CN116985575A - Cross-medium aircraft with self-restraint and unpowered submerged floating functions of blades - Google Patents
Cross-medium aircraft with self-restraint and unpowered submerged floating functions of blades Download PDFInfo
- Publication number
- CN116985575A CN116985575A CN202310855303.0A CN202310855303A CN116985575A CN 116985575 A CN116985575 A CN 116985575A CN 202310855303 A CN202310855303 A CN 202310855303A CN 116985575 A CN116985575 A CN 116985575A
- Authority
- CN
- China
- Prior art keywords
- load
- medium
- aircraft
- cabin
- throwing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007667 floating Methods 0.000 title claims abstract description 36
- 230000006870 function Effects 0.000 title description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 91
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 73
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 230000000712 assembly Effects 0.000 claims description 11
- 238000000429 assembly Methods 0.000 claims description 11
- 238000005265 energy consumption Methods 0.000 abstract description 6
- 238000005452 bending Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 18
- 230000008569 process Effects 0.000 description 16
- 230000005484 gravity Effects 0.000 description 13
- 108010066114 cabin-2 Proteins 0.000 description 12
- 230000000452 restraining effect Effects 0.000 description 10
- 238000011084 recovery Methods 0.000 description 8
- 230000009471 action Effects 0.000 description 6
- 230000009189 diving Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 235000012771 pancakes Nutrition 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000003912 environmental pollution Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 230000009993 protective function Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 208000016261 weight loss Diseases 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
A medium-crossing aircraft with self-restraint and unpowered submerged function of blades belongs to aircrafts. In order to solve the problem of higher energy consumption of the existing cross-medium aircraft. The propeller steering driving mechanism is connected with the foldable propeller mechanism, the load-throwing driving mechanism is connected with the load-throwing balancing weight, two constraint arms are respectively arranged on two sides of the load-throwing balancing weight, and the constraint arms are used for constraining paddles in a bending state in the foldable propeller mechanism; the central control system is used for controlling the submerging, floating and taking-off of the medium-crossing aircraft; the energy supply system supplies power to the propeller steering driving mechanism, the load throwing driving mechanism, the central control system, the water outlet sensor, the in-cabin water leakage detection sensor and the depth sensor; the water outlet sensor is used for judging the water outlet state of the medium-crossing aircraft, the in-cabin water leakage detection sensor is used for detecting whether water leakage occurs in the cabin, and the depth sensor is used for judging the submerging depth of the medium-crossing aircraft. The application is mainly used for water and air operation tasks.
Description
Technical Field
The application belongs to aircrafts, and particularly relates to a medium-crossing aircrafts with self-restraining and unpowered submerged floating functions.
Background
As a new type of craft capable of simultaneously completing water and air work tasks, a cross-medium craft has become a current research hotspot. The cross-medium aircraft capable of being used as a buoy and a submerged buoy is a novel platform capable of collecting underwater information and realizing rapid transition, and has important significance for large-scale marine hydrologic environment detection, marine pollution rapid response and the like. There are a number of problems with existing cross-medium craft, including the following two: firstly, the whole unfolding surface of the medium-crossing aircraft is larger due to the arrangement of the fixed propellers, and the aircraft is subjected to more resistance of water in the process of submerging, so that more power is needed to overcome the larger resistance and realize rapid submerging; secondly, in the submerging or floating process of the medium-crossing aircraft, a propeller is generally adopted to push the medium-crossing aircraft to submerge or float, and the energy consumption is high.
Disclosure of Invention
The application aims to solve the technical problems and provides a medium-crossing aircraft with self-constraint and unpowered submerged floating functions, which integrates a buoy, a submerged buoy and an air aircraft into a whole and has low energy consumption.
The application adopts the technical scheme for solving the technical problems that:
a cross-medium aircraft with self-restraining and unpowered submerged floating functions of blades comprises a foldable propeller mechanism, a propeller steering driving mechanism, a load-throwing driving mechanism, an aircraft shell, a sealed cabin, a central control system, an energy supply system, a load-throwing balancing weight, two restraining arms, an out-of-cabin task load, an in-cabin task load, a water outlet sensor, an in-cabin water leakage detection sensor and a depth sensor, wherein the foldable propeller mechanism is arranged on the aircraft shell;
the foldable propeller mechanism is arranged above the aircraft shell, the propeller steering driving mechanism, the cabin exterior task load, the sealed cabin, the throwing driving mechanism and the throwing balancing weight are sequentially arranged in the aircraft shell from top to bottom, the upper end of the propeller steering driving mechanism extends out of the upper opening of the aircraft shell and is fixedly connected with the foldable propeller mechanism, the lower end of the propeller steering driving mechanism is fixedly arranged at the top of the cabin exterior task load, the bottom of the cabin exterior task load is fixedly connected with the top of the sealed cabin, the sealed cabin is fixedly connected with the inner wall of the aircraft shell, the upper end of the throwing driving mechanism is fixedly arranged at the bottom of the sealed cabin, the lower end of the throwing driving mechanism is connected with the throwing balancing weight, two sides of the throwing balancing weight are respectively provided with a constraint arm, one end of the constraint arm is connected with the throwing balancing weight, and the other end of the constraint arm extends out of the lower opening of the aircraft shell and constrains the blades in a bending state in the foldable propeller mechanism;
the central control system, the cabin task load and the energy supply system are sequentially arranged in the sealed cabin from top to bottom, wherein the central control system is electrically connected with the propeller steering driving mechanism, the throwing load driving mechanism, the water outlet sensor, the cabin water leakage detection sensor and the depth sensor and is used for controlling the submergence, the floating and the take-off of the medium-crossing aircraft; the energy supply system is electrically connected with the propeller steering driving mechanism, the load throwing driving mechanism, the central control system, the water outlet sensor, the in-cabin water leakage detection sensor and the depth sensor and supplies power;
the water outlet sensor is arranged on the foldable propeller mechanism and used for judging the water outlet state of the medium-crossing aircraft, the water leakage detection sensor in the cabin is arranged in the sealed cabin and used for detecting whether water leakage exists in the cabin, and the depth sensor is arranged at the bottom of the sealed cabin and used for judging the submergence depth of the medium-crossing aircraft.
