An underwater vehicle

Abstract

The present application provides an underwater vehicle, which relates to the technical field of underwater vehicles, and includes a steering part, and an image capturing part and a power part connected to opposite sides of the steering part to form a strip structure. The steering part includes a plurality of first telescopic rods surrounding the periphery of the central axis of the strip structure, two adjacent first telescopic rods are arranged in a V shape, and the opposite ends of the plurality of first telescopic rods are respectively movably connected to the image capturing part and the power part. In this way, on the basis of the underwater vehicle maintaining a long strip structure, the steering part enables the underwater vehicle to have a variety of bending and front-to-back misaligned postures, thereby effectively shortening the turning radius of the underwater vehicle, improving its flexibility when changing direction, and making the underwater vehicle suitable for small spaces or complex spaces, thereby expanding its use scenarios.

Description

Technical Field

[0001] The present application relates to the technical field of underwater vehicles, and in particular, to an underwater vehicle. Background Art

[0002] An underwater vehicle is a vehicle that travels underwater, including manned underwater vehicles and unmanned underwater vehicles. It can perform underwater exploration, detection and even military offensive and defensive tasks.

[0003] At present, in order to improve the endurance of underwater vehicles in actual use, underwater vehicles are designed as long strip structures to reduce navigation resistance and improve the endurance of underwater vehicles. However, this type of underwater vehicle has the defect of too large turning radius, which reduces the flexibility of the underwater vehicle and makes it difficult to turn in a small range, resulting in limited use environment of the underwater vehicle. Summary of the invention

[0004] The purpose of this application is to provide an underwater vehicle to address the deficiencies in the above-mentioned prior art.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] According to one aspect of an embodiment of the present application, an underwater vehicle is provided, comprising a steering portion, and an image capturing portion and a power portion connected to opposite sides of the steering portion to form a strip structure, wherein the steering portion comprises a plurality of first telescopic rods surrounding the periphery of the central axis of the strip structure, two adjacent first telescopic rods being arranged in a V-shape, and opposite ends of the plurality of first telescopic rods being movably connected to the image capturing portion and the power portion, respectively.

[0007] Optionally, opposite ends of the plurality of first telescopic rods are movably connected to the image capturing unit and the power unit through universal joints, respectively.

[0008] Optionally, a plurality of hydraulic pump assemblies connected one-to-one with the plurality of first telescopic rods are further provided on the strip structure, and the hydraulic pump assemblies are used to control the telescopic lengths of the corresponding first telescopic rods.

[0009] Optionally, the hydraulic pump assembly includes a hydraulic pump and a second telescopic rod, and the hydraulic pump and the first telescopic rod are respectively connected to chambers on opposite sides of the piston of the second telescopic rod.

[0010] Optionally, a plurality of steering assist components are evenly arranged in a ring shape on the outer wall of the image capture portion, and the steering assist components include a booster pump and a nozzle that are interconnected, and a water outlet of the nozzle is opposite to the forward direction of the underwater vehicle.

[0011] Optionally, the image capturing unit includes a first shell assembly whose end is connected to the steering unit, and a visual collector is also provided in the inner cavity of the first shell assembly. The visual collector is located at an end away from the steering unit, and the multiple hydraulic pump assemblies are all provided in the inner cavity of the first shell assembly, and the hydraulic pump assembly is connected to the first telescopic rod through a hydraulic pipe.

[0012] Optionally, the power unit is further provided with a momentum wheel, and the momentum wheel is used to maintain the forward direction of the power unit when the image capturing unit turns.

[0013] Optionally, the image capturing unit and the power unit are respectively provided with buoyancy tank assemblies, and the buoyancy tank assemblies are used to control the diving depth of the underwater vehicle.

[0014] Optionally, the power unit includes a second shell assembly, a protective cylinder with openings at both ends, and a propeller, one end of the second shell assembly is connected to the steering portion, the other end of the second shell assembly is connected to one end of the protective cylinder, the propeller is located in the protective cylinder, and the rotating shaft of the propeller coincides with the central axis of the strip structure, and a guide channel connected to the opening of the protective cylinder is provided at the connection between the second shell assembly and the protective cylinder.

