阅读说明：本技术 一种基于胸鳍与螺旋桨混合推进的水下仿生航行器 (Underwater bionic aircraft based on pectoral fin and propeller hybrid propulsion ) 是由 潘光 宋保维 路阳 白靖宜 曹勇 曹永辉 黄桥高 于 2019-09-17 设计创作，主要内容包括：本发明提出了一种基于胸鳍与螺旋桨混合推进的水下仿生航行器,属于仿生水下航行器领域；包括躯干部分、胸鳍推进模块、螺旋桨矢量推进模块和蒙皮外壳；躯干部分内安装有航行器的控制部分；胸鳍推进模块为两个对称组件分别安装于躯干部分的两侧；螺旋桨矢量推进模块安装于躯干部分的尾端；蒙皮外壳包裹于外侧。本发明推进效率和推进速度都有明显提升,且运动更灵活；调节各电机的相位角及频率,可使航行器迅速准确完成转向、俯仰、倒游、零半径转弯等动作；其次,通过螺旋桨的协同运动,可以使航行器在无运动速度情况下完成俯仰及旋转动作,且通常螺旋桨推进的最大速度可达到15-20节,相较仅胸鳍推进的航行器最大2-3节的推进速度而言有明显提高。(The invention provides an underwater bionic aircraft based on pectoral fin and propeller hybrid propulsion, belonging to the field of bionic underwater aircrafts; the aircraft comprises a trunk part, a pectoral fin propulsion module, a propeller vector propulsion module and a skin shell; the body part is internally provided with a control part of an aircraft; the pectoral fin propulsion module is formed by two symmetrical components which are respectively arranged at two sides of the trunk part; the propeller vector propulsion module is arranged at the tail end of the trunk part; the skin shell wraps the outer side. The invention has the advantages that the propelling efficiency and the propelling speed are obviously improved, and the movement is more flexible; the phase angle and the frequency of each motor are adjusted, so that the aircraft can quickly and accurately finish actions such as steering, pitching, reverse swimming, zero-radius turning and the like; secondly, the aircraft can complete pitching and rotating actions under the condition of no movement speed through the cooperative movement of the propellers, the maximum propelling speed of the propellers can reach 15-20 sections generally, and the propelling speed is obviously improved compared with the propelling speed of the aircraft which only propels the pectoral fins and has 2-3 sections at the maximum.)

1. The utility model provides an underwater bionic ware based on pectoral fin and screw hybrid propulsion which characterized in that: the aircraft comprises a trunk part, a pectoral fin propulsion module, a propeller vector propulsion module and a skin shell; the body part is used for supporting the whole bionic aircraft, and a control part of the bionic aircraft is arranged in the body part; the pectoral fin propulsion module comprises a left pectoral fin driving module and a right pectoral fin driving module which are arranged on two sides of the trunk part respectively; the propeller vector propulsion module is arranged at the tail end of the trunk part;

the control part in the body part comprises a communication module (22), a detection working module (23), a control module (24) and a power supply module (25); all modules are connected through wires; the communication module (22) is used for communication and positioning, the detection working module (23) is used for detecting the temperature, the metal ion concentration and the oxygen concentration in water, the control module (24) is used for receiving instructions and controlling the movement of each component, and the power supply module (25) is used for supplying electric energy to the whole aircraft;

the left pectoral fin driving module comprises three fin bar assemblies which are perpendicular to the axial direction of an aircraft and are sequentially and uniformly distributed on one side wall of the trunk part along the axial direction of the aircraft, the three fin bar assemblies are of crank connecting rod structures and are respectively controlled by a motor and used for shaping and driving the front, middle and rear positions of the left pectoral fin of the aircraft, and the left pectoral fin driving module is matched with the right pectoral fin driving module of the symmetrical piece to realize the flapping-wing motion of the simulated bat;

the propeller vector propulsion module comprises a left vector ducted propeller module and a right vector ducted propeller module which are symmetrical in structure, and the left vector propeller propulsion mechanism comprises a swing driving motor (16), a ducted propeller thruster (17) and a motor support (18); the swinging driving motor (16) is fixedly connected with the tail end of the trunk part through a motor bracket (18), the ducted propeller thruster (17) is driven by the swinging driving motor (16) to rotate by taking an output shaft of the ducted propeller thruster as a rotating shaft, and the output shaft of the swinging driving motor (16) is parallel to the wall surface of the tail end of the trunk part; two ducted propeller propellers in the left vector ducted propeller module and the right vector ducted propeller module can respectively rotate around an output shaft of the swing driving motor (16) in the same direction or in different angles in a differential mode.

