CN112428760A - Cross-medium aircraft and navigation method for navigating in complicated water area environment with bottom-close height-fixing function - Google Patents
Cross-medium aircraft and navigation method for navigating in complicated water area environment with bottom-close height-fixing function Download PDFInfo
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- CN112428760A CN112428760A CN202011402591.7A CN202011402591A CN112428760A CN 112428760 A CN112428760 A CN 112428760A CN 202011402591 A CN202011402591 A CN 202011402591A CN 112428760 A CN112428760 A CN 112428760A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000000149 penetrating effect Effects 0.000 claims abstract description 4
- 230000007704 transition Effects 0.000 claims abstract description 4
- 230000008569 process Effects 0.000 claims description 21
- 238000005096 rolling process Methods 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 12
- 230000005484 gravity Effects 0.000 claims description 12
- 238000011084 recovery Methods 0.000 claims description 7
- 238000005452 bending Methods 0.000 claims description 5
- 239000000758 substrate Substances 0.000 claims description 5
- 230000009189 diving Effects 0.000 claims description 4
- 230000004044 response Effects 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 4
- 230000004927 fusion Effects 0.000 description 2
- 239000010802 sludge Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
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Abstract
The invention relates to a cross-medium aircraft and a navigation method for navigating in a complex water area environment at a fixed height close to the bottom, which comprises an aircraft body, wherein the aircraft body is provided with a wing assembly, a paddle assembly and a power device for outputting flight thrust; the wing assembly comprises a side wing, a flap and a vertical tail wing led out from the tail part of the fuselage; the paddle component comprises a duct paddle and a duct paddle, the duct paddle is located in a hole penetrating through the machine body, the duct paddle is arranged on the power device, and the thrust generated by the duct paddle is perpendicular to the thrust generated by the duct paddle. The fuselage includes the aircraft nose, starts the tail of widen gradually from the aircraft nose, the flank is located between aircraft nose and the tail, and links to each other with aircraft nose tail arc transition. The invention realizes the purposes of aerial flight of a navigation vehicle and close-bottom height-fixing navigation of complex water area environment, and has the advantages of high response speed, less auxiliary equipment and low operation cost.
Description
Technical Field
The invention relates to the technical field of intersection of aviation and ships, in particular to a cross-medium aircraft and a navigation method for navigating in a complex water area environment at a fixed height close to the bottom.
Background
The aerial aircraft can take off from the ground or a deck, and has the advantages of low energy consumption, quick arrival, maneuvering deployment and the like; the underwater bottom-attaching height-fixing vehicle can sail close to the seabed at a certain height, and has the advantages of underwater concealed sailing, underwater fine search, underwater comprehensive operation and the like. The amphibious aircraft has the advantages of being capable of achieving bottom-attaching height-fixing navigation in the complex water area environment, capable of achieving rapid cruise capacity of the aircraft and underwater comprehensive operation capacity of the underwater bottom-attaching height-fixing aircraft, capable of completing 'locking, exploration, rescue and operation' full-flow tasks at one time, high in response speed, few in auxiliary equipment, low in operation cost and the like, and capable of being applied to various scenes of soldiers, such as remote outburst prevention and attack, underwater rapid search and rescue, underwater emergency operation and the like.
However, the aircraft needs to fly quickly in the air and operate in an underwater complex water area environment, due to the fact that physical parameters of air and water are greatly different, the existing method for achieving underwater bottom-attaching height-fixing navigation by using the acoustic height measuring device is difficult to be suitable for the water area environment with complex water flow and bottom, the aircraft needs to consider the pneumatic-hydrodynamic layout problem of amphibious cross-medium navigation and the bottom-attaching height-fixing navigation problem in the complex environment, and the technical difficulty of the aircraft is far greater than that of a conventional air-underwater amphibious aircraft.
Disclosure of Invention
The applicant provides a cross-medium aircraft and a navigation method for navigating in a complex water area environment with a bottom-attached height determined, aiming at the defects in the prior art, so that the amphibious aircraft can meet the requirements of navigating in the complex water area with the bottom-attached height determined.