[0015] Optionally, a signal buoy connected to the underwater vehicle signal is provided in the image capturing unit or the power unit.

[0016] The beneficial effects of this application include:

[0017] The present application provides an underwater vehicle, including a steering part, and an image capturing part and a power part connected to opposite sides of the steering part to form a strip structure, wherein the steering part includes a plurality of first telescopic rods surrounding the periphery of the central axis of the strip structure, two adjacent first telescopic rods are arranged in a V shape, and the opposite ends of the plurality of first telescopic rods are respectively movably connected to the image capturing part and the power part. In this way, the underwater vehicle can have a variety of bending and front-to-back misaligned postures through the steering part on the basis of maintaining a long strip structure, thereby effectively shortening the turning radius of the underwater vehicle, improving its flexibility when changing direction, and making the underwater vehicle suitable for small spaces or complex spaces, thereby expanding its use scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 One of the structural schematic diagrams of an underwater vehicle provided in an embodiment of the present application;

[0020] Figure 2 A second schematic diagram of the structure of an underwater vehicle provided in an embodiment of the present application;

[0021] Figure 3 A third structural schematic diagram of an underwater vehicle provided in an embodiment of the present application;

[0022] Figure 4 An exploded diagram of an underwater vehicle provided in an embodiment of the present application;

[0023] Figure 5 One of the schematic diagrams of a state in which an underwater vehicle is in a bent posture provided by an embodiment of the present application;

[0024] Figure 6 A second schematic diagram of an underwater vehicle in a bent posture provided in an embodiment of the present application;

[0025] Figure 7 A third schematic diagram of an underwater vehicle in a bent posture provided in an embodiment of the present application;

[0026] Figure 8 A schematic diagram of an underwater vehicle provided in an embodiment of the present application in a bent and dislocated posture;

[0027] Fig. 9 One of the partial enlarged views of an underwater vehicle provided in an embodiment of the present application;

[0028] Fig.10 This is a second partial enlarged view of an underwater vehicle provided in an embodiment of the present application.

[0029] Icons: 1-image capture unit; 2-power unit; 3-steering unit; 4-flange; 5-first telescopic rod; 6-first partition; 7-momentum wheel; 8-first fixing rod; 9-first shell; 10-second shell; 11-second partition; 12-second fixing rod; 13-fairing cover; 14-third fixing rod; 15-fairing; 16-fixing screw; 17-third partition; 18-sealing ring; 19-water tank; 20-boosting pump; 2 1-nozzle; 22-front fin; 23-hydraulic fixed partition; 24-hydraulic pump; 25-second telescopic rod; 26-hydraulic oil pipe; 27-battery; 28-main board; 29-image sensor; 30-camera; 31-second shell assembly; 32-connecting column; 33-buoy cover; 34-signal buoy; 35-protective tube; 36-fourth partition; 37-fourth fixed rod; 38-propeller; 39-diversion channel; 40-tail fin. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. It should be noted that, in the absence of conflict, the various features in the embodiments of the present application can be combined with each other, and the combined embodiments are still within the scope of protection of the present application.

[0032] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0033] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0034] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0035] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0036] The main driving energy of underwater vehicles is electricity, and due to the weight and volume requirements of underwater vehicles, the battery capacity that can be equipped is relatively limited. Therefore, how to improve the endurance of underwater vehicles as much as possible within the limited battery capacity is of great significance to the mission completion of underwater vehicles.

[0037] As the working environment of underwater vehicles is mainly in liquid fluid, the cruising range of underwater vehicles can be increased by reducing the energy consumption caused by resistance during navigation. When designing, underwater vehicles are designed to be long and narrow in shape to reduce the fluid resistance on the front. However, due to the increase in length, long and narrow underwater vehicles will have problems such as large turning radius and inflexible direction change when turning and changing direction, which limits the use of underwater vehicles and makes them unable to be used in small or complex spaces.