The skin shell is made of flexible waterproof materials, the skin shell is wrapped outside the left chest fin driving module, the right chest fin driving module, the trunk part and the propeller vector propulsion module and fixed with various form nodes of the four parts, and the ducted propeller propellers in the propeller vector propulsion module are arranged on the outer side of the skin shell.

2. The underwater bionic aircraft based on pectoral fin and propeller hybrid propulsion of claim 1, characterized in that: the longitudinal section of the shell profile of the trunk part is a NACA airfoil.

3. The underwater bionic aircraft based on pectoral fin and propeller hybrid propulsion of claim 1, characterized in that: the three fin ray assemblies of the left pectoral fin driving module are respectively a head fin ray assembly, a middle fin ray assembly and a rear fin ray assembly which are distributed from the head to the tail end along the axial direction of the aircraft;

the head fin ray assembly comprises a head motor (1), a head connecting rod (2), a head sliding block (3), a head swing rod (4) and a head motor support (12); the head motor (1) is fixed at the front end of the side wall of the trunk part through a head motor bracket (12), and an output shaft of the head motor is vertically fixed with one end of the head connecting rod (2), so that the head connecting rod (2) can rotate around the output shaft of the head motor (1); the head sliding block (3) is hinged with a first bracket fixed right below the head connecting rod (2); the middle part of the head swing rod (4) is hinged with the other end of the head connecting rod (2), and the lower end of the head swing rod penetrates through a through hole formed in the head sliding block (3) and is in clearance fit;

the middle fin component comprises a middle motor (5), a middle connecting rod (6), a middle first sliding block (7), a middle second sliding block (8), a middle first swing rod (9), a middle second swing rod (14) and a middle motor bracket (13); the middle motor (5) is fixed in the middle of the side wall of the trunk part through a middle motor bracket (13), and an output shaft of the middle motor is vertically fixed with one end of the middle connecting rod (6), so that the middle connecting rod (6) can rotate around the output shaft of the middle motor (5); the middle first sliding block (7) is hinged with a second bracket fixed right below the middle connecting rod (6); the upper part of the middle first swing rod (9) is hinged with the other end of the middle connecting rod (6), and the lower part of the middle first swing rod penetrates through a through hole formed in the middle first sliding block (7) and is in clearance fit with the through hole; the middle second sliding block (8) is hinged with the other end of the middle connecting rod (6); the middle part of the middle second swing rod (14) is hinged with the top end of the middle first swing rod (9), and the lower part of the middle second swing rod passes through a through hole arranged on the middle second sliding block (8) and ensures clearance fit;

the rear fin ray assembly comprises a rear motor (10), a rear swing rod (11) and a rear motor support (21); the rear motor (10) is fixed at the rear end of the side wall of the trunk part through a rear motor bracket (21), and an output shaft of the rear motor is vertically fixed with one end of the rear swing rod (11), so that the rear swing rod (11) can rotate around the output shaft of the rear motor (10).

4. The underwater bionic aircraft based on pectoral fin and propeller hybrid propulsion of claim 1, characterized in that: the system also comprises a buoyancy control and load rejection module (26), wherein the buoyancy control and load rejection module (26) is used for enabling the aircraft to obtain positive buoyancy through load rejection when the aircraft is disconnected with the ground control center, and enabling the antenna of the aircraft to float out of the water surface.

5. The underwater bionic aircraft based on pectoral fin and propeller hybrid propulsion of claim 1, characterized in that: the skin shell is made of flexible materials such as pearl fabrics, POBB films or polylactic acid films.

6. The underwater bionic aircraft based on pectoral fin and propeller hybrid propulsion of claim 1, characterized in that: the head motor (1), the middle motor (5), the rear motor (10), the swing driving motor (16) and the motors inside the ducted propeller thruster (17) are all IPX 68-grade waterproof motors.

Technical Field

The invention belongs to the field of bionic underwater vehicles, and particularly relates to underwater bionic navigation based on pectoral fins and propeller hybrid propulsion.

Background

Since the twenty-first century, the integration of ocean resource utilization and ocean territory has occupied an increasingly high position in national economy and safety. To explore the marine environment even further, countries around the world have begun to devote research into Autonomous Underwater Vehicle (AUV) technology using marine energy. China puts forward a strategy of ocean strengthening, develops ocean economy, maintains ocean rights and interests, protects the ocean environment and builds the ocean strengthening as the key development plan of China, and further promotes the development of the technical field of the underwater vehicle of China.

