull 13 under the complex sea condition.
Specifically, in this embodiment, the unmanned aerial vehicle 11 carries a gas turbine, a lithium battery, a fixed wing and four tilt rotors with adjustable angles as power sources, so as to realize lifting and cruising propulsion. The underwater vehicle 12 uses a large diesel engine block, a lithium battery and a propeller as power sources, and is provided with an oxidant for the diesel engine block, and a power propulsion system of the underwater vehicle 12 serves as a main propulsion system of the whole unmanned platform. The main hull 13 is internally provided with a small diesel engine unit, a lithium battery and two pod propellers as power sources to realize propulsion and submergence. The main hull 13 may share an intake air duct with the underwater vehicle 12, and the diesel engine blocks of the various parts of the platform 10 may charge the various lithium batteries, which may also power the various propellers.
Under the quiet working condition, the medium-crossing unmanned platform 10 submerges below the water surface and is propelled by a lithium battery; under the economic working condition, the medium-crossing unmanned platform 10 directly supplies energy to propel by means of a diesel generator set; under the high-speed working condition, the medium-crossing unmanned platform 10 can supply energy on the water surface by means of the diesel generator set, the lithium battery and the fuel engine of the unmanned aerial vehicle 11, the rotor wing of the unmanned aerial vehicle 11 provides forward pushing force, and all propellers work simultaneously.
Recovery, replenishment and combat formats:
as shown in fig. 7 to 10, during the duty guarantee of the unmanned aerial vehicle 11, the unmanned aerial vehicle 11 may hover on the sea surface and be connected with the main hull 13 by a hose through an "air refueling" technique. The main hull 13 is supplied with oil and charged with the underwater vehicle 12 by means of electromagnetic induction and bluetooth wireless charging technology. In the recovery process, the unmanned aerial vehicle 11 falls on the water surface near the main hull 13, the main hull 13 floats out of the water surface from a submerged state, the front end lifting hook of the unmanned aerial vehicle 11 is locked on the guide rope of the stern of the main hull 13 through the small boat retraction technology, and the unmanned aerial vehicle 11 is pulled into the track through the pulley device. The main hull 13 is put down with a guiding rope, the underwater vehicle 12 navigates towards the guiding rope, and the axes of the underwater vehicle 12 and the main hull 13 are ensured to be relatively parallel by means of electromagnetic induction and the self-adjusting capability of the underwater vehicle 12; the underwater vehicle 12 is then pulled into the lower half of the main hull 13.
The unmanned aerial vehicle 11 and the underwater vehicle 12 can be recycled for a plurality of times through the main hull 13, and energy and equipment replenishment can be directly obtained from the main hull 13.
And (3) duty guarantee:
when the three parts of the cross-medium unmanned platform 10 need to be integrally operated, the three parts can be matched and connected into a whole, and when the three parts need to be separated, the three parts can be mutually separated, so that various tasks can be executed from underwater, water surface and air cross-medium domain ultra-long distance.
< modification example one >
As shown in fig. 11 to 12, in the first modification, four telescopic anchor rod mechanisms 21a are provided on both sides of the unmanned aerial vehicle 21, and the unmanned aerial vehicle recovery positioning structure includes a plurality of anchor holes matched with the anchor rod mechanisms 21 a; after the unmanned aerial vehicle 21 and the main hull are in a relatively static state, the lower part or two sides of the machine body extend out of the anchor rod mechanism 21a, and the unmanned aerial vehicle 21 is connected with the main hull through the anchor rod mechanism 21 a.
< modification II >
As shown in fig. 13 to 15, in the second modification, stoppers 33a and 33b are provided at the front end and the end of the upper deck of the main hull 33 of the medium-span unmanned platform 30, respectively, and correspond to the lower portion of the unmanned aerial vehicle 11 for limiting. The groove 33c of the main hull 33 is provided with a mortise and tenon mechanism 33c-1 capable of being extended, fixed, retracted, and separated, and can be engaged and fixed with the bottom of the unmanned aerial vehicle 11.