[0038] Based on this, one aspect of the embodiment of the present application provides an underwater vehicle, which can enable the underwater vehicle to have a variety of bending and front-to-back misaligned postures through a steering part while maintaining a long strip structure, thereby effectively shortening the turning radius of the underwater vehicle and improving its flexibility when changing direction, so that the underwater vehicle can be used in small spaces or complex spaces, and its use scenarios are expanded. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0039] Please refer to Figures 1 to 3 , shows an underwater vehicle, which includes an image capturing unit 1, a steering unit 3 and a power unit 2, wherein the image capturing unit 1 and the power unit 2 are connected to opposite sides of the steering unit 3, thereby facilitating the three to form a strip structure or a long strip structure after being connected, the image capturing unit 1 can be used as the head of the underwater vehicle, the power unit 2 can be used as the tail of the underwater vehicle, and the steering unit 3 connects the head and the tail, thereby allowing the power unit 2 to provide forward or backward power, and utilizing the power to push the underwater vehicle forward or backward, and the image capturing unit 1 can be used as the head to provide a field of view for the movement of the underwater vehicle, providing a basis for the operator to accurately control the underwater vehicle.

[0040] When the underwater vehicle needs to maintain linear motion (forward or backward in a straight line), the image capture unit 1, the steering unit 3 and the power unit 2 maintain the same central axis, that is, the three are located on the central axis a of the strip structure, so as to maintain the linear motion of the underwater vehicle.

[0041] When the underwater vehicle needs to turn or change direction, since the steering unit 3 is connected between the image capturing unit 1 and the power unit 2 as a joint, the posture of the underwater vehicle can be changed by the steering unit 3. Figures 5 to 8As shown, the strip structure of the underwater vehicle is bent. In other words, the image capturing unit 1 is moved relative to the power unit 2 through the steering unit 3, so that the whole formed by the two is in a bent posture or a misaligned posture. Therefore, in combination with the power provided by the power unit 2, the underwater vehicle can have a smaller turning radius, thereby improving its flexibility when changing direction, so that the underwater vehicle can be suitable for small spaces or complex spaces, thereby expanding its use scenarios.

[0042] Specifically, Figures 1 to 3 as well as Figures 9 and 10 As shown, the steering portion 3 includes a plurality of first telescopic rods 5, the opposite ends of which are movably connected to the image capturing portion 1 and the power portion 2, respectively, and the plurality of first telescopic rods 5 are annularly arranged around the periphery of the central axis a of the strip structure with the central axis a as the center, and two first telescopic rods 5 adjacent to each other in the annular direction have an angle, that is, two first telescopic rods 5 adjacent to each other in the annular direction are arranged in a V shape, and the openings of the two adjacent V shapes are opposite, thereby, the steering portion 3 formed by the plurality of first telescopic rods 5 can drive the strip structure to bend in any direction, for example Figure 5 As shown, the strip structure bends toward the right. Figure 6 and Figure 7 As shown, the strip structure is bent toward the upper side. Figure 8 As shown, the image capturing unit 1 is misaligned relative to the power unit 2 .

[0043] In one embodiment, the number of the first telescopic rods 5 included in the steering portion 3 may be 6. Thus, based on the small number of the first telescopic rods 5, the steering portion 3 can drive the bar structure to have a bending posture or a misaligned posture in multiple directions such as up, down, left, right, upper left, lower left, and upper right.

[0044] It should be understood that the telescopic lengths of the plurality of first telescopic rods 5 of the steering part 3 can be uniformly controlled by the control center of the underwater vehicle, so that the plurality of first telescopic rods 5 have a plurality of different telescopic lengths to coordinately control the bar structure to finally form a preset bending or dislocation posture. The control center can be a chip structure with data processing capabilities such as a controller and a processor.