Most of the traditional underwater vehicles are in a revolving body type appearance and are propelled by a propeller. The operation is stable, the propulsion speed is high, but the navigation attitude is difficult to flexibly change, and the obstacle avoidance performance is not good. As a novel underwater vehicle, the bionic ray underwater vehicle based on pectoral fin propulsion has the advantages of good movement mobility, high biological bionic property, strong concealment and the like, but the movement speed is not high, the maximum operation speed is 0.6 times of the body length, and the target cannot be effectively tracked underwater.

Through literature retrieval, the invention with the announcement date of 2012, 5 and 16 and the publication number of CN101654147 is named as an invention patent of a pectoral fin propulsion type robotic fish imitating cow-nosed ray, and firstly provides an underwater bionic aircraft which provides propulsion based on pectoral fin swing and changes pitching motion posture through tail elevator rotation. However, the chest fin propelling mechanism can only complete up-and-down flapping with one degree of freedom, the forward propelling force can only be provided by upward component force, the forward moving is difficult, and the running speed is low.

Through the research of the literature, the invention name of the invention is 'an ornithopter type bionic underwater robot' with the announcement date of 2015, 10 months and 14 days and the publication number of CN204701760U, which firstly provides an ornithopter type underwater bat-imitating aircraft based on that a pectoral fin controls flapping actions by a four-bar mechanism and a tail fin controls a pitching posture, but the shape bionic property of a pectoral fin flapping wing structure formed by a whole flat plate is poor, and the ornithopter type underwater bat-imitating aircraft is greatly different from a bat pectoral fin in the real nature.

Disclosure of Invention

The technical problem to be solved is as follows:

in order to avoid the defects of the prior art, the invention provides an underwater bionic aircraft based on mixed propulsion of pectoral fins and propellers, the motions of advancing, retreating, floating, submerging, steering and the like are completed by flapping of the pectoral fins of a multi-connecting-rod structure framework, the pose is accurately adjusted, the high maneuverability and bionic of the aircraft are ensured, and meanwhile, the tail part of the aircraft completes cooperative motion by the propulsion of two vector propellers, so that the propulsion speed of the bionic bat ray underwater aircraft is effectively increased.

The technical scheme of the invention is as follows: the utility model provides an underwater bionic ware based on pectoral fin and screw hybrid propulsion which characterized in that: the aircraft comprises a trunk part, a pectoral fin propulsion module, a propeller vector propulsion module and a skin shell; the body part is used for supporting the whole bionic aircraft, and a control part of the bionic aircraft is arranged in the body part; the pectoral fin propulsion module comprises a left pectoral fin driving module and a right pectoral fin driving module which are arranged on two sides of the trunk part respectively; the propeller vector propulsion module is arranged at the tail end of the trunk part;

the control part in the body part comprises a communication module 22, a detection working module 23, a control module 24 and a power supply module 25; all modules are connected through wires; the communication module 22 is used for communication and positioning, the detection working module 23 is used for detecting the temperature, the metal ion concentration and the oxygen concentration in water, the control module 24 is used for receiving instructions and controlling the movement of each component, and the power supply module 25 is used for supplying electric energy to the whole aircraft;

the left pectoral fin driving module comprises three fin bar assemblies which are perpendicular to the axial direction of an aircraft and are sequentially and uniformly distributed on one side wall of the trunk part along the axial direction of the aircraft, the three fin bar assemblies are of crank connecting rod structures and are respectively controlled by a motor and used for shaping and driving the front, middle and rear positions of the left pectoral fin of the aircraft, and the left pectoral fin driving module is matched with the right pectoral fin driving module of the symmetrical piece to realize the flapping-wing motion of the simulated bat;

the propeller vector propulsion module comprises a left vector ducted propeller module and a right vector ducted propeller module which are symmetrical in structure, and the left vector propeller propulsion mechanism comprises a swing driving motor 16, a ducted propeller 17 and a motor support 18; the swing driving motor 16 is fixedly connected with the tail end of the trunk part through a motor bracket 18, the ducted propeller thruster 17 is driven by the swing driving motor 16 to rotate by taking an output shaft of the ducted propeller thruster as a rotating shaft, and the output shaft of the swing driving motor 16 is parallel to the wall surface of the tail end of the trunk part; two ducted propeller propellers in the left vector ducted propeller module and the right vector ducted propeller module can respectively rotate around an output shaft of the swing driving motor 16 in the same direction or in different angles in a differential mode.