The technical scheme adopted by the invention is as follows:
a cross-medium aircraft for navigating in a complex water area environment at a fixed height close to the bottom comprises an aircraft body, wherein a wing assembly, a paddle assembly and a power device for outputting flight thrust are arranged on the aircraft body;
the wing assembly comprises side wings symmetrically arranged on two sides of the fuselage, a wing flap embedded in the tail of the fuselage, and a vertical tail wing led out from the tail of the fuselage;
the paddle component comprises a duct paddle and a duct paddle, the duct paddle is located in a hole penetrating through the machine body, the duct paddle is arranged on the power device, and the thrust generated by the duct paddle is perpendicular to the thrust generated by the duct paddle.
The fuselage includes the aircraft nose, starts the tail of widen gradually from the aircraft nose, the flank is located between aircraft nose and the tail, and links to each other with aircraft nose tail arc transition.
The lateral wing extends on the plane of two sides of the machine body and is obliquely arranged from the machine head to the machine tail, one end of the lateral wing, which deviates from the machine body, is provided with a folding angle which is bent towards the machine tail, and the folding angle is an obtuse angle.
The bevel is turned upwards to the side away from the sliding support, and the bevel is tangent to the arc between the side wings.
The vertical tail wing is arranged on a central axis of the machine body and is obliquely arranged from the machine body to the machine tail, and the wing flaps are symmetrically arranged on the machine tail at two sides of the vertical tail wing by taking the vertical tail wing as a reference.
The power device adopts jet thrusters, the jet thrusters are arranged between the vertical tail wing and the flap, and the jet thrusters are symmetrically arranged by taking the vertical tail wing as a benchmark.
The sliding support comprises a supporting rod connected with the machine body and a sliding plate arranged on the supporting rod, two ends of the sliding plate are arranged on the machine body in a rolling mode, and the diameter of a rolling arc at one end, close to the machine head, of the sliding plate is larger than the diameter of a rolling arc at one end, close to the tail, of the sliding plate.
The support rod comprises a first rod body vertically led out from the machine body and two second rod bodies led out from one end, deviating from the machine body, of the first rod body, an included angle is formed between the two second rod bodies, and one end, deviating from the first rod body, of each second rod body is connected with the sliding plate.
The maximum thickness of the machine body is close to the machine head, and the duct paddle is arranged between the maximum thickness of the machine body and the machine tail.
A navigation method of a cross-medium aircraft utilizing a complex water area environment to make a bottom-to-height navigation comprises the following steps:
firstly, taking off flight phase: the jet propeller operates to output the thrust with the maximum value, and after the aircraft reaches the expected sliding speed, the wing assembly generates the lift force for driving the aircraft to take off under the action of the thrust; after the aircraft takes off and enters a cruising state, the thrust of the jet propeller is reduced, constant thrust used for overcoming flight resistance is continuously and uniformly output, in the wing assembly, the lateral wing simultaneously provides lift force used for overcoming gravity, the wing flap controls pitching and rolling of the aircraft in the flying process, and the vertical tail wing controls yawing of the aircraft in the flying process;
and II, a water falling stage: the method comprises the following steps that an aircraft lands near the water surface, the thrust of a jet propeller is reduced, the speed of the aircraft is reduced, the corresponding lift force is reduced, a sliding support of the aircraft is in contact with the water surface, the aircraft is in intermittent contact with the water surface in a sliding and jumping mode under the comprehensive action of the tension, the buoyancy and the air lift force of the water surface, the speed of the aircraft is reduced after the aircraft slides and jumps for a certain distance until the speed of the aircraft is zero, the switching of the flight state and the water surface navigation state is smoothly completed, the aircraft floats on the water surface after the switching is completed, ballast water is sucked into a ballast water tank, and the aircraft is changed into a micro negative;
thirdly, underwater diving stage: the guide pipe paddles are started, generate forward thrust, realize yawing by using the differential speed of the two guide pipe paddles, realize lifting and rolling by using the up-down thrust of the ducted paddles, and the sensor senses and controls the aircraft not to sink into silt in the underwater submergence process, so that the sliding support is always kept in contact with the bottom of a water area; the sensor sensing process comprises the following steps:
setting a sensor threshold value to judge the running state of the aircraft, wherein the duct paddle always generates forward thrust;
when the gravity detected by the sensor is too large, the situation that the aircraft has a tendency of sinking into the substrate is indicated, and at the moment, the ducted paddles generate upward thrust;
if the gravity measured by the sensor is too small, the situation that the aircraft breaks away from the bottom of the water area is indicated, at the moment, the culvert propeller is closed, or the culvert propeller rotates reversely, and a downward thrust is generated, so that the aircraft sails against the bottom;
fourthly, effluent recovery stage: after the aircraft completes tasks at the bottom of the water area, the aircraft ascends to the water surface under the comprehensive action of the duct paddles and the culvert paddles, ballast water is discharged from the ballast water tank in the process, so that the aircraft is in a positive buoyancy state, and finally, the aircraft floats on the water surface statically and is recovered by recovery equipment.