In addition, the combination mode of the unmanned aerial vehicle and the main hull can be selected according to the configuration and scene requirements, and besides the matching connection fixing modes described in the above embodiments and the modification examples, the fixing modes can also be adopted: the unmanned aerial vehicle is not provided with a landing gear, the lower surface of the unmanned aerial vehicle is coated with a light elastic anti-skid material, and the lower surface of the unmanned aerial vehicle body is in direct contact with the main hull in a parked state; the unmanned aerial vehicle is provided with a plurality of hooks, the corresponding position of the main hull is provided with automatic telescopic hooks, and after the unmanned aerial vehicle is stopped, the hooks of the main hull extend out and hook the hooks of the unmanned aerial vehicle, so that the unmanned aerial vehicle is fixed; the main hull is provided with a plurality of extensible structures, and after the unmanned aerial vehicle is stopped, the extensible structures of the main hull extend upwards to clamp the unmanned aerial vehicle in a surrounding mode; the extension structure can also extend from one side of the main hull to the other side to hold the unmanned aerial vehicle body. The combination mode of the unmanned plane and the main hull can be selected according to the configuration and scene requirements, and the fixing mode of the underwater vehicle and the main hull is the same.
< example two >
As shown in fig. 16 and 17, the second embodiment provides a multi-media unmanned platform system 100 with integrated inspection, repair and repair functions and capable of being separated, recovered and replenished, which comprises a plurality of multi-media unmanned platforms 10, wherein each multi-media unmanned platform 10 is a multi-media unmanned platform 10 with integrated inspection, repair and repair functions and capable of being separated, recovered and replenished as described in the first embodiment.
All unmanned aerial vehicles 11, underwater vehicles 12 and main hulls 13 of the cross-medium unmanned platform 10 can be mutually combined and matched to realize functions. When any one unmanned aerial vehicle 11 and any one underwater vehicle 12 are matched, recovered and fixed or matched with any one main hull 13 for communication, the three unmanned aerial vehicle, the underwater vehicle and the main hull can form a medium-crossing unmanned platform 10. When any one unmanned aerial vehicle 11 or underwater vehicle 12 is matched with any one main hull 13 for recycling, fixing or matched communication, recycling, supplying and information interaction can be realized.
The cross-medium unmanned platforms 10 fight in a cluster mode, after being separated, one or more unmanned planes 11 are adopted to control all the platforms 10, and different unmanned planes 11 and underwater vehicles 12 can carry different equipment to execute different tasks such as reconnaissance, anti-diving and striking; the main hull 13 bears functions of an equipment library, an energy library, a communication relay station and the like, and has secondary striking capability; the unmanned aerial vehicle 11 and/or the underwater vehicle 12 of any platform 10 can be matched with the main hull 13 of other platforms 10 for communication, recovery, co-operation and replenishment according to the control instruction requirements. For example, when the unmanned aerial vehicle 11 of the a-stage 10 needs emergency replenishment, but the unmanned aerial vehicle 11 detects that the main hull 13 of the a-stage 10 is far away and the main hull 13 of the B-stage 10 is far away, the replenishment state is entered in communication with the main hull 13 of the B-stage 10 to replenish the unmanned aerial vehicle 11 of the a-stage 10.
In addition, in the cross-medium unmanned platform system 100, if any part of any one platform in the plurality of cross-medium unmanned platforms 10 is damaged due to an emergency, the rest parts which are not damaged can be matched and communicated with the corresponding parts of other cross-medium unmanned platforms 10 and are recycled and fixedly connected, so that information interaction and replenishment are realized, normal operation of the system is not influenced, and the performance of duty operation is guaranteed to the maximum extent.