The skin shell is made of flexible waterproof materials, the skin shell is wrapped outside the left chest fin driving module, the right chest fin driving module, the trunk part and the propeller vector propulsion module and fixed with various form nodes of the four parts, and the ducted propeller propellers in the propeller vector propulsion module are arranged on the outer side of the skin shell.

The further technical scheme of the invention is as follows: the longitudinal section of the shell profile of the trunk part is a NACA airfoil.

The further technical scheme of the invention is as follows: the three fin ray assemblies of the left pectoral fin driving module are respectively a head fin ray assembly, a middle fin ray assembly and a rear fin ray assembly which are distributed from the head to the tail end along the axial direction of the aircraft;

the head fin ray assembly comprises a head motor 1, a head connecting rod 2, a head sliding block 3, a head swing rod 4 and a head motor bracket 12; the head motor 1 is fixed at the front end of the side wall of the trunk part through a head motor bracket 12, and an output shaft of the head motor is vertically fixed with one end of the head connecting rod 2, so that the head connecting rod 2 can rotate around the output shaft of the head motor 1; the head sliding block 3 is hinged with a first bracket fixed right below the head connecting rod 2; the middle part of the head swing rod 4 is hinged with the other end of the head connecting rod 2, and the lower end of the head swing rod passes through a through hole arranged on the head sliding block 3 and ensures clearance fit;

the middle fin-shaped component comprises a middle motor 5, a middle connecting rod 6, a middle first sliding block 7, a middle second sliding block 8, a middle first swing rod 9, a middle second swing rod 14 and a middle motor bracket 13; the middle motor 5 is fixed in the middle of the side wall of the trunk part through a middle motor bracket 13, and an output shaft of the middle motor is vertically fixed with one end of the middle connecting rod 6, so that the middle connecting rod 6 can rotate around the output shaft of the middle motor 5; the middle first sliding block 7 is hinged with a second bracket fixed right below the middle connecting rod 6; the upper part of the middle first swing rod 9 is hinged with the other end of the middle connecting rod 6, and the lower part thereof passes through a through hole arranged on the middle first sliding block 7 and ensures clearance fit; the middle second sliding block 8 is hinged with the other end of the middle connecting rod 6; the middle part of the middle second swing rod 14 is hinged with the top end of the middle first swing rod 9, and the lower part of the middle second swing rod passes through a through hole arranged on the middle second sliding block 8 and ensures clearance fit;

the rear fin ray assembly comprises a rear motor 10, a rear swing rod 11 and a rear motor support 21; the rear motor 10 is fixed to the rear end of the side wall of the trunk portion through a rear motor bracket 21, and an output shaft of the rear motor is vertically fixed to one end of the rear swing link 11, so that the rear swing link 11 can rotate around the output shaft of the rear motor 10.

The further technical scheme of the invention is as follows: the aircraft is characterized by further comprising a buoyancy control and load rejection module 26, wherein the buoyancy control and load rejection module 26 is used for enabling the aircraft to obtain positive buoyancy through load rejection when the aircraft is disconnected with the ground control center, and enabling the antenna of the aircraft to float out of the water surface.

The further technical scheme of the invention is as follows: the skin shell is made of flexible materials such as pearl fabrics, POBB films or polylactic acid films.

The further technical scheme of the invention is as follows: the head motor 1, the middle motor 5, the rear motor 10, the swing driving motor 16 and the motors inside the ducted propeller thruster 17 are all IPX 68-grade waterproof motors.

Advantageous effects

The invention has the beneficial effects that: compared with the traditional single-plate pectoral fin mechanism, the appearance and the motion form of the underwater bionic aircraft are more similar to those of actual marine organisms. The left and right pectoral fins are respectively driven by the three independent link mechanisms which move mutually, when the driving motors of the three link mechanisms drive the underwater vehicle to move at different phase angles and different frequencies, the pectoral fin modules can directly provide forward thrust for the underwater vehicle, and compared with the single-degree-of-freedom flapping driving mode of the conventional vehicle, the vehicle can be propelled only by the forward component force of the lifting force, the propelling efficiency and the propelling speed are obviously improved, and the motion is more flexible. Meanwhile, the phase angle and the frequency of each motor are adjusted, so that the aircraft can quickly and accurately finish actions such as steering, pitching, reverse traveling, zero-radius turning and the like. Secondly, the aircraft can complete pitching and rotating actions under the condition of no movement speed through the cooperative movement of the propellers, the maximum propelling speed of the propellers can reach 15-20 sections generally, and the propelling speed is obviously improved compared with the propelling speed of the aircraft which only propels the pectoral fins and has 2-3 sections at the maximum.