The invention has the following beneficial effects:
the invention has compact and reasonable structure, convenient operation and less auxiliary equipment, and the aircraft can conveniently switch stable navigation modes on land, in the air, on the water and under the water by arranging the sliding bracket, the wing assembly and the paddle assembly. The power device is used for providing power during flying, the paddle component is used for providing power and control moment during underwater diving, and the sliding support is used for always contacting with the bottom of a water area during underwater flying to support an aircraft. Because the flow field structure and the bottom material structure of the complex water area environment are both complex, if the acoustic sensor is adopted to realize the bottom-attached height-fixed navigation, the aircraft is always in an unsupported state, the aircraft is interfered by water flow and the bottom material and is difficult to normally navigate, and particularly under the working condition of complex water area bottom environment, the aircraft can run more stably under the supported condition.
The sensor is used for sensing and controlling the aircraft to be free from sinking into sediment sludge, and the aircraft is supported in the whole course in a mode of combined use of the sliding support and the sensor, so that the requirement of bottom-attaching height-fixing navigation in a complex water area environment is met.
Drawings
Fig. 1 is a schematic perspective view of a vehicle according to the present invention.
Fig. 2 is a front view of the aircraft of the present invention.
Fig. 3 is a top view of a vehicle according to the present invention.
Fig. 4 is a bottom view of a vehicle in accordance with the present invention.
Fig. 5 is a side view of a vehicle in accordance with the present invention.
Wherein: 1. a body; 2. a wing assembly; 3. a paddle assembly; 4. a power plant; 5. a sliding support; 6. a sensor;
101. a machine head; 102. a tail;
201. a side wing; 202. a flap; 203. a vertical tail; 204. bending the corner;
301. a duct paddle; 302. a conduit paddle;
501. a support bar; 502. a slide plate; 503. a first rod body; 504. a second rod body.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1-5, the cross-medium aircraft for navigating in a complex water area environment at a fixed height close to the bottom of the water area according to the present embodiment includes a fuselage 1, a wing assembly 2, a paddle assembly 3, and a power device 4 for outputting a flight thrust are disposed on the fuselage 1, a sliding support 5 is further disposed at the bottom of the fuselage 1, a sensor 6 for detecting whether to contact with the bottom of the water area is disposed on the sliding support 5, and a ballast water tank is disposed in the fuselage 1;
the wing assembly 2 comprises side wings 201 symmetrically arranged at two sides of the fuselage 1, a flap 202 embedded at the tail part of the fuselage 1 and a vertical tail wing 203 led out from the tail part of the fuselage 1;
the paddle component 3 comprises a ducted paddle 301 which is positioned in a hole penetrating through the fuselage 1 and a duct paddle 302 which is arranged on the power device 4, and the thrust generated by the duct paddle 302 is vertical to the thrust generated by the ducted paddle 301.
The fuselage 1 comprises a nose 101 and a tail 102 gradually widened from the nose 101, and a wing 201 is positioned between the nose 101 and the tail 102 and is connected with the nose 101 and the tail 102 in an arc transition way.
The side wings 201 extend on two side planes of the machine body 1 and are obliquely arranged from the machine head 101 to the machine tail 102, one ends of the side wings 201 departing from the machine body 1 are provided with folding angles 204 bending towards the machine tail 102, and the folding angles 204 are obtuse angles.
The bevel 204 is turned upwards to the side away from the sliding bracket 5, and the bevel 204 is tangent to the arc between the side wings 201.