Preferably, the aircraft shell comprises a guide cover and an annular shell which are sequentially connected from top to bottom; the air guide sleeve is of a hemispherical structure.
Preferably, the sealed cabin comprises an upper cabin cover, a cylindrical cabin wall and a lower cabin cover, wherein the upper cabin cover is arranged at the upper opening of the cylindrical cabin wall and sealed, and the lower cabin cover is arranged at the lower opening of the cylindrical cabin wall and sealed.
Preferably, the foldable propeller mechanism comprises a coaxial double-propeller air propeller, two upper-layer paddles, two lower-layer paddles and four hinges; the two upper-layer paddles and the two lower-layer paddles are respectively arranged at two sides of the coaxial double-paddle air propeller in an up-down opposite mode and are respectively hinged with the side wall of the coaxial double-paddle air propeller through a hinge.
Preferably, the propeller steering driving mechanism comprises a propeller upright post, an upper steering disc, a lower steering disc, a supporting rod and two groups of crank rocker driving components I which are sequentially arranged from top to bottom, wherein the top end of the propeller upright post is fixedly connected with the bottom end of the coaxial double-propeller air propeller, the bottom end of the propeller upright post is fixedly connected with the top end of the upper steering disc, and the upper steering disc is fixedly connected with the lower steering disc and hinged with the top of the supporting rod; the bottom ends of the supporting rods are fixed on a support for fixing the two groups of crank rocker driving assemblies I; the driving end of the first crank rocker driving assembly is vertically arranged at an angle of 90 degrees and is respectively and rotatably connected with the outer circumferential wall of the lower steering disc.
Preferably, each crank rocker driving assembly comprises a steering engine, a steering arm and a universal connecting rod, one end of the steering arm is fixedly connected with the output end of the steering engine, the other end of the steering arm is hinged with one end of the universal connecting rod, and the other end of the universal connecting rod is rotatably connected with the outer circumferential wall of the lower steering disc.
Preferably, the load throwing driving mechanism comprises a crank rocker driving assembly II, a fixing seat, a lock sleeve, a lock cylinder and two unlocking balls; the crank rocker driving assembly is arranged at the bottom of the sealed cabin through the fixing seat, the lock sleeve is of a barrel-shaped structure with an opening at the upper end, two through holes are formed in the side walls of two opposite sides of the lock sleeve, the lock cylinder is inserted into the lock sleeve from the opening at the upper end of the lock sleeve, and unlocking balls at two sides are respectively extruded into the two through holes; the driving end of the crank rocker driving assembly II is hinged with the top of the lock cylinder extending out of the lock sleeve;
the top of the load-throwing balancing weight is provided with a circular groove matched with the lock sleeve, the inner wall of the circular groove is provided with two concave points which are oppositely arranged, and one side of the unlocking ball, which faces outwards, is positioned in the concave points; the top of throwing carries the balancing weight still is provided with two vertical butt poles that set up, and the top butt of butt pole is in the bottom of sealed cabin.
Preferably, the through hole on the lock sleeve is provided with a small opening and a large opening from outside to inside, wherein the radius of the small opening is equal to that of the unlocking ball, and the radius of the large opening is larger than that of the unlocking ball.
Preferably, the crank rocker driving assembly II comprises a load-throwing steering engine, a load-throwing steering arm and a load-throwing connecting rod, the load-throwing steering engine is arranged on the fixing seat, one end of the load-throwing steering arm is fixedly connected with the output end of the load-throwing steering engine, the other end of the load-throwing steering arm is rotatably connected with one end of the load-throwing connecting rod, and the other end of the load-throwing connecting rod is hinged with the top end of the lock cylinder.
Preferably, the constraint arm is L-shaped, one end of the constraint arm, which is connected with the upper layer blade and the lower layer blade, is provided with a constraint opening, and blade tips of the upper layer blade and the lower layer blade are inserted into the constraint opening.
Compared with the prior art, the application has the beneficial effects that:
1. according to the medium-crossing aircraft, the functions of autonomous unpowered diving and autonomous unpowered floating can be realized through the load-throwing driving mechanism and the load-throwing balancing weight, the aerial flying can be realized through the foldable propeller mechanism and the propeller steering driving mechanism, and the appointed work tasks can be completed in the processes of autonomous unpowered floating, autonomous unpowered diving and autonomous recovery; therefore, the aircraft of the application is a medium-crossing aircraft integrating buoy, submerged buoy and air aircraft; the device has the advantages of the medium crossing of the diving, has the characteristics of low diving energy consumption and no mutual influence of monomer arrangement, and can realize the simultaneous arrangement of a plurality of aircrafts and the joint observation of a designated sea area; and the problems of resource waste and environmental pollution of disposable hydrologic observation equipment are avoided, and the method has important significance for ocean resource exploration.
2. According to the application, the propeller can be folded and unfolded and the two constraint arms are used for enabling the paddles to be in a gathering state in the submerged and floating stages, so that the minimum water resistance of the medium-crossing aircraft in the submerged and floating stages is ensured, and the submerged and floating energy consumption is reduced.
3. The cross-medium aircraft can independently fly to a designated position to enter water after taking off on a ship, and after entering water, a depth profile observation task is independently completed, so that the noise is small, the task is automatically completed, the surprise on marine organisms such as fishes is small, the water is automatically discharged after the task is completed, and the water is flown back to a mother ship to complete recovery, and the workload of deployment and recovery is greatly reduced.
4. The application adopts an advanced coaxial double-propeller, and has larger pulling force and lower power consumption; the application adopts retractable paddles, has smaller resistance when in unpowered submerged floating, and simultaneously maintains good flying performance.