Drawings

FIG. 1 is a diagram of the internal structure of a bionic underwater vehicle under horizontal gliding action based on combined propulsion of pectoral fins and propellers according to the invention;

FIG. 2 is a view of the internal structure of the pectoral fin of the present invention during upward flapping;

FIG. 3 is a view of the internal structure of the pectoral fin of the present invention as it flaps downward;

FIG. 4 is a state diagram of the motion of the tail vector propeller in conjunction with the propulsion pitch of the present invention;

FIG. 5 is an internal view of the pectoral fin of the present invention;

FIG. 6 is a diagram of the present invention in a zero radius turn;

FIG. 7 is a horizontal glide state diagram of the present invention;

FIG. 8 is a view of the propulsion structure of the tail rotor of the present invention;

description of reference numerals: 1. the device comprises a head motor, 2 parts of a head connecting rod, 3 parts of a head sliding block, 4 parts of a head swing rod, 5 parts of a middle motor, 6 parts of a middle connecting rod, 7 parts of a middle first sliding block, 8 parts of a middle second sliding block, 9 parts of a middle first swing rod, 10 parts of a rear motor, 11 parts of a rear swing rod, 12 parts of a head motor support, 13 parts of a middle motor support, 14 parts of a middle second swing rod, 16 parts of a swing driving motor, 17 parts of a ducted propeller thruster, 18 parts of a motor support, 21 parts of a rear motor support, 22 parts of a communication module, 23 parts of a detection working module, 24 parts of a control module, 25 parts of a power module and 26 parts of a buoyancy control and load rejection.

Detailed Description

The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

The invention relates to an underwater bionic aircraft based on mixed propulsion of pectoral fins and propellers, wherein the appearance of the aircraft simulates the appearance of a bat ray. The aircraft comprises a trunk part, a pectoral fin propulsion module, a propeller vector propulsion module and a skin shell; the body part is used for supporting the whole bionic aircraft, and a control part of the bionic aircraft is arranged in the body part; the pectoral fin propulsion module comprises a left pectoral fin driving module and a right pectoral fin driving module which are arranged on two sides of the trunk part respectively; the propeller vector propulsion module is arranged at the tail end of the trunk part;

the motion principle of the pectoral fin drive module is described in conjunction with fig. 1-5. The pectoral fin comprises a head part, a middle part and a rear part, and the tail end of a rod piece of each fin assembly is adhered to the inside of the flexible skin, so that the motion of the fin is controlled to drive the whole outer surface skin structure to perform flapping-wing action similar to a bat ray. The left pectoral fin driving module is taken as an example for explanation, the left pectoral fin driving module comprises three fin strip assemblies perpendicular to the axial direction of an aircraft, the fin strip assemblies are uniformly distributed on one side wall of a trunk part along the axial direction of the aircraft in sequence, the three fin strip assemblies are all in a crank-connecting rod structure and are respectively controlled by a motor, the three fin strip assemblies are used for shaping and driving the front, middle and rear positions of the pectoral fin on the left side of the aircraft, and the fin strip driving module is matched with a right pectoral fin driving module of a symmetrical piece to realize the flapping-wing movement of a simulated bat; the head fin component is a two-connecting-rod crank sliding block mechanism, the middle fin component is a three-connecting-rod crank sliding block mechanism, and the rear fin component drives a rocker to rotate by a motor.