The vertical tail fin 203 is arranged on the central axis of the fuselage 1 and is inclined from the fuselage 1 to the tail 102, and the flaps 202 are symmetrically arranged on the tail 102 at two sides of the vertical tail fin 203 with the vertical tail fin 203 as the reference.
The power plant 4 employs jet thrusters, which are disposed between the vertical tail 203 and the flap 202, and are symmetrically disposed with reference to the vertical tail 203.
The sliding support 5 comprises a support rod 501 connected with the machine body 1 and a sliding plate 502 arranged on the support rod 501, two ends of the sliding plate 502 are arranged to be rolled towards the machine body 1, and the diameter of a rolling arc of one end, close to the machine head 101, of the sliding plate 502 is larger than that of one end, close to the machine tail 102, of the sliding plate 502.
The support rod 501 comprises a first rod 503 vertically led out from the body 1 and two second rods 504 led out from one end of the first rod 503 away from the body 1, an included angle is formed between the two second rods 504, and one end of the second rod 504 away from the first rod 503 is connected with the sliding plate 502.
The maximum thickness of the fuselage 1 is close to the nose 101, and the ducted propeller 301 is arranged between the maximum thickness of the fuselage 1 and the tail 102.
The navigation method of the cross-medium aircraft utilizing the complex water area environment to make high navigation at the bottom comprises the following steps:
firstly, taking off flight phase: the jet propeller operates to output the thrust with the maximum value, and after the aircraft reaches the expected sliding speed, the wing assembly 2 generates the lift force for driving the aircraft to take off under the action of the thrust; after the aircraft takes off and enters a cruising state, the thrust of the jet propeller is reduced, constant thrust used for overcoming flight resistance is continuously and uniformly output, in the wing assembly 2, the side wing 201 simultaneously provides lift force used for overcoming gravity, the flap 202 controls pitching and rolling of the aircraft in the flying process, and the vertical tail wing 203 controls yawing of the aircraft in the flying process;
and II, a water falling stage: the jet propeller is lowered to the position near the water surface, the thrust of the jet propeller is reduced, the speed of the aircraft is reduced, the corresponding lift force is reduced, the sliding support 5 of the aircraft is in contact with the water surface, the aircraft is in intermittent contact with the water surface in a sliding jump mode under the comprehensive action of the tension, the buoyancy and the air lift force of the water surface, after the aircraft slides a certain distance, the speed of the aircraft is reduced until the speed of the aircraft is zero, the switching of the flight state and the water surface navigation state is smoothly completed, after the switching is completed, the aircraft floats on the water surface, the ballast water tank sucks ballast water, and the aircraft is changed into a micro negative buoyancy state so as to enter;
thirdly, underwater diving stage: the duct paddles 302 are started, the duct paddles 302 generate forward thrust, yaw is achieved by using the differential speed of the two duct paddles 302, lifting and rolling are achieved by using the up-down thrust of the duct paddles 301, and in the underwater submerging process, the sensor 6 senses and controls the aircraft not to sink into sludge, so that the sliding support 5 is always kept in contact with the bottom of a water area; the sensing process of the sensor 6 comprises the following steps:
setting a sensor 6 threshold value to discriminate the driving state of the aircraft, the duct paddle 302 always generating forward thrust;
when the gravity detected by the sensor 6 is too large, the situation that the aircraft has a tendency of sinking into the substrate is indicated, and at the moment, the ducted paddles 301 generate upward thrust;
if the gravity measured by the sensor 6 is too small, the situation that the aircraft breaks away from the bottom of the water area is indicated, at the moment, the ducted paddles 301 are closed, or the ducted paddles 301 are made to rotate reversely, and a downward thrust is generated, so that the aircraft sails near the bottom;
fourthly, effluent recovery stage: after the aircraft completes tasks at the bottom of the water area, the aircraft ascends to the water surface under the comprehensive action of the duct paddles 302 and the duct paddles 301, ballast water is discharged from the ballast water tank in the process, so that the aircraft is in a positive buoyancy state, and the aircraft finally floats on the water surface in a static way and is recovered by recovery equipment.
