A large opening angle head configuration for an underwater vehicle and an underwater vehicle

Abstract

An embodiment of the present invention provides a large-opening-angle head configuration for an underwater vehicle and the underwater vehicle. The head configuration is a left-right symmetric and up-down asymmetric structure. In the axial direction, it includes: a head spherical section, a middle cylindrical section, a curved surface transition section, and a rear cylindrical section. The head spherical section is a hemispherical structure with a radius of R2, and the radius of the middle cylindrical section is the same as that of the head spherical section. The rotation axes of the middle cylindrical section and the rear cylindrical section are located in the symmetry plane. The curved surface transition section includes N angular section curves. With the rotation axis of the middle cylindrical section as a reference, the angle between each section is θ, and each angular section is evenly distributed in the circumferential direction, θ = 180 / N. The projection of each angular section curve on the corresponding angular section is a B-spline constructed by control points. The technical solution of the present invention can take into account the acoustic fan surface, fluid performance, and structural layout, and improve the comprehensive performance of the underwater vehicle underwater.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater vehicle design, and particularly relates to a large-opening-angle head configuration for an underwater vehicle and an underwater vehicle. Background Art

[0002] The head acoustic fan angle is a key index for underwater detection of an underwater vehicle. When designing the head shape of an underwater vehicle, it is necessary to ensure a sufficiently large acoustic fan angle while taking into account hydrodynamic performance and structural layout. Having a larger acoustic fan angle can ensure that the underwater vehicle can truly "see in all directions and hear in all directions" when traveling in water. However, for the head configuration of traditional rotary underwater vehicles, in order to ensure fluid performance, the acoustic fan is relatively small, which restricts the detection ability of the underwater vehicle.

[0003] Therefore, how to provide a large-opening-angle head configuration for an underwater vehicle and an underwater vehicle that can take into account the acoustic fan, fluid performance, and structural layout and improve the comprehensive performance of the underwater vehicle underwater has become an urgent technical problem to be solved. Summary of the Invention

[0004] An embodiment of the present invention provides a large-opening-angle head configuration for an underwater vehicle and an underwater vehicle, which can take into account the acoustic fan, fluid performance, and structural layout and improve the comprehensive performance of the underwater vehicle underwater.

[0005] In one embodiment of the present invention, a large-opening-angle head configuration for an underwater vehicle is provided. The head configuration is a left-right symmetric and up-down asymmetric structure. In the axial direction, it includes: a head spherical section 1, a middle cylindrical section 2, a curved surface transition section 3, and a rear cylindrical section 4.

[0006] The head spherical section 1 is a hemispherical structure with a radius of R2, and the radius of the middle cylindrical section 2 is the same as that of the head spherical section 1.

[0007] The rotation axis of the middle cylindrical section 2 and the rotation axis of the rear cylindrical section 4 are both located in the symmetry plane, and the distance between their rotation axes in the vertical direction is L1; the lengths of the middle cylindrical section 2, the curved surface transition section 3, and the rear cylindrical section 4 are L2, L3, and L4 respectively, and the radius of the rear cylindrical section is R1.

[0008] The curved surface transition section 3 includes N angular cross-section curves. With the rotation axis of the middle cylindrical section 2 as a reference, the angle between each cross-section is θ, and each angular cross-section is evenly distributed in the circumferential direction, θ = 180 / N;

[0009] Wherein, R1 > R2 > 0, L1, L2, L3, and L4 are positive numbers, and N ≥ 13;

[0010] The projection of each angular cross-section curve on the corresponding angular cross-section is a B-spline constructed by control points P(0), P(1), … P(N), i.e.:

[0011]

[0012] where n is the number of control points, P i is the i-th control point, k is the spline order, k = 2, 3, 4, 5 ……, N i,k (u) is the i-th k-th order B-spline basis, usually defined using a knot vector [u0, ..., u m , and its recursive calculation method is:

[0013]

[0014] Furthermore, the axis of rotation of the middle cylindrical section 2 and the axis of rotation of the rear cylindrical section 4 are both located in the symmetry plane, and the distance L1 of its axis of rotation in the vertical direction is:

[0015] 0.1 * (R1 - R2) ≤ L1 ≤ 0.9 * (R1 - R2).

[0016] Furthermore, the control points include:

[0017] P(0) = (x0, y0);

[0018] P(1) = (x1, y1);

[0019] P(2) = (x2, y2);

[0020] …

[0021] P(N - 2) = (x N-2 , y N-2 );

[0022] P(N - 1) = (x N-1 , y N-1 );

[0023] P(N) = (x N , y N );

[0024] where x0, y0, x1, y1, x2, y2 …… x N-2 , y N-2 , x N-1 , y N-1 , x N , y N are the abscissa and ordinate of the i-th control point in the cross-section plane.