< application example >
The cross-medium unmanned platform device and the system which are based on the integrated inspection, beating and supplementing and can be separated, recovered and supplemented are used for executing the deep-open-sea tasks:
1. active reconnaissance:
the cross-medium unmanned platform is cruised at a low speed or in a silent state in a fixed sea area at ordinary times, performs patrol and communication tasks in the corresponding sea area, and performs energy supply by means of renewable energy sources such as solar energy, wave energy and the like. When the upper engine body receives the command of the control center, the upper engine body commands the platform to advance towards the target area at full speed, and at the moment, the main hull and the underwater vehicle propeller work simultaneously. And after reaching the target area, the maximum power of the platform is used for propelling so as to assist the unmanned aerial vehicle to take off. After the unmanned aerial vehicle takes off, the main hull releases the underwater vehicle and sinks into the water. The unmanned aerial vehicle performs reconnaissance in the air by using devices such as radar, sonar and the like, the underwater vehicle performs underwater reconnaissance, and the main hull serves as a signal relay station to perform information sharing. When the target to be hit is found, the unmanned aerial vehicle, the main hull and the underwater vehicle hit the target in a fire. After the task is completed, the underwater vehicle can directly recover the main ship body, the unmanned aerial vehicle directly falls on the water surface, the main ship body floats out of the water surface from the water, and the unmanned aerial vehicle is recovered and energy is supplied by adjusting the posture of the main ship body.
2. Sudden challenge fights:
the cross-medium unmanned platform system has the capability of cooperative combat and timely sharing of information of a multi-medium unmanned platform (called an unmanned platform for short), and meanwhile, the unmanned platform and other platforms can directly communicate information. Unmanned platform puts into the different positions in certain region, and unmanned platform in different positions can take different kinds of radar, sonar, sensor or other equipment to the reply different grade type task.
A) When the target unmanned cluster enters the reconnaissance range of the my platform, the unmanned platform with strong attack and high destructiveness can be used for striking
B) And after the target ship enters the reconnaissance range of the my, the unmanned cluster performs striking interference. Meanwhile, part of UUV with the function of strengthening and stealth directly submerges and is in a silent state, and the target units (such as submarines) which can be hit by the target fleet are hit after approaching.
C) When my first is attacked, the underwater vehicle approaching the unmanned platform of the attacked area immediately dives and the collection body scouts towards the supply source. The unmanned cluster is scattered away from the target, and is split in a proper area. After waiting for the determination of enemy targets and areas, countermeasures are taken according to the A-th and B-th categories.
3. Area monitoring and interception defenses:
The cross-medium unmanned platform system is arranged in an important water area or a key water channel of the ocean. Each platform can be immersed in the water at ordinary times in a silent or low-energy consumption reconnaissance state, and energy is supplied by utilizing renewable energy sources such as solar energy, wave energy, wind energy and the like at sea. The cluster performs cruising reconnaissance in a time-interval and region-division manner so as to ensure that no reconnaissance blind area exists, timely discovers targets or sudden dangerous cases, disasters and the like, and performs related early warning and interception.
4. Marine rescue:
a plurality of cross-medium unmanned platforms are arranged in the accident-prone waterway water area, and the platforms maintain a low-speed cruising or silent standby state by using renewable energy sources at ordinary times. When the emergency rescue task is received, the platform is propelled towards the target area with the maximum power, and meanwhile, the unmanned aerial vehicle takes off and reaches the target area for target searching and positioning navigation. The underwater vehicle is then separated and submerged, monitoring the underwater environment and situation of the target area, and assisting the unmanned aerial vehicle in searching and locating underwater targets. The main hull also advances towards the search and rescue area by means of its own low power propeller. After the rescue target is found and the position is determined, each part of the platform can implement related rescue work and share related information to other platforms. In the rescue process, when the unmanned aerial vehicle and the underwater vehicle are insufficient in energy, energy supplement can be obtained from the main hull in real time.
5. Monitoring fish conditions:
unmanned platforms are arranged in the fishing area, and are in a low-power-consumption running state at fixed positions at ordinary times to monitor underwater fish conditions and marine environments. Unmanned plane and underwater vehicle are sent out regularly every day to search and monitor the fish shoal in the surrounding sea area, and an optical system and a camera are arranged on the underwater vehicle besides an acoustic sensor. The method comprises the steps of measuring the size and the quantity of fishes through unmanned aerial vehicle sonar and underwater vehicle acoustic sensors, when large-scale fish shoals or large-scale fishes are found, analyzing the speeds, the movement characteristics and the population conditions of the fishes by utilizing the calculation and analysis capability of the unmanned aerial vehicle and combining acoustic technology and optical technology, and sending relevant information to a fishery authorities.