The concrete structure and the working principle of the invention are as follows:
as shown in fig. 1, the aircraft fuselage 1 of the invention is triangular, the nose 101 is bullet-shaped with a complex von karman curve, with elongated side wings 201 on both sides. The middle of the tail 102 is provided with a vertical tail 203, the two sides of the vertical tail 203 are symmetrically provided with power devices 4, and each power device 4 is provided with a duct paddle 302. On the side of the power unit 4 facing away from the vertical rear wing 203, a flap 202 is provided. The whole body 1 is of a symmetrical structure, as shown in fig. 1 and 2, the thickest part of the body 1 is the middle position close to the nose 101, and the thickness of the body is gradually reduced from the middle position to the tail 102 and the side wings 201. The ducted paddles 301 are placed on either side of this thickest location and at a distance from the handpiece 101 avoiding the thickest location.
As shown in fig. 3 and 4, the power unit 4 is embedded in the tail 102, the duct paddle 302 is located on the upper surface of the fuselage 1, and the sliding support 5 is located on the lower surface of the fuselage 1. In this embodiment, the power unit 4 is a jet propeller. As shown in fig. 5, a sensor 6 is disposed at a middle position of the first rod 503 of the sliding bracket 5, and the sensor 6 is used for timely detecting whether the sliding bracket 5 is sunk into the substrate of the water area.
The aircraft can take off in flat fields such as ground runways, ship decks and the like, when the aircraft takes off, the jet-propelled propellers output the maximum thrust, the sliding support 5 can ensure that the aircraft slides forwards with smaller resistance under the action of the thrust, and after the aircraft reaches a certain sliding speed, the main body 1 and the side wings 201 which are designed by wing body fusion generate enough lift force, so that the aircraft can take off. After the aircraft enters a cruising state, the thrust of the jet type jet propeller is properly reduced, the thrust is generated for a long time to overcome the resistance of the aircraft in the flying process, the main body fuselage 1 and the side wing 201 which are designed by the wing body fusion generate the lift force to overcome the gravity, the flap 202 behind the side wing 201 controls the pitching and rolling of the aircraft in the flying process, and the vertical tail 203 controls the yawing of the aircraft in the flying process.
The method comprises the following steps that the aircraft lands near the water surface, the thrust of the jet propeller is reduced, the navigational speed of the aircraft is reduced, a part of lift force is still kept after the corresponding lift force is reduced, the sliding support 5 is in contact with the water surface after the aircraft is adjusted to a proper posture, the aircraft is in contact with the water surface in a sliding jump mode under the comprehensive action of the tension, the buoyancy and the air lift force of the water surface, the speed of the aircraft is reduced until the navigational speed is zero after the aircraft slides a certain distance, the process can enable the aircraft to smoothly complete the navigational state switching from the air to the water surface, at the moment, the aircraft floats on the water surface, ballast water is sucked into a ballast water tank, the aircraft is changed into.
During underwater submergence, forward thrust is generated by the duct paddles 302, yaw is achieved by the differential speed of the two duct paddles 302, and lifting and rolling are achieved by the vertical thrust and the differential speed of the two duct paddles 301. The design of the aircraft is mainly characterized in that the aircraft can sail at the bottom and the height in a complex water area environment, the flow field structure and the bottom structure of the complex water area environment are complex, if the acoustic sensor 6 is adopted to realize the bottom and height sticking navigation of the aircraft, the aircraft is always in an unsupported state, the aircraft is interfered by water flow and bottom materials and is difficult to sail normally, the invention adopts a mode of combining the sliding support 5 and the force sensor 6, the sliding support 5 is always contacted with the bottom of the water area, the aircraft is in a supported state, and meanwhile, the aircraft is controlled not to sink into bottom material silt through the sensing of the force sensor 6, and the specific process is as follows: setting a reasonable force sensor 6 threshold value to judge the driving state of the aircraft; if the gravity measured by the force sensor 6 is too large, the aircraft is indicated to have a tendency of falling into the substrate, and the ducted paddles 301 need to generate upward thrust; if the gravity measured by the force sensor 6 is too small, the aircraft is indicated to be separated from the bottom, the ducted paddles 301 are closed, and a downward thrust is generated if necessary, so that the aircraft sails near the bottom; throughout the process, the catheter paddle 302 generates forward thrust.