[0045] In summary, the steering part 3 enables the underwater vehicle to have a variety of bending and front-to-back misaligned postures, thereby effectively shortening the turning radius of the underwater vehicle and improving its flexibility when changing direction, so that the underwater vehicle can be applied to small spaces or complex spaces, and its use scenarios are expanded. And on this basis, by changing the telescopic length of the multiple first telescopic rods 5 of the steering part 3, not only can the underwater vehicle have a variety of turning postures such as bending, but also the turning radius of the underwater vehicle can be adjusted, thereby further increasing the flexibility of the underwater vehicle, so that it can flexibly control and adjust the size of the turning radius according to specific scenarios.

[0046] Optional, such as Fig. 9 and Fig.10 As shown, in order to improve the flexibility of the underwater vehicle, the opposite ends of each first telescopic rod 5 can be movably connected to the image capturing unit 1 and the power unit 2 through universal joints, thereby facilitating the image capturing unit 1 or the power unit 2 to rotate in any direction relative to the first telescopic rod 5. Specifically, the universal joint can be any type of universal joint such as a cross-axis type and a ball cage type.

[0047] Optional, such as Figures 1 to 10 As shown, in order to improve the stability of the connection, a flange 4 can also be fixed to the end surface of one side of the image capture unit 1 and the power unit 2 close to the steering unit 3, so that the ends of the multiple first telescopic rods 5 are all movably connected to the hinge seat of the flange 4.

[0048] Optionally, in order to control the multiple first telescopic rods 5, multiple hydraulic pump assemblies may be provided on the bar structure, wherein the multiple hydraulic pump assemblies may be located in the inner cavity of the image capturing unit 1 or the inner cavity of the power unit 2, for example Figure 5 As shown, multiple hydraulic pump assemblies are fixedly arranged in the inner cavity of the image capture unit 1, and the number of the multiple hydraulic pump assemblies corresponds to the number of the multiple first telescopic rods 5, forming a one-to-one corresponding relationship, and the hydraulic pump assembly can control the telescopic length of the correspondingly connected first telescopic rod 5. And the control center is connected to the multiple hydraulic pump assemblies, so that the control center can independently control the telescopic lengths of the multiple first telescopic rods 5 through the multiple hydraulic pump assemblies.

[0049] Optional, such as Figure 3 and Figure 4As shown, in order to facilitate the control center to control the telescopic length of the first telescopic rod 5 through the hydraulic pump assembly, the hydraulic pump assembly may include a hydraulic pump 24 and a second telescopic rod 25, and the control center is connected to the hydraulic pump 24, so that the control center can control the hydraulic pump 24, and the hydraulic pump 24 is connected to the chamber on one side of the piston of the second telescopic rod 25, and the chamber on the other side of the piston of the second telescopic rod 25 is connected to the first telescopic rod 5, thereby, the change of the first telescopic rod 5 is synchronized with the second telescopic rod 25, for example, when the hydraulic pump 24 controls the second telescopic rod 25, based on the piston movement of the second telescopic rod 25, the piston of the first telescopic rod 5 will move synchronously, but it should be understood that the first telescopic rod 5 and the second telescopic rod 25 can be extended or shortened synchronously, or one can be extended while the other is shortened synchronously, and this application does not make specific restrictions on it. The communication between the hydraulic pump 24 and the second telescopic rod 25, and the communication between the second telescopic rod 25 and the first telescopic rod 5 can be connected through a hydraulic oil pipe 26.

[0050] For example, when it is necessary to lengthen the telescopic length of the first telescopic rod 5, the control center can control the hydraulic pump 24 to start. The hydraulic pump 24 pumps liquid into the chamber on one side of the piston of the second telescopic rod 25, thereby pushing the piston of the second telescopic rod 25 to move to the other side, so that the piston of the second telescopic rod 25 pumps the liquid in the chamber on the other side into the first telescopic rod 5, thereby causing the first telescopic rod 5 to extend: Of course, when it is necessary to shorten the telescopic length of the first telescopic rod 5, the control center can control the hydraulic pump 24 to start. The hydraulic pump 24 pumps liquid out of the chamber on one side of the piston of the second telescopic rod 25, thereby pushing the piston of the second telescopic rod 25 to move, so that the piston of the second telescopic rod 25 sucks the liquid in the first telescopic rod 5, thereby causing the first telescopic rod 5 to shorten.