The head fin ray assembly comprises a head motor 1, a head connecting rod 2, a head sliding block 3, a head swing rod 4 and a head motor bracket 12; the head motor 1 is fixed at the front end of the side wall of the trunk part through a head motor bracket 12, and an output shaft of the head motor is vertically fixed with one end of the head connecting rod 2, so that the head connecting rod 2 can rotate around the output shaft of the head motor 1; the head sliding block 3 is hinged with a first bracket fixed right below the head connecting rod 2; the middle part of the head swing rod 4 is hinged with the other end of the head connecting rod 2, and the lower part of the head swing rod passes through a through hole arranged on the head sliding block 3 and ensures clearance fit;

the middle fin-shaped component comprises a middle motor 5, a middle connecting rod 6, a middle first sliding block 7, a middle second sliding block 8, a middle first swing rod 9, a middle second swing rod 14 and a middle motor bracket 13; the middle motor 5 is fixed in the middle of the side wall of the trunk part through a middle motor bracket 13, and an output shaft of the middle motor is vertically fixed with one end of the middle connecting rod 6, so that the middle connecting rod 6 can rotate around the output shaft of the middle motor 5; the middle first sliding block 7 is hinged with a second bracket fixed right below the middle connecting rod 6; the upper part of the middle first swing rod 9 is hinged with the other end of the middle connecting rod 6, and the lower part thereof passes through a through hole arranged on the middle first sliding block 7 and ensures clearance fit; the middle second sliding block 8 is hinged with the other end of the middle connecting rod 6; the middle part of the middle second swing rod 14 is hinged with the top end of the middle first swing rod 9, and the lower part of the middle second swing rod passes through a through hole arranged on the middle second sliding block 8 and ensures clearance fit;

the rear fin ray assembly comprises a rear motor 10, a rear swing rod 11 and a rear motor support 21; the rear motor 10 is fixed to the rear end of the side wall of the trunk portion through a rear motor bracket 21, and an output shaft of the rear motor is vertically fixed to one end of the rear swing link 11, so that the rear swing link 11 can rotate around the output shaft of the rear motor 10.

When the link mechanism of each fin ray is in a horizontal extension state and the vector propeller at the tail does not act, the position of each motor is a zero position at the moment, and the aircraft glides horizontally in water. When the head motor 1 rotates clockwise, the head connecting rod 2 rotates clockwise, the near end of the head swing rod 4 slides in the head sliding block 3, the far end of the head swing rod 4 tilts upwards, and the rotating angle of the far end of the head swing rod 4 is larger than the rotating angle of the output shaft of the motor 1. The reciprocating rotation action of the middle motor 5 can drive the middle connecting rod 6 to rotate in a reciprocating manner, and because one end of the middle first swing rod 9 can slide back and forth in the middle first slide block 7, the middle connecting rod 6 is hinged with the middle first swing rod 9, and the middle connecting rod 6 can drive the tail end of the middle first swing rod 9 to swing in a reciprocating manner at an angle larger than the rotation angle of the motor output shaft. The tail end of the middle first swing rod 9 is hinged with a middle through hole of the middle second swing rod 14, the middle second swing rod 14 can slide in the through hole of the middle second slider 8, and the middle second swing rod 14 can swing back and forth at a larger angle along with the movement of the middle first swing rod 9. The swing phases of the middle second swing link 14, the middle connecting rod 6 and the middle first swing link 9 are the same, namely the swing phases swing upwards along with the clockwise rotation of the output shaft of the middle motor 5 and swing downwards along with the anticlockwise rotation of the output shaft of the middle motor 5. The motion mode of the left rear fin-shaped fin assembly is that an output shaft of a rear motor 10 rotates in a reciprocating mode to directly drive a rear swing rod 11 to move in a reciprocating mode.

The motion mechanism of the whole aircraft driven by pectoral fins and propellers is described in conjunction with fig. 1-7: the aircraft mainly depends on changing the swing frequency, angle and phase difference of a connecting rod structure driving motor of each pectoral fin to accurately control the motion attitude of the aircraft. When the output shafts of the motors of the link mechanisms of the left pectoral fin driving module rotate clockwise when viewed from the rear edge to the front edge, the parts of the tail ends of the link mechanisms on the left side, which are adhered to the skin, move upwards; when the output shafts of the driving motors on the right side rotate clockwise, the tail ends of the connecting rod mechanisms on the right side drive the skin to move downwards. When the left and right link mechanisms flap downwards from front to back with the phase difference of 60-120 degrees, the pectoral fins push water flow backwards, and the aircraft swims forwards. When the left and right link mechanisms flap downwards from back to front with a phase difference of 60-120 degrees, the aircraft swims backwards. When the tail ends of the link mechanisms on the left side of the aircraft flap downwards at the same time and the tail ends of the link mechanisms on the right side flap upwards at the same time, the aircraft turns left; the amplitude of the flapping motion is increased, and the aircraft can turn around in situ to the left. When the link mechanisms on the left side and the right side flap downwards simultaneously, the amplitudes are compared, the amplitude of upward flap is larger than that of downward flap, and the amplitude of flap of the tail link is larger than that of the head, the aircraft can finish submerged motion underwater, otherwise, the aircraft floats upwards.