6. Salvaging:
after the cross-medium unmanned platform enters the salvage area, the unmanned aerial vehicle and the underwater vehicle are released, the submarine salvage target is searched and positioned, and the sea area environment is monitored and analyzed. The underwater vehicle then approaches the submerged object towards the sea and releases the special recovery device. When the target object is lighter, the platform can be directly utilized for lifting and recycling; when the object is heavy, the position information can be sent to assist other equipment capable of fishing the weight to lift the object to salvage out water.
The above embodiments are merely illustrative of the technical solutions of the present invention. The integrated, separable, recyclable, and rechargeable cross-media unmanned platform 10 and system according to the present invention is not limited to the description of the embodiments above, but is defined by the scope of the claims. Any modifications, additions or equivalent substitutions made by those skilled in the art based on this embodiment are within the scope of the invention as claimed in the claims.
Claims (10)
1. The utility model provides a reconnaissance is beaten and is mended integrative and can be separated, retrieve, the unmanned platform of medium of supply, its characterized in that includes:
the unmanned aerial vehicle is used for performing air reconnaissance, data analysis, target locking and task command;
an underwater vehicle for underwater environment and target detection, tracking and hit;
the main hull can be in remote communication with both the unmanned aerial vehicle and the underwater vehicle, the upper part is provided with an unmanned aerial vehicle recovery positioning structure which is matched with the unmanned aerial vehicle and automatically realizes recovery fixing and separation of the unmanned aerial vehicle, the lower part is provided with an vehicle recovery positioning structure which is matched with the underwater vehicle and automatically realizes recovery fixing and separation of the underwater vehicle, and the main body area is used for storing a large amount of energy sources and equipment;
Wherein the unmanned aerial vehicle and the underwater vehicle communicate remotely through the main hull; the unmanned aerial vehicle, the underwater vehicle and the main hull are taken as three parts of a separable body and a combined body of a cross-medium unmanned platform, which are provided with power sources, and the three parts can be mutually supplied for energy supply;
in a platform integrated state, the unmanned aerial vehicle and the underwater vehicle are respectively connected with the main hull through the unmanned aerial vehicle recovery positioning structure and the underwater vehicle recovery positioning structure to form a whole, so that the unmanned aerial vehicle and the underwater vehicle move towards a target or submerge into an underwater preset position together for concealment;
under the split state of the platform, the unmanned aerial vehicle and the underwater vehicle are respectively separated from the unmanned aerial vehicle recovery positioning structure and the vehicle recovery positioning structure, the unmanned aerial vehicle, the underwater vehicle and the main hull respectively execute various tasks from the air, the underwater and the water surface in a super-long distance and super-long time, and meanwhile, communicate and transmit information to each other, and the unmanned aerial vehicle is supplied in a long-distance mode or a partial split mode when the unmanned aerial vehicle is required to be supplied.
2. The utility model provides a reconnaissance is beaten and is mended integrative and can be separated, retrieve, the unmanned platform system of medium of supply, its characterized in that includes:
A plurality of cross-medium unmanned platforms, wherein each cross-medium unmanned platform is a cross-medium unmanned platform which is integrated with the inspection, the beating and the supplementation as well as can be separated, recycled and supplemented according to the claim 1;
all unmanned aerial vehicles, underwater vehicles and main hulls of the cross-medium unmanned platform can be mutually combined and matched to realize functions; when any one unmanned aerial vehicle and any one underwater vehicle are matched, recovered and fixed or communicated with any one main hull, the unmanned aerial vehicle, the underwater vehicle and any one main hull can form the cross-medium unmanned platform; and when any one unmanned aerial vehicle or underwater vehicle is matched with any one main hull for recycling, fixing or communicating in a matched mode, recycling, supplying and information interaction can be achieved.