[0025] Furthermore, the surface transition section 3 includes:

[0026] Encrypt the number of cross-sections within the set range SI to SJ, θ(I to J) = 180 / M,

[0027] where SI to SJ are the I-th and J-th cross-sections (see Figure 3 ), and M is the encryption number.

[0028] In another embodiment of the embodiments of the present invention, an underwater vehicle is provided, which at least includes the large-opening-angle head configuration for an underwater vehicle described in any one of the above.

[0029] The beneficial effects brought by the present invention are as follows:

[0030] As can be seen from the above solution, the embodiments of the present invention provide a large-opening-angle head configuration for an underwater vehicle. The head configuration is a left-right symmetric and up-down asymmetric structure. In the axial direction, it includes: a head spherical section, a middle cylindrical section, a curved surface transition section, and a rear cylindrical section. The head spherical section is a hemispherical structure with a radius of R2, and the radius of the middle cylindrical section is the same as the radius of the head spherical section. The axis of rotation of the middle cylindrical section and the axis of rotation of the rear cylindrical section are both located in the symmetry plane. The curved surface transition section includes N angular cross-section curves. With the axis of rotation of the middle cylindrical section as a reference, the included angle between each cross-section is θ, and each angular cross-section is evenly distributed in the circumferential direction, θ = 180 / N. The projection of each angular cross-section curve on the corresponding angular cross-section is a B-spline constructed by control points. The technical solution of the present invention can take into account the acoustic fan surface, fluid performance, and structural layout, and improve the comprehensive performance of the underwater vehicle underwater. Description of the Drawings

[0031] Figure 1 It shows a schematic structural diagram of a large-opening-angle head configuration for an underwater vehicle according to an embodiment of the present invention;

[0032] Figure 2 It shows another schematic structural diagram of a large-opening-angle head configuration for an underwater vehicle according to an embodiment of the present invention;

[0033] Figure 3 It shows another schematic structural diagram of a large-opening-angle head configuration for an underwater vehicle according to an embodiment of the present invention;

[0034] In the figure, 1 is the head spherical section, 2 is the middle cylindrical section, 3 is the curved surface transition section, 4 is the rear cylindrical section, L1 is the vertical distance between the axis of rotation of the middle cylindrical section and the rear cylindrical section, L2, L3, and L4 are the lengths of the middle cylindrical section, the curved surface transition section, and the rear cylindrical section respectively, R1 is the radius of the rear cylindrical section, R2 is the radius of the head spherical section, and θ is the included angle between each cross-section. Detailed Embodiments

[0035] To make the objectives, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0036] Marine creatures such as beluga whales mainly communicate with each other through underwater sounds, and their sounds can cover a very wide range underwater. Therefore, by imitating the head shapes of marine creatures such as beluga whales or dolphins, a comprehensive design is carried out for the acoustic fan angle and fluid structure to form a large-opening-angle head configuration for an underwater vehicle imitating the shape of a beluga whale, ensuring the maximization of the acoustic fan surface and the minimization of fluid resistance, and taking into account the requirements of structural fullness.

[0037] The technical solution of the present invention proposes a large-opening-angle head configuration for an underwater vehicle imitating the shape of a beluga whale, which solves the problem that the acoustic fan angle of a conventional underwater vehicle is narrow and cannot fully take into account constraints such as acoustic performance, hydrodynamic performance, and structural layout, providing strong technical support for improving the comprehensive performance of underwater vehicles in China.

[0038] As Figures 1 to 3 shown, Figure 1 Fig. shows a structural schematic diagram of a large-opening-angle head configuration for an underwater vehicle according to an embodiment of the present invention; Figure 2 Fig. shows another structural schematic diagram of a large-opening-angle head configuration for an underwater vehicle according to an embodiment of the present invention; Figure 3 Fig. shows another structural schematic diagram of a large-opening-angle head configuration for an underwater vehicle according to an embodiment of the present invention.

[0039] Figure 1 In, a large-opening-angle head configuration for an underwater vehicle, the head configuration is a left-right symmetric and up-down asymmetric structure, and in the axial direction, it includes: a head spherical section 1, a middle cylindrical section 2, a curved surface transition section 3, and a rear cylindrical section 4.

[0040] The head spherical section 1 is a hemispherical structure with a radius of R2, and the radius of the middle cylindrical section 2 is the same as that of the head spherical section 1.

[0041] The axis of rotation of the middle cylindrical section 2 and the axis of rotation of the rear cylindrical section 4 are both located in the symmetry plane, and the distance between their axes of rotation in the vertical direction is L1; the lengths of the middle cylindrical section 2, the curved surface transition section 3, and the rear cylindrical section 4 are L2, L3, and L4 respectively, and the radius of the rear cylindrical section is R1.