After the aircraft completes the task at the bottom of the water area, the aircraft sails near the water surface under the comprehensive action of the duct paddles 302 and the duct paddles 301, and simultaneously, ballast water is discharged from the ballast water tank, so that the aircraft is in a positive buoyancy state. The aircraft floats on the water surface in a static way and is recovered by the recovery equipment.
The invention realizes the purposes of aerial flight of a navigation vehicle and close-bottom height-fixing navigation of complex water area environment, and has the advantages of high response speed, less auxiliary equipment and low operation cost.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (10)
1. A cross-medium aircraft for navigating in a complex water area environment with a bottom-close height, is characterized in that: the aircraft comprises an aircraft body (1), wherein a wing assembly (2), a paddle assembly (3) and a power device (4) for outputting flight thrust are arranged on the aircraft body (1), a sliding support (5) is further arranged at the bottom of the aircraft body (1), a sensor (6) for detecting whether the aircraft body is in contact with the bottom of a water area is arranged on the sliding support (5), and a water ballast tank is arranged in the aircraft body (1); the wing assembly (2) comprises side wings (201) symmetrically arranged on two sides of the fuselage (1), a flap (202) embedded in the tail of the fuselage (1), and a vertical tail wing (203) led out from the tail of the fuselage (1);
the propeller assembly (3) comprises duct propellers (301) which are positioned in holes penetrating through the fuselage (1) and duct propellers (302) which are arranged on the power device (4), and the thrust generated by the duct propellers (302) is vertical to the thrust direction generated by the duct propellers (301).
2. The complex water environment bottom-mounted high-altitude cross-media aircraft of claim 1, wherein: fuselage (1) includes aircraft nose (101), starts tail (102) of widening gradually from aircraft nose (101), flank (201) are located between aircraft nose (101) and tail (102), and link to each other with aircraft nose (101) tail (102) arc transition.
3. The complex water environment bottom-mounted high-altitude cross-media aircraft of claim 2, wherein: the lateral wing (201) extends on the planes on the two sides of the machine body (1) and is obliquely arranged from the machine head (101) to the machine tail (102), one end, deviating from the machine body (1), of the lateral wing (201) is provided with a bending angle (204) bending towards the machine tail (102), and the degree of the bending angle (204) is an obtuse angle.
4. The inter-media vehicle for soft-bottom altimetric navigation in a complex aquatic environment of claim 3, wherein: the bevel (204) turns upwards towards the side away from the sliding support (5), and the circular arcs between the bevel (204) and the side wings (201) are tangent.
5. The complex water environment bottom-mounted high-altitude cross-media aircraft of claim 2, wherein: the vertical tail wing (203) is arranged on the central axis of the fuselage (1) and is obliquely arranged from the fuselage (1) to the tail (102), and the flaps (202) are symmetrically arranged on the tail (102) at two sides of the vertical tail wing (203) by taking the vertical tail wing (203) as a reference.
6. The complex water environment bottom-mounted high-altitude cross-media aircraft of claim 5, wherein: the power device (4) adopts a jet propeller, the jet propeller is arranged between the vertical tail wing (203) and the flap (202), and the jet propeller is symmetrically arranged by taking the vertical tail wing (203) as a benchmark.
7. The cross-media vehicle for navigating in the complex water area environment with the height set close to the bottom is characterized in that the skid bracket (5) comprises a support rod (501) connected with the vehicle body (1) and a skid plate (502) arranged on the support rod (501), wherein two ends of the skid plate (502) are arranged in a rolling way towards the vehicle body (1), and the diameter of a rolling arc of one end, close to the machine head (101), of the skid plate (502) is larger than that of one end, close to the machine tail (102), of the skid plate (502).
8. The cross-medium vehicle for the bottoming and height-fixing sailing in the complex water area environment as claimed in claim 7, wherein the supporting rod (501) comprises a first rod body (503) vertically led out from the body (1), two second rod bodies (504) led out from one end of the first rod body (503) away from the body (1), an included angle is formed between the two second rod bodies (504), and one end of the second rod body (504) away from the first rod body (503) is connected with the sliding plate (502).