[0051] Optional, such as Figures 1 to 4 As shown, multiple groups of steering assist components are evenly arranged in a ring shape on the outer wall of the image capture unit 1. The steering assist components include a booster pump 20 and a nozzle 21 that are interconnected. The water outlet of the nozzle 21 is opposite to the forward direction of the underwater vehicle. Therefore, after the underwater vehicle bends, the nozzle 21 on the outer side of the bend can be controlled by the booster pump 20 to spray water, and the nozzle 21 on the inner side of the bend can be controlled by the booster pump 20 not to spray or spray less water, thereby generating thrust to assist the underwater vehicle to turn, which is conducive to further shortening the turning radius and improving the flexibility of the underwater vehicle. The water inlet of the booster pump 20 can be directly connected to the external liquid of the underwater vehicle, so as to generate a driving force by sucking the external liquid and spraying it through the water outlet of the nozzle 21. In order to carry out unified and coordinated control, multiple booster pumps 20 can be connected to the control center, so that when necessary, the control center can control the corresponding steering assist component action according to the bending posture, bending direction, turning direction, etc. of the underwater vehicle.

[0052] Optionally, since the underwater vehicle does not have a fixed end when it is sailing in the water, when the underwater vehicle needs to turn, it first needs to adjust the straight posture to a curved posture. In order to enable the underwater vehicle to turn accurately in a predetermined direction, a momentum wheel 7 can be provided on the power unit 2. Thus, when the steering unit 3 drives the image capture unit 1 to bend, the tail of the underwater vehicle, that is, the power unit 2 can be kept in the original forward direction through the movement of the momentum wheel 7, so that the steering unit 3 drives the image capture unit 1 to bend smoothly in the predetermined direction, so that the entire strip structure forms a curved posture. It should be understood that the momentum wheel 7 can be connected to the control center so that the control center can control the corresponding action of the momentum wheel 7 according to the information such as the turning of the underwater vehicle.

[0053] Optional, such as Figure 4 As shown, a first partition plate 6 may be further provided between the power unit 2 and the flange 4 on the side of the steering unit 3 close to the power unit 2. The first partition plate 6 has an inner ring, so that the momentum wheel 7 can be installed on the inner ring of the first partition plate 6. The flange 4 on the side of the steering unit 3 close to the power unit 2, the first partition plate 6 and the power unit 2 may be connected via a plurality of first fixing rods 8. For example, the plurality of first fixing rods 8 are provided in a ring shape, and the opposite ends of the plurality of first fixing rods 8 are respectively fixed to the flange 4 and the power unit 2, and the plurality of first fixing rods 8 are provided through the first partition plate 6. Thus, the plurality of first fixing rods 8 and the first partition plate 6 on the periphery of the momentum wheel 7 can provide better protection for it.

[0054] Optional, such as Figures 1 to 4 As shown, the image capturing unit 1 includes a first shell 9 component whose end is connected to the steering unit 3. A visual collector is also provided in the inner cavity of the first shell 9 component. The visual collector is located at an end away from the steering unit 3, so as to facilitate the acquisition of image information of the front end of the underwater vehicle through the visual collector. A plurality of hydraulic pump components are provided in the inner cavity of the first shell 9 component, and the hydraulic pump components are connected to the first telescopic rod 5 through a hydraulic pipe.