Drawings
The accompanying drawings are included to provide a further understanding of the application.
Fig. 1 is a schematic diagram of the overall structure of the present application.
Fig. 2 is a schematic illustration of the structure of the present application with the aircraft skin removed.
Fig. 3 is a schematic structural view of the steering drive mechanism of the propeller.
Fig. 4 is a schematic structural view of the capsule.
FIG. 5 is a schematic diagram of the configuration of the central control system, the in-cabin mission loads and the energy supply system arrangement.
Fig. 6 is a schematic structural view of the connection of the load rejection driving mechanism and the constraint arm.
Fig. 7 is a schematic structural diagram of the connection between the load-throwing driving mechanism and the load-throwing balancing weight.
Fig. 8 is a schematic structural view of the sleeve, lock cylinder and unlocking ball connection.
Reference numerals illustrate: a-a foldable propeller mechanism; b-a propeller steering driving mechanism; c-a load-throwing driving mechanism; 1-an aircraft skin; 1-1-a guide cover; 1-2-an annular housing; 2-sealing the cabin; 2-1-upper hatch cover; 2-2-cylindrical bulkhead; 2-3-lower hatch cover; 3-a central control system; 4-an energy supply system; 5-throwing the balancing weight; 5-1-abutting the rod; 6-restraining arms; 6-1-sliding blocks; 7-off-board mission load; 8-cabin task load; 9-a water outlet sensor; 10-an in-cabin water leakage detection sensor; 11-a depth sensor; 12-coaxial double-paddle air propeller; 13-upper layer paddles; 14-lower layer paddles; 15-hinges; 16-propeller posts; 17-upper turning disc; 18-lower turning disc; 19-a strut; 20-crank rocker drive assembly one; 20-1-steering engine; 20-2 rudder arms; 20-3-universal connecting rod; 21-a containment compartment; 22-pressure compensation oil crusty pancake; 23-crank rocker driving assembly II; 23-1-a load rejection steering engine; 23-2-rudder arms; 23-3-load-rejection connecting rod; 24-fixing seat; 25-a lock sleeve; 25-1-through holes; 26-a lock cylinder; 27-unlocking ball.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions in the embodiments will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application, and the following embodiments are used to illustrate the present application, but are not intended to limit the scope of the present application.
Referring to fig. 1, the embodiment of the application provides a medium-crossing aircraft with self-restraining and unpowered submerged floating functions of blades, which comprises a foldable propeller mechanism A, a propeller steering driving mechanism B, a load-throwing driving mechanism C, an aircraft shell 1, a sealed cabin 2, a central control system 3, an energy supply system 4, a load-throwing balancing weight 5, two restraining arms 6, an outboard task load 7, an inboard task load 8, a water outlet sensor 9, an inboard water leakage detection sensor 10 and a depth sensor 11.
The foldable propeller mechanism A is arranged above the aircraft shell 1, the propeller steering driving mechanism B, the cabin exterior task load 7, the sealed cabin 2, the throwing load driving mechanism C and the throwing load balancing weight 5 are sequentially arranged in the aircraft shell 1 from top to bottom, the upper end of the propeller steering driving mechanism B extends out of the upper opening of the aircraft shell 1 and is fixedly connected with the foldable propeller mechanism A, the lower end of the propeller steering driving mechanism B is fixedly arranged at the top of the cabin exterior task load 7, the bottom of the cabin exterior task load 7 is fixedly connected with the top of the sealed cabin 2, the sealed cabin 2 is fixedly connected with the inner wall of the aircraft shell 1, the upper end of the throwing load driving mechanism C is fixedly arranged at the bottom of the sealed cabin 2, the lower end of the throwing load driving mechanism C is connected with the throwing load balancing weight 5, two sides of the throwing load balancing weight 5 are respectively provided with a constraint arm 6, one end of the constraint arm 6 is connected with the throwing load balancing weight 5, and the other end of the constraint arm 6 extends out of the lower opening of the aircraft shell 1 and constrains the foldable propeller mechanism A in a bending state.
The central control system 3, the cabin task load 8 and the energy supply system 4 are sequentially arranged in the sealed cabin 2 from top to bottom, wherein the central control system 3 is electrically connected with the propeller steering driving mechanism B, the throwing load driving mechanism C, the water outlet sensor 9, the cabin water leakage detection sensor 10 and the depth sensor 11 and is used for controlling the submergence, the floating and the take-off of the cross-medium aircraft; the energy supply system 4 is electrically connected with the propeller steering driving mechanism B, the load throwing driving mechanism C, the central control system 3, the water outlet sensor 9, the in-cabin water leakage detection sensor 10 and the depth sensor 11 and supplies power for the same.
The water outlet sensor 9 is arranged on the foldable propeller mechanism A and used for judging the water outlet state of the medium-crossing aircraft, the in-cabin water leakage detection sensor 10 is arranged in the sealed cabin 2 and used for detecting whether water leakage exists in the cabin, and the depth sensor 11 is arranged at the bottom of the sealed cabin 2 and used for judging the submergence depth of the medium-crossing aircraft.
In this embodiment, the outboard task load 7 or the inboard task load 8 may be set according to task requirements, including but not limited to loads such as a thermal depth instrument CTD or ammunition.
In this embodiment, the restraining arm 6 has a restraining effect on the shape of the blade in the foldable propeller mechanism a, so that the blade is always in a folded state, the whole unfolding area of the medium-crossing aircraft is ensured to be minimum in the submerging process, the submerging resistance is minimum, and the power output of the medium-crossing aircraft is reduced.