9. The medium-crossing aircraft for the bottoming and height-setting sailing of the complex water area environment as claimed in claim 2, characterized in that the maximum thickness of the fuselage (1) is close to the nose (101), and the duct paddle (301) is arranged between the maximum thickness of the fuselage (1) and the tail (102).
10. A method of navigating a medium-crossing vehicle that navigates closely to the height using the complex water environment of claim 1, comprising the steps of:
firstly, taking off flight phase: the jet propeller operates to output the thrust with the maximum value, and after the aircraft reaches the expected sliding speed, the wing assembly (2) generates the lift force for driving the aircraft to take off under the action of the thrust; after the aircraft takes off and enters a cruising state, the thrust of the jet propeller is reduced, constant thrust used for overcoming flight resistance is continuously and uniformly output, in the wing assembly (2), the side wing (201) simultaneously provides lift force used for overcoming gravity, the flap (202) controls pitching and rolling of the aircraft in the flying process, and the vertical tail wing (203) controls yawing of the aircraft in the flying process;
and II, a water falling stage: the jet propeller is lowered to the position near the water surface, the thrust of the jet propeller is reduced, the navigational speed of the aircraft is reduced, the corresponding lift force is reduced, a sliding support (5) of the aircraft is in contact with the water surface, the aircraft is in intermittent contact with the water surface in a sliding jump mode under the comprehensive action of the tension, the buoyancy and the air lift force of the water surface, after the aircraft slides for a certain distance, the speed of the aircraft is reduced until the navigational speed is zero, the navigational state switching between flight and water surface navigation is smoothly completed, after the switching is completed, the aircraft floats on the water surface, ballast water is sucked into a ballast water tank, and the aircraft is changed into a micro negative buoyancy state so as to enter;
thirdly, underwater diving stage: the guide pipe paddles (302) are started, the guide pipe paddles (302) generate forward thrust, yaw is achieved by means of differential speed of the two guide pipe paddles (302), lifting and rolling are achieved by means of up-down thrust of the duct paddles (301), and in the underwater submerging process, the sensor (6) senses and controls the aircraft to be not sunk into silt, so that the sliding support (5) is always in contact with the bottom of a water area; the sensing process of the sensor (6) comprises the following steps: setting a sensor (6) threshold value to judge the running state of the aircraft, wherein the duct paddle (302) always generates forward thrust;
when the gravity detected by the sensor (6) is too high, the situation that the aircraft has the tendency of falling into the substrate is indicated, and at the moment, the ducted paddles (301) generate upward thrust;
if the gravity measured by the sensor (6) is too small, the situation that the aircraft breaks away from the bottom of the water area is indicated, at the moment, the ducted paddles (301) are closed, or the ducted paddles (301) are made to rotate reversely, and a downward thrust is generated to enable the aircraft to sail against the bottom;
fourthly, effluent recovery stage: after the aircraft completes tasks at the bottom of a water area, the aircraft ascends to the water surface under the comprehensive action of the guide pipe paddles (302) and the duct paddles (301), ballast water is discharged from the ballast water tank in the process, so that the aircraft is in a positive buoyancy state, and finally, the aircraft floats on the water surface statically and is recovered by recovery equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011402591.7A CN112428760B (en) | 2020-12-04 | 2020-12-04 | Cross-medium aircraft and navigation method for navigating in complicated water area environment with bottom-close height-fixing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011402591.7A CN112428760B (en) | 2020-12-04 | 2020-12-04 | Cross-medium aircraft and navigation method for navigating in complicated water area environment with bottom-close height-fixing function |
Publications (2)
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115817735A (en) * | 2022-11-24 | 2023-03-21 | 宁波科蓝中水信息技术有限公司 | Intelligent inspection equipment for hydraulic engineering |
| CN116176193A (en) * | 2023-04-23 | 2023-05-30 | 北京大学 | Cross-medium aircraft |
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| CN111114772A (en) * | 2019-12-19 | 2020-05-08 | 中国特种飞行器研究所 | Triphibian cross-medium aircraft capable of taking off and landing vertically |
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| CN116176193A (en) * | 2023-04-23 | 2023-05-30 | 北京大学 | Cross-medium aircraft |
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| CN112428760B (en) | 2022-04-15 |
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