[0055] Specifically, Figure 4As shown, the first shell 9 assembly may include a first shell 9 and a second shell 10, each of which has its own inner cavity, and the first shell 9 and the second shell 10 may be fixedly connected via a second partition 11, and the second shell 10 may be fixedly connected to the flange 4 on the side of the steering part 3 close to the image capturing part 1 via a plurality of annularly distributed second fixing rods 12. Two hydraulic fixing partitions 23 may be provided in the inner cavity of the first shell 9, a plurality of hydraulic pumps 24 may be installed between the two hydraulic fixing partitions 23, a plurality of second telescopic rods 25 may be installed on the side of the hydraulic pump close to the steering part 3, and a plurality of third fixing rods 14 may penetrate the hydraulic fixing partition 23 and be fixedly connected to the second partition 11. A visual collector is provided at one end of the first housing 9 away from the steering portion 3. The visual collector includes a camera 30, an image sensor 29 and a main board 28. A fairing cover 13 is provided at one end of the first housing 9 away from the steering portion 3. The fairing cover 13 and the second partition 11 can be connected by a plurality of third fixing rods 14. A fairing 15 can also be fixedly connected at the end away from the first housing 9 by fixing screws 16. A third partition 17 is also installed between the fairing 15 and the fairing cover 13. A sealing ring 18 can also be arranged between the fairing cover 13 and the first housing 9. The camera 30 can be provided on one side of the third partition 17 close to the fairing 15. The image sensor 29 and the main board 28 are both provided in the inner cavity of the first housing 9. The control center can be located at the main board 28. The camera 30 is electrically connected to the main board 28 via the image sensor 29, so that after the camera 30 obtains the image information in front, it is processed and transmitted by the image sensor 29 and output to the control center on the main board 28.

[0056] Optional, such as Figure 4 As shown, a battery 27 may also be provided in the inner cavity of the second shell 10, and the battery 27 may be electrically connected to the control hub to provide electrical energy for all electrical devices of the underwater vehicle.

[0057] Optional, such as Figure 3 and Figure 4As shown, the power unit 2 includes a second shell component 31, a protective cylinder 35 with openings at both ends, and a propeller 38. One end of the second shell component 31 is connected to the steering portion 3 via the first baffle 6 and the flange 4, and the other end of the second shell component 31 is connected to one end of the protective cylinder 35 via a connecting column 32, so that a guide channel 39 connected to the front end opening of the protective cylinder 35 is formed at the connection between the second shell component 31 and the protective cylinder 35. The propeller 38 is installed in the protective cylinder 35, and the rotating shaft of the propeller 38 coincides with the central axis of the strip structure. In this way, when the propeller 38 rotates forward to generate forward thrust, water can enter the propeller 38 through the guide channel 39 and then be discharged from the tail end opening of the protective cylinder 35. Similarly, when the propeller 38 reverses to generate backward thrust, water can enter the propeller 38 through the tail end opening of the protective cylinder 35 and then be discharged from the guide channel 39.

[0058] Specifically, a plurality of fourth partitions 36 may be arranged at intervals along the central axis in the protective tube 35 , one end of a plurality of fourth fixing rods 37 may be fixed to the second shell assembly 31 , and the protective tube 35 may be installed to the second shell assembly 31 by passing a plurality of fourth fixing rods 37 through the plurality of fourth partitions 36 .

[0059] Optionally, the image capture unit 1 and the power unit 2 are respectively provided with a buoyancy tank assembly, so as to control the diving depth of the underwater vehicle through the buoyancy tank assembly. The buoyancy tank assembly may include a water tank 19 and a buoyancy pump. The buoyancy pump may suck external water into the water tank 19 to make the underwater vehicle dive, and may also discharge the water in the water tank 19 to make the underwater vehicle float. Figure 4 As shown, one water tank 19 can be disposed in the inner cavity of the second shell 10, and another water tank 19 can be disposed in the inner cavity of the second shell assembly 31. In this way, water tanks 19 are disposed at the head and tail of the underwater vehicle, which can not only balance the underwater vehicle, but also realize the floating and sinking of the underwater vehicle.