In this embodiment, the working phase of the cross-medium craft is divided into three phases, respectively: the specific working processes of the unpowered diving stage, the unpowered floating stage and the airborne flight stage are as follows:
when the medium-crossing aircraft is transported to a designated work place and thrown into water, the medium-crossing aircraft starts unpowered submerging under the action of gravity of the medium-crossing aircraft, and enters an unpowered submerging stage, and the medium-crossing aircraft can be used as a submerged buoy at the stage; as the blades in the foldable propeller mechanism A are restrained by the restraining arms 6, the blades are in a bending and gathering state, so that the submerging resistance of the cross-medium aircraft is not increased; in the submerging process, the central control system 3 reads data measured by the depth sensor 11 and carries out depth judgment, when the medium-crossing aircraft submerges to a specified depth, the load-throwing driving mechanism C throws the load-throwing balancing weight 5 so as to separate from the medium-crossing aircraft, and simultaneously the load-throwing balancing weight 5 generates a pulling force on two constraint arms 6 connected with the load-throwing balancing weight 5 so as to separate from paddles in the foldable propeller mechanism A, the paddles in the foldable propeller mechanism A are released, and because the gravity of the medium-crossing aircraft is reduced, the buoyancy of the medium-crossing aircraft is greater than the gravity, and the medium-crossing aircraft enters an unpowered floating stage, and the medium-crossing aircraft can be used as a buoy in the stage;
although the blades in the foldable propeller mechanism A are not restrained by the restraining arms 6 any more, as the medium-crossing aircraft is in the floating stage, the blades are influenced by floating water flow and still restrained and in a gathering state until the medium-crossing aircraft floats out of the water; in the floating process of the cross-medium aircraft, the central control system 3 reads the data measured by the water outlet sensor 9 and carries out water outlet judgment; after the medium-crossing aircraft goes out water, the central control system 3 can judge the self posture based on a posture sensor (such as a gyroscope or an accelerometer) in the sealed cabin 2, and because the energy supply system 4 is positioned at the position of the aircraft under the condition of low gravity center of the medium-crossing aircraft in the embodiment, the floating posture after water goes out is good, and after the central control system 3 judges, the propeller steering driving mechanism B drives the foldable propeller mechanism A to start so as to take off from the water surface, and the medium-crossing aircraft enters an air flight stage; in the flight process, the central control system 3 is connected with the propeller steering driving mechanism B to carry out flight control, and recovery is completed.
Referring to fig. 1, the aircraft shell 1 has a protective function, and can prevent the cross-medium aircraft from being damaged due to collision with organisms or phytoplankton in water in the process of submerging or floating; the aircraft shell 1 comprises a guide cover 1-1 and an annular shell 1-2 which are sequentially connected from top to bottom; the dome 1-1 is of a hemispherical structure so as to reduce resistance in the floating process of the medium-crossing aircraft; the annular shell 1-2 is made of pressure-bearing buoyancy materials, so that the buoyancy of the floating of the cross-medium aircraft can be increased.
Referring to fig. 1, the sealed cabin 2 includes an upper cabin cover 2-1, a cylindrical cabin wall 2-2, and a lower cabin cover 2-3, the upper cabin cover 2-1 is mounted at an upper opening of the cylindrical cabin wall 2-2 and sealed, and the lower cabin cover 2-3 is mounted at a lower opening of the cylindrical cabin wall 2-2 and sealed.
Referring to fig. 1, the blades in the foldable propeller mechanism a have bending and self-unfolding functions; it comprises a coaxial double-oar air propeller 12, two upper layer paddles 13, two lower layer paddles 14 and four hinges 15; the two upper-layer paddles 13 and the two lower-layer paddles 14 are respectively arranged at two sides of the coaxial double-paddle air propeller 12 in an up-down opposite mode and are respectively hinged with the side wall of the coaxial double-paddle air propeller 12 through a hinge 15; the upper layer blade 13 or the lower layer blade 14 can be bent downwards through the hinge 15, and can be automatically unfolded through the hinge 15, so that the blades in the foldable propeller mechanism A can be automatically unfolded after water is discharged, and take-off is realized.
The coaxial double-bladed air propeller 12 in this embodiment can drive two upper blades 13 and two lower blades 14 in rotation.
The foldable propeller mechanism A in the embodiment ensures that the whole unfolding area of the medium-crossing aircraft is minimum in the submerging and floating processes, the resistance of water borne by the submerging and floating processes is minimum, and the power output of the medium-crossing aircraft is reduced.
Referring to fig. 1, the propeller steering driving mechanism B is used for driving the rotation of the upper layer blades 13 and the lower layer blades 14, and simultaneously changing the steering of the upper layer blades 13 and the lower layer blades 14; specifically, the propeller steering driving mechanism B includes a propeller upright 16, an upper steering disc 17, a lower steering disc 18, a strut 19, and two sets of crank rocker driving assemblies one 20 sequentially arranged from top to bottom, wherein the top end of the propeller upright 16 is fixedly connected with the bottom end of the coaxial double-propeller air propeller 12, the bottom end of the propeller upright 16 is fixedly connected with the top end of the upper steering disc 17, and the upper steering disc 17 is fixedly connected with the lower steering disc 18 and hinged with the top of the strut 19; the bottom ends of the supporting rods 19 are fixed on a support for fixing two groups of crank rocker driving assemblies one 20; the driving ends of the two crank rocker driving assemblies 20 are vertically arranged at an angle of 90 degrees and are respectively and rotatably connected with the outer circumferential wall of the lower steering disc 18.
Further, the supporting rod 19 is a ball supporting rod, a containing cabin 21 is formed between the upper steering disc 17 and the lower steering disc 18, and a ball arranged at the top of the supporting rod 19 passes through the lower steering disc 18 and is inserted into the containing cabin 21.
Further, two wiring slots 16-1 are formed in the outer wall of the propeller upright post 16 along the axial direction, and wires connected with the central control system 3 by the water outlet sensor 9 run through the wiring slots 16-1.
