US 11,926,414 B2
Underwater and aerial vehicle
Daxiong Ji, Hangzhou (CN); Xin Yao, Hangzhou (CN); Jialong Zhou, Hangzhou (CN); Shuai Zhou, Hangzhou (CN); and Xuhan Lou, Hangzhou (CN)
Assigned to ZHEJIANG UNIVERSITY, (CN)
Appl. No. 17/421,034
Filed by ZHEJIANG UNIVERSITY, Hangzhou (CN)
PCT Filed Sep. 23, 2020, PCT No. PCT/CN2020/117018
§ 371(c)(1), (2) Date Jul. 7, 2021,
PCT Pub. No. WO2021/129001, PCT Pub. Date Jul. 1, 2021.
Claims priority of application No. 201911375997.8 (CN), filed on Dec. 27, 2019.
Prior Publication US 2022/0315218 A1, Oct. 6, 2022
Int. Cl. B64C 39/02 (2023.01); B63G 8/00 (2006.01); B64U 10/13 (2023.01); B64U 50/19 (2023.01)
CPC B64C 39/024 (2013.01) [B63G 8/001 (2013.01); B63G 2008/005 (2013.01); B64U 10/13 (2023.01); B64U 50/19 (2023.01); B64U 2201/20 (2023.01)] 6 Claims
OG exemplary drawing
 
1. An underwater and aerial vehicle, comprising a watertight cabin, a fixing frame, a pressure measurement module, a core navigation system, an energy supply system and a watertight charging port;
wherein, the fixing frame has a circular ring configuration in a middle part thereof, the watertight cabin is fixed within the circular ring configuration, and four cantilever arms extend at equal intervals around the circular ring configuration;
the pressure measurement module comprises a pressure sensor with a first end arranged in the watertight cabin and a second end penetrating through and exposed to an outside of a lower hemispherical shell, for measuring a current pressure;
the core navigation system comprises an underwater navigation system and an air navigation system which are independent from each other;
the underwater navigation system comprises a fixing platform arranged at a middle part of the watertight cabin and provided with an underwater navigation control module and a relay; the underwater navigation control module is integrated with a 2.4G wireless communication module and a first attitude sensor respectively configured to communicate and obtain a current navigation attitude information of the vehicle; each of the four cantilever arms of the fixing frame is provided with a second brushless motor, and each second brushless motor is mounted with a marine propeller via a coupling; the 2.4G wireless communication module is configured to receive a startup instruction from a computer to wake up the underwater navigation control module, so that the underwater and aerial vehicle autonomously performs tasks according to a task instruction and automatically floats after completing the task instruction;
the air navigation system comprises an auxiliary fixing platform arranged at the middle part of the watertight cabin and provided with a flight control module, a remote control receiver and a power management module; the flight control module is integrated with a second attitude sensor, and each of the four cantilever arms of the fixing frame is also provided with a first brushless motor, and each first brushless motor is mounted with a rotor via a coupling;
the energy supply system is arranged at a lower part of the watertight cabin, and comprises a battery mounting bracket fixed to the circular ring configuration of the fixing frame via screws and nuts, a lithium battery pack, a current distribution board and an adjustable voltage distribution board are placed in the battery mounting bracket, a first electronic speed controller and a second electronic speed controller are mounted on an upper end surface of the battery mounting bracket; the first electronic speed controller is connected with the first brushless motor via a cable, and the second electronic speed controller is connected with the second brushless motor via a cable;
the lithium battery pack is connected to the power management module, the adjustable voltage distribution board and the first electronic speed controller via the current distribution hoard; the power management module is also connected with the flight control module which is signally connected with the first electronic speed controller and the remote control receiver; the adjustable voltage distribution board is also connected with the second electronic speed controller via the relay, and with the underwater navigation control module via a reed switch, the underwater navigation control module is also signally connected with the relay, the second electronic speed controller, the first and second attitude sensor and the pressure sensor;
the watertight charging port comprises a watertight connector with a first end arranged in the watertight cabin and connected with a charging port of the lithium battery pack, and a second end extended out of the watertight cabin and fixed via a charging-port fixing member, and the second end of the watertight connector is configured to connect to a charging port for charging during charging.