[0060] Optional, such as Figure 4 As shown, a signal buoy 34 and a buoy cover 33 covering the signal buoy 34 may also be provided in the inner cavity of the second shell assembly 31. The signal buoy 34 may be connected to the control center through a signal line, so that after the underwater vehicle dives into the water, the buoy cover 33 may be opened to make the signal buoy 34 float to the surface, so that the terminal can transmit signals with the underwater vehicle through the signal buoy 34.

[0061] Optional, such as Figure 4 As shown, a plurality of front fins 22 may be provided on the outer wall of the first shell 9, and a plurality of tail fins 40 may be provided on the outer wall of the protective tube 35. The front fins 22 and the tail fins 40 may help the underwater vehicle to move forward in a straight line. Figure 4As shown, the nozzle 21 of the steering assist assembly can be integrated with the front fin 22, that is, the water outlet of the nozzle 21 is located at the tail end of the front fin 22. The number of front fins 22 and steering assist assemblies corresponds to each other, so as to achieve a one-to-one correspondence.

[0062] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An underwater vehicle, characterized in that: The invention comprises a steering part, and an image capturing part and a power part connected to opposite sides of the steering part to form a strip-shaped structure, wherein the steering part comprises a plurality of first telescopic rods surrounding the periphery of the central axis of the strip-shaped structure, two adjacent first telescopic rods are arranged in a V shape, and opposite ends of the plurality of first telescopic rods are movably connected to the image capturing part and the power part respectively; The steering portion is disposed close to the center of the underwater vehicle; A plurality of steering assist components are evenly arranged in a ring shape on the outer wall of the image capture unit, and the steering assist components include a booster pump and a nozzle that are interconnected, and the water outlet of the nozzle is opposite to the forward direction of the underwater vehicle; after the underwater vehicle bends, the booster pump controls the nozzle located outside the bend of the underwater vehicle to spray water, and controls the nozzle located inside the bend of the underwater vehicle not to spray water or to spray less water than the nozzle located outside the bend of the underwater vehicle; The power unit is also provided with a momentum wheel, and the momentum wheel is used to maintain the forward direction of the power unit when the image capturing unit turns.

2. The underwater vehicle according to claim 1, characterized in that: The opposite ends of the plurality of first telescopic rods are movably connected to the image capturing unit and the power unit through universal joints.

3. The underwater vehicle according to claim 1 or 2, characterized in that: A plurality of hydraulic pump assemblies connected one by one with the plurality of first telescopic rods are also provided on the strip structure, and the hydraulic pump assemblies are used to control the telescopic length of the corresponding first telescopic rods.

4. The underwater vehicle according to claim 3, characterized in that: The hydraulic pump assembly comprises a hydraulic pump and a second telescopic rod, wherein the hydraulic pump and the first telescopic rod are respectively connected to chambers on opposite sides of a piston of the second telescopic rod.

5. The underwater vehicle according to claim 3, characterized in that: The image capturing unit includes a first shell component whose end is connected to the steering unit. A visual collector is also provided in the inner cavity of the first shell component. The visual collector is located at an end away from the steering unit. The multiple hydraulic pump components are all provided in the inner cavity of the first shell component. The hydraulic pump component is connected to the first telescopic rod through a hydraulic pipe.

6. The underwater vehicle according to claim 1, characterized in that: The image capturing unit and the power unit are respectively provided with buoyancy tank assemblies, and the buoyancy tank assemblies are used to control the diving depth of the underwater vehicle.

7. The underwater vehicle according to claim 1, characterized in that: The power unit includes a second shell assembly, a protective cylinder with openings at both ends, and a propeller. One end of the second shell assembly is connected to the steering portion, and the other end of the second shell assembly is connected to one end of the protective cylinder. The propeller is located in the protective cylinder, and the rotating shaft of the propeller coincides with the central axis of the strip structure. A guide channel connected to the opening of the protective cylinder is provided at the connection between the second shell assembly and the protective cylinder.

8. The underwater vehicle according to claim 1, characterized in that: The image capturing unit or the power unit is provided with a signal buoy connected to the underwater vehicle signal.

Images