Further, each crank rocker driving assembly 20 comprises a steering engine 20-1, a steering arm 20-2 and a universal connecting rod 20-3, one end of the steering arm 20-2 is fixedly connected with the output end of the steering engine 20-1, the other end of the steering arm 20-2 is hinged with one end of the universal connecting rod 20-3, the other end of the universal connecting rod 20-3 is rotatably connected with the outer circumferential wall of the lower steering disc 18, and the steering arm 20-2 and the universal connecting rod 20-3 form a crank rocker.
Furthermore, the propeller steering driving mechanism B further comprises a pressure compensation oil crusty pancake 22, and the pressure compensation oil crusty pancake 22 is respectively connected with steering engines 20-1 in the two groups of crank rocker driving assemblies 20.
It should be noted that, in the present embodiment, the rudder arm 20-2 of one group of crank rocker driving assemblies 20 rotates with the X axis as the central axis, and the rudder arm 20-2 of the other group of crank rocker driving assemblies 20 rotates with the Y axis as the central axis, so as to drive the universal connecting rod 20-3 connected thereto to move, and the universal connecting rod 20-3 generates a driving force to the lower steering disc 18; the final attitude of the propeller post 16, the upper steering disc 17 and the lower steering disc 18 is determined by the combined drive of the ends of the universal links 20-3 in the two crank rocker drive assemblies 20.
Referring to fig. 1, the load-throwing driving mechanism C includes a crank-rocker driving assembly two 23, a fixing seat 24, a lock sleeve 25, a lock cylinder 26 and two unlocking balls 27; the crank rocker driving assembly II 23 is arranged at the bottom of the sealed cabin 2 through a fixed seat 24, the lock sleeve 25 is of a barrel-shaped structure with an opening at the upper end, two through holes 25-1 are formed in the side walls of two opposite sides of the lock sleeve 25, the lock cylinder 26 is inserted into the lock sleeve 25 from the opening at the upper end of the lock sleeve 25, and unlocking balls 27 at two sides are respectively extruded into the two through holes 25-1; the driving end of the crank rocker driving assembly II 23 is hinged with the top of the lock cylinder 26 extending out of the lock sleeve 25;
the top of the load-throwing balancing weight 5 is provided with a circular groove matched with the lock sleeve 25, the inner wall of the circular groove is provided with two concave points which are oppositely arranged along the circumferential direction, and one side of the unlocking ball 27 facing outwards is positioned in the concave points; the top of the load-throwing balancing weight 5 is also provided with two vertically arranged supporting rods 5-1, and the top of each supporting rod 5-1 is abutted to the bottom of the sealed cabin 2.
Further, a sliding groove is further formed in the inner wall of the lock sleeve 25 along the axial direction, and the lock core 26 is slidably connected with the inner wall of the lock sleeve 25 through the sliding groove, so that the lock core 26 can move along the axial direction of the lock sleeve 25.
Further, the through hole 25-1 on the lock sleeve 25 is provided with a small opening and a large opening from outside to inside, wherein the radius of the small opening is equal to that of the unlocking ball 27, and the radius of the large opening is larger than that of the unlocking ball 27, so as to ensure that only a small part of the unlocking ball 27 leaks out of the lock sleeve 25.
Further, the crank rocker driving assembly II 23 comprises a load-throwing steering engine 23-1, a load-throwing rudder arm 23-2 and a load-throwing connecting rod 23-3, wherein the load-throwing steering engine 23-1 is arranged on the fixing seat 24, one end of the load-throwing rudder arm 23-2 is fixedly connected with the output end of the load-throwing steering engine 23-1, the other end of the load-throwing rudder arm 23-2 is rotatably connected with one end of the load-throwing connecting rod 23-3, and the other end of the load-throwing connecting rod 23-3 is hinged with the top end of the lock cylinder 26.
It should be noted that, in this embodiment, the load-throwing steering engine 23-1 drives the load-throwing rudder arm 23-2 to rotate, the load-throwing rudder arm 23-2 drives the load-throwing connecting rod 23-3 to move, and then the lock cylinder 26 is pulled out of the lock sleeve 25, the lock cylinder 26 no longer generates extrusion force to the two unlocking balls 27, the two unlocking balls 27 fall into the lock sleeve 25 under the action of gravity of the two unlocking balls, the unlocking balls 27 are separated from the concave points in the load-throwing balancing weight 5, no constraint is generated between the lock sleeve 25 and the load-throwing balancing weight 5, and the load-throwing balancing weight 5 is separated from the lock sleeve 25 under the action of gravity of the two unlocking balls, so as to realize the weight-reduction floating of the medium-crossing aircraft.
Referring to fig. 1, the constraint arm 6 is L-shaped, a constraint opening 6-1 is provided at one end of the constraint arm 6 connected with the upper blade 13 and the lower blade 14, blade tips of the upper blade 13 and the lower blade 14 are inserted into the constraint opening 6-1, and when the load-throwing balancing weight 5 drives the constraint arm 6 to move, the constraint arm 6 can be separated from the upper blade 13 and the lower blade 14 naturally, and the upper blade 13 and the lower blade 14 are not constrained.
Further, the restraining arm 6 is a telescopic arm, and the length of the restraining arm can be adjusted according to the folded size of different paddles.