3. The utility model provides a reconnaissance is beaten and is mended integrative and can be separated, retrieve, the unmanned platform system of medium of supply, its characterized in that includes:
the unmanned aerial vehicles are used for performing aerial reconnaissance, data analysis, target locking and task command;
a plurality of underwater vehicles for underwater environment and target detection, tracking and hit;
the unmanned aerial vehicle recovery positioning structure is matched with the unmanned aerial vehicle and automatically realizes recovery fixing and separation, the unmanned aerial vehicle recovery positioning structure is matched with the underwater vehicle and automatically realizes recovery fixing and separation, and the main body area is used for storing a large amount of energy and equipment;
Wherein, the number of at least two of the unmanned aerial vehicle, the underwater vehicle and the main hull is different;
when any one unmanned aerial vehicle and any one underwater vehicle are matched, recovered and fixed or communicated with any one main hull in a matched manner, the unmanned aerial vehicle, the underwater vehicle and any one main hull form a medium-crossing unmanned platform together; when any one unmanned aerial vehicle or underwater vehicle is matched with any one main hull for recycling, fixing or matched communication, recycling, supplying and information interaction can be realized;
in the cross-medium unmanned platform, the unmanned aerial vehicle and the underwater vehicle remotely communicate through the main hull; the unmanned aerial vehicle, the underwater vehicle and the main hull are taken as the separable and combined parts of the medium-crossing unmanned platform, are provided with power sources, and can mutually supply energy;
in a platform integrated state, the unmanned aerial vehicle and the underwater vehicle are respectively connected with the main hull through the unmanned aerial vehicle recovery positioning structure and the underwater vehicle recovery positioning structure to form a whole, so that the unmanned aerial vehicle and the underwater vehicle move towards a target or submerge into an underwater preset position together for concealment;
Under the split state of the platform, the unmanned aerial vehicle and the underwater vehicle are respectively separated from the unmanned aerial vehicle recovery positioning structure and the vehicle recovery positioning structure, the unmanned aerial vehicle, the underwater vehicle and the main hull respectively execute various tasks from the air, the underwater and the water surface in a super-long distance and super-long time, and meanwhile, communicate and transmit information to each other, and the unmanned aerial vehicle is supplied in a long-distance mode or a partial split mode when the unmanned aerial vehicle is required to be supplied.
4. The integrated, separable, recyclable, and refillable, medium-spanning unmanned platform according to claim 1, or the integrated, separable, recyclable, and refillable, medium-spanning unmanned platform system according to any one of claims 2 to 3, characterized in that:
when the unmanned aerial vehicle sails on the water surface, lift force is provided by the fixed wings of the unmanned aerial vehicle, the draft of the platform is reduced, and the resistance of the platform is reduced, and meanwhile, the rotor wings or the ducted propeller of the unmanned aerial vehicle provide forward propulsion force for the platform, so that the unmanned aerial vehicle can rapidly take off from the main hull under the complex sea condition;
the cross-medium unmanned platform can be partially combined or partially split: only the drone or only the underwater vehicle is connected to the main hull, or only the drone or only the underwater vehicle is separated from the main hull.
5. The integrated, separable, recyclable, and refillable, medium-spanning unmanned platform according to claim 1, or the integrated, separable, recyclable, and refillable, medium-spanning unmanned platform system according to any one of claims 2 to 3, characterized in that:
in the medium-crossing unmanned platform, the unmanned aerial vehicle serves as a control center to coordinate the operation of each part, the underwater vehicle serves as a main power to provide the maximum driving force for the platform when high-speed movement is required, and the main hull serves as a warehouse to store replenishment.
6. The integrated, separable, recyclable, and refillable, medium-spanning unmanned platform according to claim 1, or the integrated, separable, recyclable, and refillable, medium-spanning unmanned platform system according to any one of claims 2 to 3, characterized in that:
wherein, unmanned aerial vehicle retrieves location structure includes: a semicircular column-shaped groove formed at the upper part of the main hull and extending along the axial direction, and a mortise and tenon mechanism which is positioned in the groove and can be extended, fixed and retracted for separation; the lower part of the unmanned aerial vehicle body is embedded into the groove and is buckled and connected with the main hull through the mortise and tenon mechanism;
Or, unmanned aerial vehicle lower part or both sides are equipped with a plurality of telescopic stock mechanisms, unmanned aerial vehicle retrieves location structure includes: a plurality of anchor holes matched with the anchor rod mechanism; after the unmanned aerial vehicle and the main hull are in a relatively static state, the lower part or two sides of the machine body extend out of the anchor rod mechanism, and the unmanned aerial vehicle is connected with the main hull through the anchor rod mechanism;
or, be equipped with a plurality of shackles on the unmanned aerial vehicle, unmanned aerial vehicle retrieves location structure includes: a plurality of anchor openings mated to the plurality of shackles; after the unmanned aerial vehicle and the main hull are in a relatively static state, the hook of the main hull stretches out and hooks the hook ring, so that the unmanned aerial vehicle is connected with the main hull;
or, the unmanned aerial vehicle recovery positioning structure is an extensible structure arranged on the main hull, and when the unmanned aerial vehicle and the main hull are in a relatively static state: the extensible structure stretches upwards to clamp the unmanned aerial vehicle in a surrounding mode, or stretches out from one side of the main hull to the other side of the main hull to clamp the unmanned aerial vehicle body.