The motion mechanism of the propeller vector propulsion module is described with reference to fig. 4, the propeller vector propulsion module includes two left and right vector ducted propeller modules with symmetrical structures, and the left vector propeller propulsion mechanism includes a swing driving motor 16, a ducted propeller 17 and a motor bracket 18; the swing driving motor 16 is fixedly connected with the tail part of the trunk part through a motor bracket 18, and the ducted propeller thruster 17 is driven by an output shaft of the swing driving motor 16 to integrally rotate; two ducted propeller propellers in the left vector ducted propeller module and the right vector ducted propeller module can respectively rotate around an output shaft of the swing driving motor 16 in the same direction or in different angles in a differential mode. The ducted propeller thruster 17 is driven by the swing driving motor 16 to rotate by taking an output shaft of the ducted propeller thruster as a rotating shaft, and the output shaft of the swing driving motor 16 is parallel to the wall surface of the tail end of the trunk part; the drive shaft of the oscillating drive motor 16 may rotate the entire ducted propeller to form a vector propulsion module. When the propellers of the left and right side culvert propeller propellers rotate in the same direction and the propellers at the two sides push downwards simultaneously, the tail part of the aircraft tilts upwards and the aircraft moves downwards; while pushing upward, the vehicle moves upward. When the propellers of the left and right lateral culvert propeller propulsion machines rotate reversely, the aircraft realizes left and right steering movement.

The vectored propeller drive module may work in conjunction with the pectoral fin propulsion module. The vector propellers assist in accelerating the speed of navigation propelled by the pectoral fins, and simultaneously, the vector propellers assist in changing the pitch angle of the aircraft more rapidly when the pitching action is completed. When the left side and the right side of the pectoral fin propulsion module keep the motion state of the aircraft unchanged, the propulsion of the tail vector propeller can enable the aircraft to slide upwards or downwards at a higher speed.

In the aspect of control, the control module 24 comprises an upper computer, an STM32 driving board, a Jetson TX2 single-module super computer and an underwater acoustic control board. When the cruise control system works, firstly, a designated planning cruise route is input to the upper computer by a person, the upper computer sends an action command to the STM32 driving plate after analyzing the route, and the STM32 driving plate controls each steering engine to move. When the forward-looking and side-scan sonars detect that obstacles such as fish schools exist nearby, the information is sent to the underwater acoustic control board, the underwater acoustic control board sends the re-planned path information to the STM32 driving board, and the steering engines are driven to change the motion state.

In terms of work, the communication module 22 includes a communication antenna, a wireless communication module, and a GPS positioning module. The detection working module 23 comprises a sensor for detection, an infrared distance meter, a forward-looking sonar, a side-scan sonar, an illumination system and a binocular camera. The binocular camera is matched with the lighting device to shoot underwater real-time monitoring pictures, the Jetson TX2 single-module super computer can identify the pictures, and the wireless module and the antenna can transmit image information to an experimenter on the ground. The sensor for detection can be but not limited to a thermohaline sensor, a chlorophyll sensor, a height sensor, a depth sensor, a heavy metal ion concentration sensor, a water oxygen concentration sensor and the like, and various sensors can be selected based on different working requirements.

The buoyancy control and load rejection module 26 is used for enabling the aircraft to obtain positive buoyancy through load rejection when the aircraft is disconnected from the ground control center, so that the antenna of the aircraft floats out of the water. At the moment, the GPS determines the water area coordinate of the aircraft, and sends the coordinate information to the ground control center through the communication module, so that the time for salvaging the aircraft is saved.

The flexible skin shell can be, but is not limited to, a flexible material such as pearl cloth, a POBB film, a polylactic acid film and the like. The flexible skin covers the control cabin shell, the whole pectoral fin propulsion mechanism and the tail swing driving motor 16, but the duct part of the duct propeller 17 is required to be positioned outside the flexible skin.

The head, middle and tail connecting rod mechanisms of the pectoral fin propulsion mechanism can be directly coated in the skin, and can also be poured by using silica gel or hydrogel, and the whole pectoral fin propulsion mechanism is poured into an NACA wing section and then coated with the skin.

And waterproof sealing is required to be adopted for a control module and each driving motor part of the aircraft.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.