The working process of the application is further described below to further demonstrate the working principle and advantages of the application:
unpowered diving phase: when the medium-crossing aircraft is transported to a designated work place and thrown into water, the medium-crossing aircraft starts unpowered submerging under the action of gravity (the gravity is greater than buoyancy) and enters an unpowered submerging stage, and the medium-crossing aircraft can be used as a submerged buoy in the stage; because the blade tips of the blades in the foldable propeller mechanism A are restrained by the sliding blocks 6-1 of the restraining arms 6, the upper-layer blades 13 and the lower-layer blades 14 are bent downwards and are in a gathering state close to the aircraft shell 1, and the submerging resistance of the medium-crossing aircraft is not increased; in the submergence process, the water outlet sensor 9 is short-circuited, and the central control system 3 can detect the water inlet state through the water outlet sensor 9; then, the central control system 3 starts working by the electric signal to mobilize the depth sensor 11, the depth information is transmitted to the central control system 3 in real time, the central control system 3 reads the data measured by the depth sensor 11 and carries out depth judgment, after the cross-medium aircraft descends to the designated depth, the throwing steering engine 23-1 drives the throwing rudder arm 23-2 to rotate, the throwing rudder arm 23-2 drives the throwing connecting rod 23-3 to move, the lock cylinder 26 is pulled out of the lock sleeve 25, the lock cylinder 26 does not generate extrusion force on the two unlocking balls 27, the two unlocking balls 27 fall into the lock sleeve 25 under the action of gravity of the lock cylinder 26, the unlocking balls 27 are separated from an annular groove in the throwing balancing weight 5, constraint is not generated between the lock sleeve 25 and the throwing balancing weight 5, the throwing balancing weight 5 is separated from the lock sleeve 25 under the action of gravity of the lock cylinder, simultaneously, the throwing balancing weight 5 generates pulling force on the two constraint arms 6 connected with the upper blade 13 and the lower blade 14, the upper blade 13 and the lower blade 14 are naturally separated, the upper blade 13 and the lower blade 14 are not constrained, and the upper blade 13 and the lower blade 14 are released.
Unpowered floating stage: because the gravity of the medium-crossing aircraft is reduced, the buoyancy of the medium-crossing aircraft is larger than the gravity, and the medium-crossing aircraft enters an unpowered floating stage, and the medium-crossing aircraft can be used as a buoy in the stage; although the upper layer paddle 13 and the lower layer paddle 14 are not restrained by the sliding block 6-1 of the restraining arm 6 any more, the upper layer paddle 13 and the lower layer paddle 14 are still restrained and in a gathering state under the influence of the floating water flow because the medium-crossing aircraft is in a floating stage until the medium-crossing aircraft floats out of the water; in the process of floating the cross-medium aircraft, the central control system 3 reads the data measured by the water outlet sensor 9 and carries out water outlet judgment.
Aerial flight phase: after the medium-crossing aircraft goes out of water, the central control system 3 judges the self posture, because the energy supply system 4 is positioned at the position of the aircraft which is deviated downwards, the center of gravity of the medium-crossing aircraft is lower, the floating posture after water is out of water is better, and after the central control system 3 judges that the coaxial double-oar air propeller 12 drives the two upper-layer paddles 13 and the two lower-layer paddles 14 to rotate, the take-off of the medium-crossing aircraft is realized; meanwhile, the rudder arm 20-2 of one crank rocker driving assembly 20 rotates by taking the X axis as the central axis, the rudder arm 20-2 of the other crank rocker driving assembly 20 rotates by taking the Y axis as the central axis, and then the universal connecting rod 20-3 connected with the rudder arm 20-2 is driven to move, and the universal connecting rod 20-3 generates driving force for the lower steering disc 18; the coaxial double-oar air propeller 12 is driven by the joint of the tail ends of the universal connecting rods 20-3 in the first crank rocker driving assembly 20 to deflect, and finally, the flying direction of the two upper-layer paddles 13 and the flying direction of the two lower-layer paddles 14 are changed.
The central control system 3 is combined with the propeller steering driving mechanism B to control the cross-medium aircraft to fly to the appointed area independently and ensure recovery to the appointed area, and specifically comprises the following steps: in the flight process, under the appointed flight direction, the stress of the application can be split into three components of an X axis, a Y axis and a Z axis, the Z axis component is completed by the tension change of the coaxial double-propeller 12, the X axis component is controlled by a steering engine rotating around the X axis, and the Y axis component is controlled by the steering engine rotating around the Y axis; after the steering engine rotating around the X axis is instructed by the central control system 3, the X axis rudder arm is driven to complete the plane angular movement of corresponding variable quantity, the X axis rudder arm is linked with the X axis universal connecting rod, the plane angular movement of corresponding variable quantity given by the X axis steering engine is converted into space vector movement which is transmitted to the X axis universal connecting rod, and the space vector movement is converted into the plane angular movement of corresponding variable quantity in the other direction through the X axis universal connecting rod, and the angle movement is transmitted to the upper steering disc and the lower steering disc; the lower steering disc rotates around the ball support rod to drive the upper steering disc, and the upper steering disc drives the propeller upright post to complete the change control of the X-axis component of the stress; the Y axis is the same; thereby realizing autonomous flight control. After flying to a designated area, the cross-medium aircraft is recovered manually, and all working flows are finished.
The cross-medium aircraft can independently fly to a designated position to enter water after taking off on a ship, and after entering water, a depth profile observation task is independently completed, so that the noise is small, the task is automatically completed, the surprise on marine organisms such as fishes is small, the water is automatically discharged after the task is completed, and the water is flown back to a mother ship to complete recovery, and the workload of deployment and recovery is greatly reduced.
The medium-crossing aircraft can autonomously unpowered down-float, autonomously unpowered up-float and autonomously recover, can complete specified work tasks in the autonomous unpowered up-float, autonomous unpowered down-float and autonomous recovery processes, is a medium-crossing aircraft integrating a buoy, a submerged buoy and an air aircraft, has the advantage of submerged medium-crossing, has the characteristics of low submerged energy consumption and no influence on single deployment, can realize simultaneous deployment of a plurality of aircraft, and has the characteristic of combined observation on specified sea areas; and the problems of resource waste and environmental pollution of disposable hydrologic observation equipment are avoided, and the method has important significance for ocean resource exploration.
The application adopts an advanced coaxial double-propeller, and has larger pulling force and lower power consumption; the application adopts retractable paddles, has smaller resistance when in unpowered submerged floating, and simultaneously maintains good flying performance.
Although the application herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present application. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present application as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in ways other than as described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.