7. The integrated, separable, recyclable, and refillable, medium-spanning unmanned platform according to claim 1, or the integrated, separable, recyclable, and refillable, medium-spanning unmanned platform system according to any one of claims 2 to 3, characterized in that:
Wherein, the aircraft retrieves location structure includes: the annular taping mechanism is formed at the lower part of the main hull and is embedded with the underwater vehicle, and the limiting mechanism can be fixed and separated with the underwater vehicle;
alternatively, the aircraft recovery positioning structure includes: the underwater vehicle is embedded into the groove at the lower half part of the main hull and is fixed through the positioning mechanism;
or, a hanging ring is arranged at the upper part of the aircraft, the aircraft recovery positioning structure comprises a slotted hole with a hook, the slotted hole is matched with the hanging ring, and the hanging ring can be embedded into the slotted hole;
or, the recovery positioning structure of the underwater vehicle is an extensible annular structure, when the underwater vehicle is mounted on the main hull, the lower annular structure extends out from one side of the main hull, bypasses the underwater vehicle to the other side of the main hull and is locked, and the annular structure is embedded into the surface of the underwater vehicle to fix and transmit thrust.
8. The integrated, separable, recyclable, and refillable, medium-spanning unmanned platform according to claim 1, or the integrated, separable, recyclable, and refillable, medium-spanning unmanned platform system according to any one of claims 2 to 3, characterized in that:
The power source of the unmanned aerial vehicle comprises a combustion engine, a lithium battery, a fixed wing and four rotary wings with adjustable angles; the power source of the main ship body is a small diesel engine unit, a lithium battery and two pod propellers; the power source of the underwater vehicle is a large diesel engine unit, a lithium battery and a propeller;
the diesel engine unit charges each lithium battery, and the lithium batteries supply energy for the propeller;
under the quiet working condition, the cross-medium unmanned platform submerges below the water surface and is propelled by a lithium battery; under the economic working condition, the cross-medium unmanned platform directly supplies energy to propel by means of a diesel generator set; under the high-speed operating mode, cross medium unmanned platform relies on diesel generating set, lithium cell, unmanned aerial vehicle's combustion engine energy supply simultaneously on the surface of water, unmanned aerial vehicle's rotor provides forward propulsion, and all propellers work simultaneously.
9. The integrated, separable, recyclable, and refillable cross-medium unmanned platform or cross-medium unmanned platform system as recited in claim 8, wherein:
the unmanned aerial vehicle is characterized in that a solar energy collecting device is further arranged on the unmanned aerial vehicle and used as an auxiliary power source, a renewable energy collecting device is further arranged on the main hull, and the renewable energy collecting device is used as an auxiliary power source and is used for collecting and utilizing at least one energy source of solar energy, wind energy and wave energy.
10. A system of a cross-medium unmanned platform which is integrated with the functions of scouting, beating and supplementing and can be separated, recycled and supplemented according to any one of claims 2 to 3, which is characterized in that:
the cross-medium unmanned platform performs battle in a cluster mode, after the unmanned aerial vehicle is split, one or more unmanned aerial vehicles are adopted to control all the platforms, and different unmanned aerial vehicles and underwater vehicles can carry different equipment to execute different tasks of reconnaissance, counterdiving and hitting; the main hull bears functions of an equipment library, an energy library and a communication relay station and has secondary striking capability; the unmanned aerial vehicle and/or the underwater vehicle of any platform can be matched with the main hull of other platforms for communication, recovery, collaborative work and replenishment according to control instruction requirements.
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