[0042] The curved surface transition section 3 includes N angular section curves. Taking the axis of rotation of the middle cylindrical section 2 as a reference, the included angle between each section is θ, and each angular section is evenly distributed in the circumferential direction, θ = 180 / N;

[0043] Wherein, R1 > R2 > 0, L1, L2, L3, L4 are positive numbers, and N ≥ 13;

[0044] The projection of each angular section curve on the corresponding angular section is a B-spline constructed by control points P(0), P(1), … P(N), that is:

[0045]

[0046] Wherein, n is the number of control points, P i is the i-th control point, k is the spline order, k = 2, 3, 4, 5 ……, N i,k (u) is the i-th k-th B-spline basis, usually defined by using a knot vector [u0, ..., u m composed of a set of non-decreasing numbers, and its calculation method in recursive form is:

[0047]

[0048] In the embodiment of the present invention, the axis of rotation of the middle cylindrical section 2 and the axis of rotation of the rear cylindrical section 4 are both located in the symmetry plane, and the distance L1 of its axis of rotation in the vertical direction is:

[0049] 0.1*(R1 - R2) ≤ L1 ≤ 0.9*(R1 - R2).

[0050] Among them, the control points include:

[0051] P(0) = (x0, y0);

[0052] P(1) = (x1, y1);

[0053] P(2) = (x2, y2);

[0054] …

[0055] P(N - 2) = (x N-2 , y N-2 );

[0056] P(N - 1) = (x N-1 , y N-1 );

[0057] P(N) = (x N , y N );

[0058] Among them, x0, y0, x1, y1, x2, y2 …… xN-2 , y N-2 , x N-1 , y N-1 , x N , y N are the abscissa and ordinate of the i-th control point on the cross-sectional plane.

[0059] The curved surface transition section 3 includes:

[0060] Encrypt the number of cross-sections within the set range SI to SJ, θ(I to J) = 180 / M,

[0061] where SI to SJ are the I-th and J-th cross-sections, as Figure 3 shown, and M is the encryption number.

[0062] In an embodiment of the present invention, a large-opening-angle head configuration for an underwater vehicle, a large-opening-angle head configuration for an underwater vehicle imitating the shape of a beluga whale, adopts a non-traditional rotational body model and has mirror symmetry characteristics. This configuration has a high similarity to the beluga whale's head shape and is divided into four sections: the head spherical section (the tip of the beluga whale's mouth), the middle cylindrical section (the lips of the beluga whale), the curved surface transition section (the forehead of the beluga whale), and the rear cylindrical section (the neck of the beluga whale).

[0063] This configuration has two parallel axes: the axis of the head spherical section and the axis of the rear cylindrical section, and there is a certain radial offset between the two axes; the curved surface transition section of this configuration is left-right mirror symmetric, and a single curved surface is composed of N cross-sectional curves with different angles, and the cross-sectional curve configuration is a multi-segment B-spline; in this solution, the acoustic array is located at the front end (the head spherical section or the middle cylindrical section), and the acoustic fan angle is larger than that of the traditional head configuration (the acoustic fan angle formed by this solution is above 240°); the internal volume of this configuration is relatively large, and it has a higher fullness than the traditional rotational body.

[0064] The large-opening-angle head configuration for an underwater vehicle imitating the shape of a beluga whale proposed in this solution, through a large number of simulation calculations and comparative verifications, proves that this solution can effectively increase the acoustic fan angle of the underwater vehicle, while improving the hydrodynamic characteristics and structural fullness, and enhancing the comprehensive performance of the underwater vehicle.

[0065] Figure 3 In, the curved surface transition section is represented by multiple angular cross-sectional curves S0, S2,..., SN, and the other side is a mirror image about the symmetry plane. Taking the axis of rotation of the middle cylindrical section as a reference, the angle between each cross-section is θ. To ensure the accuracy and sufficient precision of the configuration, it is recommended that the number of cross-sectional curves is not less than 13. Increasing the number of cross-sections can improve the configuration precision to a certain extent. Usually, the cross-sections are set to be evenly distributed in the circumferential direction, that is, θ = 180 / N. If there are special requirements for the local precision of the curved surface transition section, the number of cross-sections within a certain range (SI to SJ) can be appropriately encrypted, that is, θ(I to J) = 180 / M, where M is the encryption number.

[0066] In the technical solution of the present invention, the projection of each cross-sectional curve on the corresponding angular cross-section is a B-spline, which can be constructed by multiple control points P(0), P(1),..., P(N). The B-spline method is expressed as:

[0067]

[0068] where n is the number of control points, P i is the i-th control point, k is the degree of the spline, usually k = 3. When there are special requirements for the cross-section, k can be taken as 2, 4, 5,....

[0069] Among them, the control points:

[0070] P(0) = (x0, y0);

[0071] P(1) = (x0, y1);

[0072] P(2) = (x2, y2);

[0073] ...

[0074] P(N - 2) = (x N-2 , y N-2 );

[0075] P(N - 1) = (x N , y N-1 );

[0076] P(N) = (x N , y N ).

[0077] In the technical solution of the present invention, the number of cross-sections, the cross-sectional included angle value, and the distribution form can be adjusted by itself, which will not affect the final effect of the present solution. Therefore, the adjusted head configuration is also within the protection scope of the present solution.

[0078] In the technical solution of the present invention, the type of the cross-sectional curve is a spline curve formed based on the Bernstein basis function, and its type can be adjusted to a uniform rational or non-uniform rational B-spline (NURBS). Its degree and the number of control points can also be adjusted by itself, which will not affect the final effect of the solution configuration. Therefore, the spline forms such as uniform rational or non-uniform rational B-spline (NURBS) formed based on the Bernstein basis function, or different curve orders or the number of control points, etc., are also within the protection scope of the present solution.

[0079] In another embodiment of the embodiments of the present invention, an underwater vehicle is provided, which at least includes the large-opening angle head configuration for the underwater vehicle described in any one of the above.

[0080] In an embodiment of the present invention, a large-opening-angle head configuration for an underwater vehicle is provided. The head configuration is a left-right symmetric and up-down asymmetric structure. In the axial direction, it includes: a head spherical section, a middle cylindrical section, a curved surface transition section, and a rear cylindrical section. The head spherical section is a hemispherical structure with a radius of R2, and the radius of the middle cylindrical section is the same as that of the head spherical section. The axis of rotation of the middle cylindrical section and the axis of rotation of the rear cylindrical section are both located in the symmetry plane. The curved surface transition section includes N angular cross-section curves. With the axis of rotation of the middle cylindrical section as a reference, the angle between each cross-section is θ, and the angular cross-sections are evenly distributed in the circumferential direction, where θ = 180 / N. The projection of each angular cross-section curve on the corresponding angular cross-section is a B-spline constructed by control points.

[0081] The technical solution of the present invention can take into account the acoustic fan surface, fluid performance, and structural layout, and improve the comprehensive performance of the underwater vehicle underwater.

[0082] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A large-opening angle head configuration for an underwater vehicle, characterized in that, The head configuration is a left-right symmetric and up-down asymmetric structure. In the axial direction, it includes: a head spherical section (1), a middle cylindrical section (2), a curved surface transition section (3), and a rear cylindrical section (4). The head spherical section (1) is a hemispherical structure with a radius of R2, and the radius of the middle cylindrical section (2) is the same as that of the head spherical section (1). The axis of rotation of the middle cylindrical section (2) and the axis of rotation of the rear cylindrical section (4) are both located in the symmetry plane, and the distance between their axes of rotation in the vertical direction is L1. The lengths of the middle cylindrical section (2), the curved surface transition section (3), and the rear cylindrical section (4) are L2, L3, and L4 respectively, and the radius of the rear cylindrical section is R1. The curved surface transition section (3) includes N angular section curves. With the axis of rotation of the middle cylindrical section (2) as a reference, the angle between each section is θ, and the angular sections are evenly distributed in the circumferential direction, θ = 180 / N. Wherein, R1 > R2 > 0, L1, L2, L3, and L4 are positive numbers, and N ≥ 13. The projection of each angular section curve on the corresponding angular section is a B-spline constructed by control points P(0), P(1), … P(N), that is: where n is the number of control points, P i is the i-th control point, k is the spline order, k = 2, 3, 4, 5..., N i,k (u) is the i-th B-spline basis of order k, usually defined using a knot vector [u0,..., u m , and its calculation method in recursive form is:

2. The large-opening angle head configuration for an underwater vehicle according to claim 1, characterized in that, The axis of rotation of the middle cylindrical section (2) and the axis of rotation of the rear cylindrical section (4) are both located in the symmetry plane, and the distance L1 between their axes of rotation in the vertical direction is: 0.1*(R1 - R2) ≤ L1 ≤ 0.9*(R1 - R2).

3. The large-opening angle head configuration for an underwater vehicle according to claim 1, characterized in that, The curved surface transition section (3) includes: Encrypt the number of sections within the set range SI~SJ, θ(I~J) = 180 / M, Wherein, SI~SJ are the I-th and J-th sections, and M is the encryption number.

4. An underwater vehicle, characterized in that, The underwater vehicle at least includes the large-opening-angle head configuration for an underwater vehicle according to any one of claims 1 to 3.

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