Claims (10)
1. A cross-medium aircraft with self-restraint and unpowered submerged function of paddles is characterized in that: the device comprises a foldable propeller mechanism (A), a propeller steering driving mechanism (B), a cast-load driving mechanism (C), an aircraft shell (1), a sealed cabin (2), a central control system (3), an energy supply system (4), a cast-load balancing weight (5), two constraint arms (6), an out-of-cabin task load (7), an in-cabin task load (8), a water outlet sensor (9), an in-cabin water leakage detection sensor (10) and a depth sensor (11);
the foldable propeller mechanism (A) is arranged above the aircraft shell (1), the propeller steering driving mechanism (B), the cabin exterior task load (7), the sealed cabin (2), the throwing load driving mechanism (C) and the throwing load balancing weight (5) are sequentially arranged in the aircraft shell (1) from top to bottom, the upper end of the propeller steering driving mechanism (B) extends out of the upper opening of the aircraft shell (1) and is fixedly connected with the foldable propeller mechanism (A), the lower end of the propeller steering driving mechanism (B) is fixedly arranged at the top of the cabin exterior task load (7), the bottom of the cabin exterior task load (7) is fixedly connected with the top of the sealed cabin (2), the sealed cabin (2) is fixedly connected with the inner wall of the aircraft shell (1), the upper end of the throwing load driving mechanism (C) is fixedly arranged at the bottom of the sealed cabin (2), the lower end of the throwing load driving mechanism (C) is connected with the throwing load balancing weight (5), two sides of the throwing load balancing weight (5) are respectively provided with a constraint arm (6), and the constraint arm (6) is connected with the other end of the propeller mechanism (5) which extends out of the aircraft shell (1) in a bent state;
the central control system (3), the in-cabin task load (8) and the energy supply system (4) are sequentially arranged in the sealed cabin (2) from top to bottom, wherein the central control system (3) is electrically connected with the propeller steering driving mechanism (B), the load throwing driving mechanism (C), the water outlet sensor (9), the in-cabin water leakage detection sensor (10) and the depth sensor (11) and is used for controlling the submergence, the floating and the take-off of the medium-crossing aircraft; the energy supply system (4) is electrically connected with the propeller steering driving mechanism (B), the throwing load driving mechanism (C), the central control system (3), the water outlet sensor (9), the in-cabin water leakage detection sensor (10) and the depth sensor (11) and supplies power;
the water outlet sensor (9) is arranged on the foldable propeller mechanism (A) and used for judging the water outlet state of the medium-crossing aircraft, the in-cabin water leakage detection sensor (10) is arranged in the sealed cabin (2) and used for detecting whether water leakage exists in the cabin, and the depth sensor (11) is arranged at the bottom of the sealed cabin (2) and used for judging the submergence depth of the medium-crossing aircraft.
2. The medium-crossing aircraft with self-restraining and unpowered submerged function of the blades according to claim 1, wherein the medium-crossing aircraft is characterized in that: the aircraft shell (1) comprises a guide cover (1-1) and an annular shell (1-2) which are sequentially connected from top to bottom; the air guide sleeve (1-1) is of a hemispherical structure.
3. The medium-crossing aircraft with self-restraining and unpowered submerged function of the blades according to claim 1, wherein the medium-crossing aircraft is characterized in that: the sealed cabin (2) comprises an upper cabin cover (2-1), a cylindrical cabin wall (2-2) and a lower cabin cover (2-3), wherein the upper cabin cover (2-1) is arranged at the upper opening of the cylindrical cabin wall (2-2) and is sealed, and the lower cabin cover (2-3) is arranged at the lower opening of the cylindrical cabin wall (2-2) and is sealed.
4. The medium-crossing aircraft with self-restraining and unpowered submerged function of the blades according to claim 1, wherein the medium-crossing aircraft is characterized in that: the foldable propeller mechanism (A) comprises a coaxial double-propeller air propeller (12), two upper-layer paddles (13), two lower-layer paddles (14) and four hinges (15); the two upper-layer paddles (13) and the two lower-layer paddles (14) are respectively arranged at two sides of the coaxial double-paddle air propeller (12) in an up-down opposite mode and are respectively hinged with the side wall of the coaxial double-paddle air propeller (12) through a hinge (15).
5. The medium-crossing aircraft with self-restraining and unpowered submerged function of the blades according to claim 4, wherein the medium-crossing aircraft is characterized in that: the propeller steering driving mechanism (B) comprises a propeller upright post (16), an upper steering disc (17), a lower steering disc (18), a supporting rod (19) and two groups of crank rocker driving assemblies I (20) which are sequentially arranged from top to bottom, the top end of the propeller upright post (16) is fixedly connected with the bottom end of the coaxial double-propeller air propeller (12), the bottom end of the propeller upright post (16) is fixedly connected with the top end of the upper steering disc (17), and the upper steering disc (17) is fixedly connected with the lower steering disc (18) and hinged with the top of the supporting rod (19); the bottom ends of the supporting rods (19) are fixed on a support for fixing two groups of crank rocker driving assemblies I (20); the driving ends of the two crank rocker driving assemblies (20) are vertically arranged at an angle of 90 degrees and are respectively connected with the outer circumferential wall of the lower steering disc (18) in a rotating way.
6. The medium-crossing aircraft with self-restraining and unpowered submerged function according to claim 5, wherein the medium-crossing aircraft is characterized in that: each group of crank rocker driving assembly I (20) comprises a steering engine (20-1), a steering arm (20-2) and a universal connecting rod (20-3), one end of the steering arm (20-2) is fixedly connected with the output end of the steering engine (20-1), the other end of the steering arm (20-2) is hinged with one end of the universal connecting rod (20-3), and the other end of the universal connecting rod (20-3) is rotatably connected with the outer circumferential wall of the lower steering disc (18).
7. The medium-crossing aircraft with self-restraining and unpowered submerged function of the blades according to claim 1, wherein the medium-crossing aircraft is characterized in that: the throwing load driving mechanism (C) comprises a crank rocker driving assembly II (23), a fixed seat (24), a lock sleeve (25), a lock cylinder (26) and two unlocking balls (27); the crank rocker driving assembly II (23) is arranged at the bottom of the sealed cabin (2) through a fixing seat (24), the lock sleeve (25) is of a barrel-shaped structure with an opening at the upper end, two through holes (25-1) are formed in the side walls of the two opposite sides of the lock sleeve (25), the lock cylinder (26) is inserted into the lock sleeve (25) from the opening at the upper end of the lock sleeve (25), and unlocking balls (27) at the two sides are respectively extruded into the two through holes (25-1); the driving end of the crank rocker driving assembly II (23) is hinged with the top of the lock cylinder (26) extending out of the lock sleeve (25);
the top of the load-throwing balancing weight (5) is provided with a circular groove matched with the lock sleeve (25), the inner wall of the circular groove is provided with two concave points which are oppositely arranged, and one side of the unlocking ball (27) facing outwards is positioned in the concave points; the top of the load-throwing balancing weight (5) is also provided with two vertically arranged abutting rods (5-1), and the top of each abutting rod (5-1) abuts against the bottom of the sealed cabin (2).
8. The medium-crossing aircraft with self-restraining and unpowered submerged function of the blades according to claim 7, wherein the medium-crossing aircraft is characterized in that: the through hole (25-1) on the lock sleeve (25) is provided with a small opening and a large opening from outside to inside, wherein the radius of the small opening is equal to that of the unlocking ball (27), and the radius of the large opening is larger than that of the unlocking ball (27).
9. The medium-crossing aircraft with self-restraining and unpowered submerged function of the blades according to claim 7, wherein the medium-crossing aircraft is characterized in that: the crank rocker driving assembly II (23) comprises a load throwing steering engine (23-1), a load throwing steering arm (23-2) and a load throwing connecting rod (23-3), the load throwing steering engine (23-1) is arranged on the fixing seat (24), one end of the load throwing steering arm (23-2) is fixedly connected with the output end of the load throwing steering engine (23-1), the other end of the load throwing steering arm (23-2) is rotatably connected with one end of the load throwing connecting rod (23-3), and the other end of the load throwing connecting rod (23-3) is hinged with the top end of the lock cylinder (26).
10. The medium-crossing aircraft with self-restraining and unpowered submerged function of the blades according to claim 4, wherein the medium-crossing aircraft is characterized in that: the constraint arm (6) is L-shaped, one end of the constraint arm (6) connected with the upper blade (13) and the lower blade (14) is provided with a constraint opening (6-1), and blade tips of the upper blade (13) and the lower blade (14) are inserted into the constraint opening (6-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310855303.0A CN116985575A (en) | 2023-07-12 | 2023-07-12 | Cross-medium aircraft with self-restraint and unpowered submerged floating functions of blades |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310855303.0A CN116985575A (en) | 2023-07-12 | 2023-07-12 | Cross-medium aircraft with self-restraint and unpowered submerged floating functions of blades |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116985575A true CN116985575A (en) | 2023-11-03 |
Family
ID=88531237
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310855303.0A Pending CN116985575A (en) | 2023-07-12 | 2023-07-12 | Cross-medium aircraft with self-restraint and unpowered submerged floating functions of blades |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116985575A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117485507A (en) * | 2023-12-29 | 2024-02-02 | 哈尔滨工程大学 | Inerter position and rudder angle adjustable water inlet model |
-
2023
- 2023-07-12 CN CN202310855303.0A patent/CN116985575A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117485507A (en) * | 2023-12-29 | 2024-02-02 | 哈尔滨工程大学 | Inerter position and rudder angle adjustable water inlet model |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110481777B (en) | Water-air amphibious unmanned rescue platform | |
| Yang et al. | Survey on the novel hybrid aquatic–aerial amphibious aircraft: Aquatic unmanned aerial vehicle (AquaUAV) | |
| CN109760836A (en) | A kind of amphibious submersible of air-sea | |
| CN113085462B (en) | Cross-medium unmanned aerial vehicle device and control method thereof | |
| CN110641663A (en) | Large underwater vehicle with self-disposable wings | |
| Horn et al. | A study on configuration of propellers for multirotor-like hybrid aerial-aquatic vehicles | |
| CN116985575A (en) | Cross-medium aircraft with self-restraint and unpowered submerged floating functions of blades | |
| CN111186572B (en) | Variant cross-medium aircraft | |
| CN218786088U (en) | Water-air amphibious cross-medium aircraft | |
| CN106986011A (en) | A kind of many latent unmanned vehicles of rotor sky | |
| JP2008543647A (en) | Multiple environment agencies | |
| CN110722941A (en) | Rotor type water-air crossing amphibious aircraft and use method thereof | |
| Tan et al. | Survey on the development of aerial–aquatic hybrid vehicles | |
| Yao et al. | Review of hybrid aquatic-aerial vehicle (HAAV): Classifications, current status, applications, challenges and technology perspectives | |
| CN117485076A (en) | Unmanned vehicle capable of being used for amphibious medium-crossing variable bodies in diving | |
| Young | Design and testing of an air-deployed unmanned underwater vehicle | |
| CN114180056B (en) | Cross-medium unmanned aerial vehicle variant device | |
| CN115285350A (en) | Variant cross-medium aircraft capable of repeatedly discharging water and entering water and control method | |
| Edwards et al. | Flying emplacement of an underwater glider | |
| Jin et al. | Nezha‐IV: A hybrid aerial underwater vehicle in real ocean environments | |
| CN216232965U (en) | Variable sea-air amphibious detection system suitable for multi-platform throwing | |
| CN108725115A (en) | The amphibious aircraft of air-sea | |
| Xu et al. | Design and Simulation of a Small and Agile Aquatic-Aerial Vehicle | |
| Niewiadomska et al. | Design of a mobile and bottom resting autonomous underwater gliding vehicle | |
| Petritoli et al. | Albacore: A Sub Drone for Shallow Waters A preliminary study |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |