A modular nuclear-powered unmanned underwater vehicle

Abstract

A modular nuclear-powered unmanned underwater vehicle (UUV) belongs to the category of underwater equipment. This invention addresses the shortcomings of conventionally powered UUVs, such as limited functionality and short endurance, which are insufficient to meet the demands of deep-sea exploration and long-duration navigation. The invention comprises the UUV body, a monitoring system, a remote communication system, a control system, a buoyancy-cooling system, a thermoelectric conversion system, a power system, a shielding system, and a passive waste heat removal heat exchanger. The UUV body, monitoring system, remote communication system, buoyancy-cooling system, thermoelectric conversion system, power system, and passive waste heat removal heat exchanger are connected to the control system. The thermoelectric conversion system supplies power to the UUV body and the buoyancy-cooling system, while the power system supplies power to the UUV body, monitoring system, remote communication system, and control system. The heat exchanger is mounted outside the hot end of the thermoelectric conversion system, and the shielding system is located at both ends of the thermoelectric conversion system. This invention is primarily used for deep-sea exploration.

Description

Technical Field

[0001] This invention pertains to underwater equipment, and more particularly to a modular nuclear-powered unmanned underwater vehicle. Background Technology

[0002] With the introduction of my country's "going to the deep blue" strategy, we will increasingly face more complex underwater working environments in the future. In these complex deep-sea underwater operations, unmanned underwater vehicles (UUVs) will play a crucial role in marine environmental surveys and seabed mining. Currently, many countries around the world are researching and using UUVs for underwater operations, such as the US Navy's "Tuna" UUV, Russia's "Warrior-D" UUV, and China's HSU001 UUV, which possess strong stability and flexibility and can dive to deep-sea areas to perform various tasks. However, conventionally powered UUVs have drawbacks such as limited functionality and short endurance, which are insufficient to meet the demands of deep-sea exploration and long-duration navigation. This necessitates actively seeking new energy sources to replace conventional energy sources as power sources. Furthermore, my country has proposed a "dual-carbon" target, advocating for energy conservation and emission reduction, making the application of new energy sources imperative. Some countries have also begun to explore new types of powered underwater vehicles, such as Russia's "Poseidon" nuclear-powered unmanned underwater vehicle, which uses nuclear energy instead of conventional energy, has a long endurance, a speed that can exceed that of new torpedoes, submarines and surface ships, and has low noise and high maneuverability, giving it a significant advantage in underwater operations. Summary of the Invention

[0003] The technical problem that this invention aims to solve is that conventionally powered unmanned underwater vehicles have shortcomings such as limited functionality and short endurance, which are insufficient to meet the needs of deep-sea exploration and long-term navigation; and therefore, a modular nuclear-powered unmanned underwater vehicle is provided.

[0004] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0005] A modular nuclear-powered unmanned underwater vehicle (UUV) includes a UUV body and a monitoring system, a remote communication system, a control system, a buoyancy-cooling system, a thermoelectric conversion system, a power supply system, a shielding system, and a passive waste heat removal heat exchanger installed within the UUV body. The UUV body, monitoring system, remote communication system, buoyancy-cooling system, thermoelectric conversion system, power supply system, and passive waste heat removal heat exchanger are all electrically connected to the control system. The thermoelectric conversion system supplies power to both the UUV body and the buoyancy-cooling system, and the power supply system supplies power to the UUV body, monitoring system, remote communication system, and control system. The passive waste heat removal heat exchanger is mounted outside the hot end of the thermoelectric conversion system, and the shielding system is located at both ends of the thermoelectric conversion system.

[0006] Preferably, the submersible body includes an outer shell, two canards, three tail fins, a propeller, and a fairing; the two canards are symmetrically mounted at both ends of the bow of the outer shell, the three tail fins are mounted at the left and right ends and the top of the stern of the outer shell, the propeller is rotatably mounted at the end of the stern of the outer shell, and the fairing covers the outside of the propeller.

[0007] The outer shell is divided into a bow compartment, a cargo compartment, an energy compartment, and a propulsion compartment from bow to stern. The monitoring system, remote communication system, and control system are installed in the bow compartment. The buoyancy-cooling system is installed in the bow compartment, cargo compartment, and energy compartment. The power system is installed in the bow compartment and propulsion compartment respectively. The thermoelectric conversion system, shielding system, and passive waste heat removal heat exchanger are installed in the energy compartment. The motors for driving the propeller and the motors for driving the buoyancy-cooling system are installed in the propulsion compartment.

[0008] Preferably, the snorkeling-cooling system includes a first water tank, a second water tank, and a third water tank. The first water tank is installed in the bow cabin, the second water tank is installed in the load compartment, and the third water tank is installed in the power compartment. A third water pipe is connected to the first water tank and the second water tank at the top, bottom, left, and right positions, respectively. Each third water pipe is equipped with a filter and a valve.

[0009] The first and second water tanks are connected by two symmetrically arranged first water pipes, each with a valve. The second and third water tanks are connected by several second water pipes and a fourth water pipe, each with a water pump and a heat exchanger arranged sequentially along the water flow direction.

[0010] Preferably, the second water tank is provided with a plurality of cold water pipes arranged axially, one end of which passes through the side wall of the second water tank and is connected to the thermoelectric conversion system.

[0011] Preferably, the thermoelectric conversion system includes a reactor and several thermoelectric power generation units, which are respectively installed in the cold water pipes in the second water tank; each reactor includes several reactor heating units arranged in an array, and the reactor heating units and thermoelectric power generation units are arranged in a one-to-one correspondence.

[0012] Preferably, each reactor heating unit includes one heat pipe, eight fuel rods and four moderator rods; the four moderator rods are evenly arranged circumferentially at one end of the heat pipe, two fuel rods are arranged between two adjacent moderator rods, and the other end of the heat pipe is inserted into the thermoelectric power generation unit.

[0013] Four control rods, four plug-in drivers, and four sliding reflective layers are arranged outside the reactor heating unit of the array. The four sliding reflective layers are connected in sequence to form a ring structure, which completely surrounds the reactor heating unit. A control rod is arranged between two adjacent sliding reflective layers. The control rod is slidably connected to the sliding reflective layer. Each control rod is driven by a plug-in driver to move and control the power and start / stop of the reactor heating unit.

[0014] Preferably, each thermoelectric power generation unit includes an insulating and heat-conducting layer, several thermoelectric material layers, and several copper sheets; the insulating and heat-conducting layer surrounds the heat pipe, and the several thermoelectric material layers are arranged circumferentially in two layers, inner and outer, between the insulating and heat-conducting layer and the cold water pipe, and the inner and outer thermoelectric material layers are connected in series by copper sheets.

[0015] Preferably, the power system is divided into two groups, one group is located in the bow compartment to supply power to the monitoring system, remote communication system and control system; the other group is located in the propulsion compartment to supply power to the propeller and aileron servo motors of the submarine.

[0016] Preferably, the shielding system includes two shadow shields, which are respectively arranged on both sides of the thermoelectric conversion system.

[0017] Preferably, the passive waste heat removal heat exchanger includes an inner shell and an outer shell, the outer shell being fitted over the inner shell, and an annular cavity being formed between the two. An inlet pipe and an outlet pipe are respectively provided at the upper and lower ends of the outer shell, both of which communicate with the annular cavity, and a valve is provided on the inlet pipe and the outlet pipe respectively. The inner shell has a cylindrical structure, and the passive waste heat removal heat exchanger is fitted over the reactor.

[0018] The beneficial effects of this invention compared to the prior art are:

[0019] 1. This invention uses a reactor as the heat source of a thermoelectric conversion system and a snorkeling-cooling system as the cold end of the thermoelectric conversion system, realizing the thermoelectric conversion of the submersible and supplying power to it. The snorkeling-cooling system enables the submersible to snorkel and perform six-degree-of-freedom attitude changes, and also serves as the cold end of the thermoelectric conversion system, forming an integrated system that significantly reduces the size of the submersible. Furthermore, this application uses nuclear power instead of conventional battery energy as the power source. Nuclear energy has high energy density, which can greatly reduce the volume occupied by energy sources, lowering maintenance and manufacturing costs, allowing the submersible to operate underwater for months, greatly improving its endurance. The reactor core is selected as a heat pipe reactor, which has the characteristics of small size, high efficiency, and long endurance, making it suitable for long-term underwater operation.

[0020] 2. The thermoelectric conversion system of the present invention adopts static thermoelectric power generation technology and is composed of several thermoelectric power generation units. Each thermoelectric power generation unit corresponds to a heat pipe, which effectively reduces the heat coverage in the heat pipe at the hot end and improves the thermoelectric power generation efficiency. Since the thermoelectric material layer of each thermoelectric power generation unit is connected in series with copper sheets, the conductivity of the copper sheets allows the small current of each group of thermoelectric power generation units to be connected in series into a larger current. The copper sheets in adjacent thermoelectric power generation units are connected by wires, so that the current of multiple layers can be connected in series to obtain a larger current for use by the working module.

[0021] 3. The design of the canard and tail fins in this invention is the same as that of an aircraft, which improves the stability and balance of the submersible. Ailerons that can yaw are designed on the tail fin of the submersible and, in conjunction with the buoyancy-cooling system, enable the submersible to change its attitude in six degrees of freedom. A fairing and propeller propulsion system are added to the stern of the submersible to concentrate the thrust and make the submersible more stable in its underwater motion.

[0022] 4. The snorkeling-cooling system in this invention adopts a three-tank design. The first two tanks work together to enable the submersible to snorkel and change its six degrees of freedom attitude. The design of the last two tanks ensures the cooling effect of the cold end of the thermoelectric conversion system to achieve higher power generation efficiency.

[0023] 5. This invention, through the design of a backup battery, can provide emergency power to ensure the normal navigation of the submersible in the event of a reactor accident, thereby increasing the safety and reliability of the submersible.

[0024] 6. The passive waste heat removal heat exchanger designed in this invention allows seawater to automatically enter the heat exchanger based on pressure difference when the valve on the water pipe is opened, and exchange heat with the reactor. It can automatically remove the waste heat from the reactor without human intervention, simplifying the structure of the passive waste heat removal system, saving valuable cabin space, and making it suitable for underwater vehicles with extremely limited internal space. Attached Figure Description

[0025] The accompanying drawings, which form part of this application, are provided to further illustrate the invention.

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0027] Figure 2 This is a top view of the submersible.

[0028] Figure 3 This is a side view of the submersible.

[0029] Figure 4 This is a schematic diagram of the snorkeling-cooling system.

[0030] Figure 5 This is a schematic diagram of the reactor structure.

[0031] Figure 6 This is a schematic diagram of the thermoelectric power generation unit.

[0032] Figure 7 This is a schematic diagram of a passive waste heat removal heat exchanger.

[0033] Figure 8 This is a schematic diagram of the connection between the monitoring system and the control system.

[0034] Explanation of reference numerals in the attached diagrams: 1-Submarine body; 1-1-Outer shell; 1-1-1-Bow compartment; 1-1-2-Cargo compartment; 1-1-3-Energy compartment; 1-1-4-Propulsion compartment; 1-2-Canard; 1-3-Tail fin; 1-4-Propeller; 1-5-Fairing; 2-Monitoring system; 2-1-Temperature detector; 2-2-Forward-looking LED and camera; 2-3-Depth gauge; 2-4-Doppler current meter; 2-5-Shallow subsurface profiler; 2-6-Side-scan sonar; 2-7-Electronic compass; 2-8-Gyroscope; 2-9-Bottom LED and camera; 2-10 3- GPS navigation system; 3- Remote communication system; 3-1- Antenna; 4- Control system; 5-1- First water tank; 5-2- Second water tank; 5-3- Third water tank; 5-4- First water pipe; 5-5- Valve; 5-6- Second water pipe; 5-7- Heat exchanger; 5-8- Third water pipe; 5-9- Valve 1; 5-10- Valve 2; 5-11- Valve 3; 5-12- Valve 4; 5-13-Valve Five; 5-14-Valve Six; 5-15-Valve Seven; 5-16-Valve Eight; 5-17-Fourth Water Pipe; 6-Thermoelectric Conversion System; 6-1-Heat Pipe; 6-2-Fuel Rod; 6-3-Moderator Rod; 6-4-Control Rod; 6-5-Slip Reflective Layer; 6-6-Insulating Thermal Conductive Layer; 6-7-Thermoelectric Material Layer; 6-8-Copper Sheet; 8-Power System; 9-1-Shadow Shielding Body; 10-Passive Waste Heat Exhaust Heat Exchanger; 10-1-Inner Shell; 10-2-Outer Shell; 10-3-Annular Cavity; 10-4-Inlet Pipe; 10-5-Outlet Pipe. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0036] See Figure 1This application provides a modular nuclear-powered unmanned underwater vehicle (UUV), comprising a UUV body 1, and a monitoring system 2, a remote communication system 3, a control system 4, a buoyancy-cooling system, a thermoelectric conversion system 6, a power supply system 8, a shielding system, and a passive waste heat removal heat exchanger 10 installed within the UUV body 1. The UUV body 1, monitoring system 2, remote communication system 3, buoyancy-cooling system, thermoelectric conversion system 6, power supply system 8, and passive waste heat removal heat exchanger 10 are all electrically connected to the control system 4. The thermoelectric conversion system 6 supplies power to the UUV body 1 and the buoyancy-cooling system, and the power supply system 8 supplies power to the UUV body 1, monitoring system 2, remote communication system 3, and control system 4. The passive waste heat removal heat exchanger 10 is fitted around the hot end of the thermoelectric conversion system 6, and the shielding system is respectively disposed at both ends of the thermoelectric conversion system 6.

[0037] The monitoring system 2 is used for underwater environment detection, seabed topography mapping and photography by the submersible, efficiently completing the seabed environment monitoring task; the remote communication system 3 is used to send the submersible's measurement data and control signals to a remote server on the ground, and receive control commands sent by the remote server, sending these control commands to the control system 4 to control the operation of the unmanned submersible; the snorkeling-cooling system is used for the submersible's snorkeling and attitude adjustment, and also serves as the cold end of the thermoelectric conversion system 6, realizing the power generation function of the thermoelectric conversion system 6 to power the electronic equipment in the submersible; when the thermoelectric conversion system 6 fails, the power system 8 serves as a backup power source to power the electronic equipment in the submersible, ensuring the normal operation of the submersible; the shielding system is used to shield the nuclear radiation emitted by the thermoelectric conversion system 6 to ensure the normal use of the electronic equipment in the submersible; the passive waste heat removal heat exchanger 10 is used to remove waste heat from the thermoelectric conversion system 6.

[0038] See Figure 1 The submersible body 1 includes an outer shell 1-1, two forewings 1-2, three tail fins 1-3, a propeller 1-4, and a fairing 1-5. The two forewings 1-2 are symmetrically installed at both ends of the bow of the outer shell 1-1, and the three tail fins 1-3 are installed at the left and right ends and the top of the stern of the outer shell 1-1. The two forewings 1-2 and the three tail fins 1-3 can effectively prevent the submersible from capsizing during navigation. The propeller 1-4 is rotatably installed at the end of the stern of the outer shell 1-1 to enable the submersible to navigate. The fairing 1-5 covers the outside of the propeller 1-4, making the thrust of the propeller 1-4 more concentrated and the submersible more stable in its underwater navigation.

[0039] Furthermore, the outer shell 1-1 is divided into four working compartments from bow to stern: bow compartment 1-1-1, load compartment 1-1-2, energy compartment 1-1-3, and propulsion compartment 1-1-4. The monitoring system 2, remote communication system 3, and control system 4 are installed in the bow compartment 1-1-1. The snorkeling-cooling system is installed in the bow compartment 1-1-1, load compartment 1-1-2, and energy compartment 1-1-3. The power system 8 is installed in the bow compartment 1-1-1 and propulsion compartment 1-1-4. The thermoelectric conversion system 6, shielding system, and passive waste heat removal heat exchanger 10 are installed in the energy compartment 1-1-3. The motor for driving the propeller 1-4 is installed in the propulsion compartment 1-1-4.

[0040] Furthermore, the outer shell 1-1 adopts the Myring model in shape; the outer shell 1-1 is made of carbon fiber polymer composite material, and openings are made on the outer shell 1-1 at the positions corresponding to the snorkeling-cooling system to facilitate the pumping and drainage of the snorkeling-cooling system.

[0041] Furthermore, the tail fin 1-3 includes a fixed wing and an aileron. The fixed wing is fixedly mounted on the outer shell 1-1, and the aileron is rotatably mounted on the outer shell 1-1 and located behind the fixed wing.

[0042] See Figure 1The monitoring system 2 includes a temperature detector 2-1, a forward-looking LED and camera 2-2, a depth gauge 2-3, a Doppler current meter 2-4, a shallow subsurface profiler 2-5, a side-scan sonar 2-6, an electronic compass 2-7, a gyroscope 2-8, a bottom LED and camera 2-9, and a GPS navigation system 2-10. The temperature detector 2-1, forward-looking LED and camera 2-2, depth gauge 2-3, Doppler current meter 2-4, shallow subsurface profiler 2-5, side-scan sonar 2-6, electronic compass 2-7, gyroscope 2-8, bottom LED and camera 2-9, and GPS navigation system 2-10 are electrically connected to the control system. The temperature detector 2-1 is used to measure the temperature inside the submersible. The forward-looking LED and camera 2-2 and the bottom LED and camera 2-9 are used to capture underwater images of the submersible's front and bottom. The camera uses an O-type... The E15-100A underwater camera features a titanium alloy housing, operates at a depth of 3000m, operates at 16-30VDC, and consumes approximately 5W. Other equipment in the underwater television system consumes approximately 30W, bringing the total system power to approximately 35W. The depth gauge 2-3 measures the submersible's diving depth. The Doppler current meter 2-4, employing an acoustic Doppler profiler (ADCP), measures ocean current profiles, speed, and depth changes. The shallow seismic profiler 2-5 detects geological structures below the seabed. The side-scan sonar 2-6 is used for underwater search and exploration to detect underwater objects. The electronic compass 2-7 serves as a navigation instrument or attitude sensor. The gyroscope 2-8 measures the submersible's deflection angle. The GPS navigation system 2-10 determines the submersible's position.

[0043] See Figure 1 The control system 4 uses the STM32F407VGT6 chip as the core control component. Multiple control modules are installed on the control board, such as a gyroscope module, a regulated power supply module, a communication module, a status visualization module, a PWM control module, and a servo module, to realize the reception, processing, and transmission of information.

[0044] See Figure 1 The remote communication system 3 includes an antenna 3-1 controlled by a micro motor and a remote server. The micro motor controls the extension and resetting of the antenna, and the mechanical control allows the antenna to lie flat. During operation, the motor makes it stand upright. The antenna is connected to the remote server through the enclosure to send measurement data to the remote server and receive control commands sent by the remote server.

[0045] The submersible hull 1-1 is also equipped with an interface to enable the charging of the power system and the exchange of information. It can also be used for energy replenishment and information exchange at an underwater energy replenishment docking station.

[0046] See Figure 1 The snorkeling-cooling system includes three water tanks: a first water tank 5-1, a second water tank 5-2, and a third water tank 5-3. The first water tank 5-1 is installed in the bow compartment 1-1-1, the second water tank 5-2 is installed in the load compartment 1-1-2, and the third water tank 5-3 is installed in the energy compartment 1-1-3. A third water pipe 5-8 is connected to the first water tank 5-1 and the second water tank 5-2 at the top, bottom, left, and right positions. Each third water pipe 5-8 is equipped with a filter and a valve. The valves on the four third water pipes 5-8 on the first water tank 5-1 are labeled as valve 1 5-9, valve 2 5-10, valve 3 5-11, and valve 4 5-12, respectively. The valves on the four third water pipes 5-8 on the second water tank 5-2 are labeled as valve 5 5-13, valve 6 5-14, valve 7 5-15, and valve 8 5-16, respectively.

[0047] The first water tank 5-1 and the second water tank 5-2 are connected by two symmetrically arranged first water pipes 5-4. One end of one first water pipe 5-4 is connected to the first water tank 5-1, and the other end is connected to the second water tank 5-2. Each first water pipe 5-4 is equipped with a valve 5-5. The second water tank 5-2 and the third water tank 5-3 are connected by several second water pipes 5-6 and two fourth water pipes 5-17. One end of the second water pipe 5-6 is connected to the second water tank 5-2, and the other end of the second water pipe 5-6 is connected to the third water tank 5-3. One end of the fourth water pipe 5-17 is connected to the second water tank 5-2, and the other end of the fourth water pipe 5-17 is connected to the third water tank 5-3. Each second water pipe 5-6 is equipped with a water pump and a heat exchanger 5-7 in sequence along the water flow direction. Water in the second water tank 5-2 enters the third water tank 5-3 through the second water pipe 5-6, and water in the third water tank 5-3 circulates back to the second water tank 5-2 through the fourth water pipe 5-17.

[0048] Furthermore, the second water tank 5-2 is provided with several cold water pipes axially, one end of which passes through the side wall of the second water tank 5-2 and is connected to the thermoelectric conversion system 6.

[0049] Furthermore, since there are ten second water pipes 5-6, there are also ten water pumps and heat exchangers 5-7.

[0050] Furthermore, the heat exchangers 5-7 are spiral baffle shell-and-tube heat exchangers.

[0051] Furthermore, the water pump is a seawater circulation pump, with each set of circulation pumps having a head of 3m, a flow rate of 1.5 m³ / h, and a power of 100W.

[0052] The snorkeling-cooling system of this application has the functions of controlling the snorkeling of the submersible and controlling the six degrees of freedom of the submersible. At the same time, it also serves as the cooling end of the thermoelectric conversion system 6, realizing the power generation function of the thermoelectric conversion system 6. Among them, the first water tank 5-1 is only responsible for the snorkeling control of the submersible. The synergistic effect of the first water tank 5-1 and the second water tank 5-2 realizes the snorkeling and attitude change of the submersible. The synergistic effect of the second water tank 5-2 and the third water tank 5-3 serves as the cold end of the thermoelectric conversion system 6.

[0053] The specific functionality is implemented as follows:

[0054] To achieve the snorkeling function of the submersible: Seawater enters the first water tank 5-1 and the second water tank 5-2 through eight third water pipes 5-8. The weight of the submersible increases, while its volume remains unchanged. Buoyancy remains almost constant during this adjustment process. Since weight is greater than buoyancy, the submersible sinks. Seawater in the first water tank 5-1 and the second water tank 5-2 is discharged out of the submersible through the eight third water pipes 5-8. The weight of the submersible decreases, buoyancy remains almost constant, and since weight is less than buoyancy, the submersible rises. The two valves 5-5 on the first water pipe 5-4 between the first water tank 5-1 and the second water tank 5-2 are always open to ensure the balance of the submersible.

[0055] Achieving six degrees of freedom motion for the underwater vehicle:

[0056] The two valves 5-5 on the first water pipe 5-4 between the first water tank 5-1 and the second water tank 5-2 are closed, cutting off the water supply to the first water tank 5-1 and the second water tank 5-2. In conjunction with the two forewings and three tail fins of the hull rudder and the propulsion system propeller and fairing, the submersible achieves six degrees of freedom of sway, pitch, bow roll, roll, pitch, and heave.

[0057] The hull completes the swaying motion: Valves 3 (5-11) and 4 (5-12) at both ends of the first water tank 5-1 are opened, while valves 1 (5-9) and 2 (5-10) at both ends are closed; Valves 7 (5-15) and 8 (5-16) at both ends of the second water tank 5-2 are opened, while valves 5 (5-13) and 6 (5-14) at both ends are closed; The water pump is turned on, allowing seawater to enter the first water tank 5-1 and the second water tank 5-2 through the third water pipe 5-8 at the left or right end, while simultaneously expelling the seawater from the first water tank 5-1 and the second water tank 5-2 through the third water pipe 5-8 at the right or left end, thus propelling the hull to complete the swaying motion.

[0058] The hull completes the pitching motion: all eight valves on the first water tank 5-1 and the second water tank 5-2 are closed, and the hull moves forward to complete the pitching motion through the propeller propulsion.

[0059] The hull completes the heaving motion: Valves 1 (5-9) and 2 (5-10) at both ends of the first water tank 5-1 are opened, while valves 3 (5-11) and 4 (5-12) at both ends are closed; Valves 5 (5-13) and 6 (5-14) at both ends of the second water tank 5-2 are opened, while valves 7 (5-15) and 8 (5-16) at both ends are closed; The water pump is turned on, allowing seawater to enter the first water tank 5-1 and the second water tank 5-2 through the third water pipe 5-8 at the upper or lower end, while simultaneously expelling the seawater from the first water tank 5-1 and the second water tank 5-2 through the third water pipe 5-8 at the lower or upper end, thus propelling the hull to complete the heaving motion.

[0060] The hull completes the rolling motion: the left tail fin's aileron swings downwards, and the right tail fin's aileron swings upwards, completing the rolling motion under the coordinated control of the propeller.

[0061] The hull completes the pitching motion: through the coordinated operation of the tail fin and the snorkeling-cooling system, specifically, the left and right tail fin ailerons swing in the same direction, valves 5-9 and 5-10 at both ends of the first water tank 5-1 open, while valves 5-11 and 5-12 at both ends close; valves 5-13 and 5-14 at both ends of the second water tank 5-2 open, while valves 5-15 and 5-16 at both ends close; the water pump is activated, allowing seawater to pass through the upper part of the first water tank 5-1. Water enters through the third water pipe 5-8 and the lower end of the second water tank 5-2 through the third water pipe 5-8. At the same time, water is drained through the lower end of the first water tank 5-1 through the third water pipe 5-8 and the upper end of the second water tank 5-2 through the third water pipe 5-8. Alternatively, water is drained through the upper end of the first water tank 5-1 through the third water pipe 5-8 and the lower end of the second water tank 5-2 through the third water pipe 5-8. Simultaneously, water enters through the lower end of the first water tank 5-1 through the third water pipe 5-8 and the upper end of the second water tank 5-2 through the third water pipe 5-8, thus propelling the hull to complete the pitching motion.

[0062] The hull completes the bow roll maneuver: the tail fin works in conjunction with the snorkeling-cooling system, specifically, the ailerons on the upper part of the tail fin swing left or right, opening valves 3 (5-11) and 4 (5-12) on both sides of the first water tank 5-1, while closing valves 1 (5-9) and 2 (5-10) at the top and bottom; valves 7 (5-15) and 8 (5-16) on both sides of the second water tank 5-2 open, while valves 5 (5-13) and 6 (5-14) at the top and bottom close; the water pump is activated, allowing seawater to pass through the first water tank 5-1. Water enters through the third water pipe 5-8 on the left end of the first water tank 5-1, and water enters through the third water pipe 5-8 on the right end of the second water tank 5-2. Water is discharged through the third water pipe 5-8 on the right end of the first water tank 5-1, and water is discharged through the third water pipe 5-8 on the left end of the second water tank 5-2. Alternatively, seawater is discharged through the third water pipe 5-8 on the left end of the first water tank 5-1, and water is discharged through the third water pipe 5-8 on the right end of the second water tank 5-2. Water enters through the third water pipe 5-8 on the right end of the first water tank 5-1, and water enters through the third water pipe 5-8 on the left end of the second water tank 5-2, thus propelling the hull to complete the bow roll.

[0063] To achieve the function of maintaining a low temperature at the cold end of the thermoelectric conversion system:

[0064] In this application, the water heated by the thermoelectric conversion system 6 in the second water tank 5-2 is cooled by the heat exchanger 5-7 on the second water pipe 5-6 and stored in the third water tank 5-3. Then, it is circulated back to the second water tank 5-2 through the fourth water pipe 5-17 to ensure the low temperature of the cold end of the thermoelectric conversion system 6.

[0065] See Figure 1 The thermoelectric conversion system 6 includes several one-to-one reactor heating units and thermoelectric power generation units; a thermoelectric power generation unit is arranged in each cold water pipe in the second water tank 5-2 to achieve cooling of the thermoelectric power generation unit.

[0066] See Figure 1 Each reactor heating unit includes one heat pipe 6-1, eight fuel rods 6-2, and four moderator rods 6-3. The four moderator rods 6-3 are evenly arranged around one end of the heat pipe 6-1, and two fuel rods 6-2 are arranged between two adjacent moderator rods 6-3. The other end of the heat pipe 6-1 is inserted into the thermoelectric generator unit to provide a higher temperature for the thermoelectric generator unit.

[0067] Furthermore, several reactor heating units are arranged in an array. Four control rods 6-4, four plug-in drivers, and four sliding reflector layers 6-5 are arranged outside the array of reactor heating units. The four sliding reflector layers 6-5 are sequentially connected to form a ring structure, completely surrounding the reactor heating units. A control rod 6-4 is positioned between two adjacent sliding reflector layers 6-5. The control rod 6-4 is slidably connected to the sliding reflector layer 6-5. Each control rod 6-4 is driven by a plug-in driver to move, thereby controlling the power and start / stop of the reactor heating unit.

[0068] Furthermore, the heat pipe 6-1 is a copper tube with closed ends, a heat transfer coefficient of 401 W, a specific heat capacity of 0.39 kJ / (kg·℃), and the heat pipe 6-1 is filled with a heat exchange medium, preferably a flowing heat exchange liquid.

[0069] Furthermore, the control rod 6-4 is made of beryllium oxide.

[0070] Furthermore, the moderating rod 6-3 is made of graphite.

[0071] Furthermore, the fuel rod 6-2 is made of molybdenum and is arranged in a double-row configuration.

[0072] See Figure 1 Each thermoelectric power generation unit includes an insulating and heat-conducting layer 6-6, several thermoelectric material layers 6-7, and several copper sheets 6-8. The insulating and heat-conducting layer 6-6 surrounds the heat pipe 6-1. The several thermoelectric material layers 6-7 are arranged in two layers, inner and outer, and staggered between the insulating and heat-conducting layer 6-6 and the cold water pipe, and are connected in series through the copper sheets 6-8. That is, a part of the thermoelectric material layers 6-7 are evenly and spaced on the outer circular wall of the insulating and heat-conducting layer 6-6, and another part of the thermoelectric material layers 6-7 are evenly and spaced on the inner wall of the cold water pipe. The inner thermoelectric material layer 6-7 is staggered with the outer thermoelectric material layer 6-7. One end of the copper sheet 6-8 is connected to the inner thermoelectric material layer 6-7, and the other end of the copper sheet 6-8 is connected to the outer thermoelectric material layer 6-7. The inner thermoelectric layer 6-7 and the outer thermoelectric layer 6-7 are connected in series through the copper sheet 6-8.

[0073] Furthermore, the insulating and thermally conductive layer 6-6 is made of ceramic material.

[0074] Furthermore, the cold water pipe is made of fiberglass, and the outside of the cold water pipe is coated with a high-temperature resistant mica coating or a high-temperature resistant resin coating to reduce the impact of high temperature on the material.

[0075] In each reactor heating unit of this application, the nuclear fuel in the fuel rods 6-2 undergoes a chain reaction, continuously generating fast neutrons and heat. The generated fast neutrons collide with the moderator rods 6-3, becoming thermal neutrons, thereby generating a large amount of heat. The generated heat is conducted to the thermoelectric power generation unit through heat pipes 6-1. The thermoelectric power generation unit adopts static thermoelectric power generation technology. The heat and cold on the upper and lower surfaces of the thermoelectric material layer 6-7 form a temperature difference. Since the thermoelectric material is essentially a P, N type semiconductor, the temperature difference between the hot and cold ends excites electrons and holes in the thermoelectric material to move from high concentration to low concentration, forming a potential difference and generating current. The small currents generated by each layer of thermoelectric material are connected in series through wires to form a larger current, which is used by the working module to meet the electrical energy required by the submersible, ultimately realizing the conversion of thermal energy into electrical energy.

[0076] The reactor heating unit of this application controls its power by adjusting the insertion depth of the control rod 6-4 into the reactor core using a stepper motor-driven insertion / removal actuator. Specifically, since the control rod 6-4 is made of a material that strongly absorbs neutrons, it can effectively control the reactor's reaction rate. When the reactor reaction is intense, the insertion / removal actuator pulls the control rod 6-4 deeper, causing it to absorb more fast neutrons produced by the fuel rods 6-2, slowing down the chain reaction and reducing heat generation. Conversely, pulling the control rod 6-4 further out of the active zone reduces neutron absorption, increases the chain reaction rate, and generates more heat. Therefore, this application achieves power regulation of the reactor heating unit by adjusting the depth of the control rod 6-4 within the heating unit.

[0077] See Figure 1 The power system 8 is divided into two groups. One group is located in the bow compartment 1-1-1 and supplies power to the monitoring system 2, the remote communication system 3 and the control system 4. This ensures that the reactor heating unit is in normal working condition regardless of whether the reactor heating unit is in normal working condition. The power system 8 supplies power to the monitoring system 2, the remote communication system 3 and the control system 4, ensuring the normal working condition of the submersible. The other group is located in the propulsion compartment 1-1-4 and supplies power to the propeller and aileron servo motors of the submersible.

[0078] Furthermore, the power system 8 uses lithium thionyl chloride batteries to form a battery pack with a working voltage of 3.65V and a specific energy of up to 1470 W·h·kg-1.

[0079] When the reactor heating unit shuts down, the thermoelectric conversion system 6 can no longer supply power to the submersible body 1 and the buoyancy-cooling system, causing the submersible to stop working. The thermoelectric conversion system 6 transmits the measurement signal to the control system, and the control system controls the power system 8 of this application to provide emergency power to the submersible body 1 and the buoyancy-cooling system to ensure the normal operation of the submersible.

[0080] See Figure 1 The shielding system includes two shadow shields 9-1, which are respectively arranged on both sides of the thermoelectric conversion system 6.

[0081] Furthermore, the aforementioned shielding body 9-1 is made of boron-carbon bricks composed of graphite and boron carbide, and a shielding structure is used inside the energy cabin and coated with a boron carbide layer to reduce external radiation.

[0082] See Figure 1 The passive waste heat removal heat exchanger 10 includes an inner shell 10-1 and an outer shell 10-2. The outer shell 10-2 is fitted over the inner shell 10-1, and an annular cavity 10-3 is formed between the two. An inlet pipe 10-4 and an outlet pipe 10-5 are respectively provided at the upper and lower ends of the outer shell 10-2. A valve is provided on the inlet pipe 10-4 and the outlet pipe 10-5 respectively.

[0083] Furthermore, the inner shell 10-1 has a cylindrical structure, and the passive waste heat removal heat exchanger 10 is fitted outside the reactor.

[0084] When the reactor is operating normally, the valves at the upper and lower ends of the passive residual heat removal heat exchanger 10 are in the open state, and the passive residual heat removal heat exchanger 10 is operating normally. The solenoid valves at the upper and lower ends of the passive residual heat removal heat exchanger 10 are opened, opening the inlet and outlet. Through the seawater pressure difference, seawater flows from the inlet into the annular cavity 10-3 through the water pipe, and exchanges heat with the reactor. The seawater in the annular cavity 10-3 itself increases in temperature and decreases in density, thus continuously flowing upward and flowing out through the outlet, causing the residual heat in the heat pipe to be discharged, thereby causing the sodium vapor in the heat pipe to condense and flow back to the reactor core along the pipe wall.

[0085] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A modular nuclear-powered unmanned underwater vehicle, characterized in that: It includes a submersible body (1), and a monitoring system (2), a remote communication system (3), a control system (4), a buoyancy-cooling system, a thermoelectric conversion system (6), a power supply system (8), a shielding system, and a passive waste heat exhaust heat exchanger (10) installed in the submersible body (1); the submersible body (1), the monitoring system (2), the remote communication system (3), the buoyancy-cooling system, the thermoelectric conversion system (6), the power supply system (8), and the passive waste heat exhaust heat exchanger (10) are electrically connected to the control system (4); the thermoelectric conversion system (6) supplies power to the submersible body (1) and the buoyancy-cooling system, and the power supply system (8) supplies power to the submersible body (1), the monitoring system (2), the remote communication system (3), and the control system (4); the passive waste heat exhaust heat exchanger (10) is fitted outside the hot end of the thermoelectric conversion system (6), and the shielding system is respectively set at both ends of the thermoelectric conversion system (6); The snorkeling-cooling system includes a first water tank (5-1), a second water tank (5-2), and a third water tank (5-3). The first water tank (5-1) is installed in the bow compartment (1-1-1), the second water tank (5-2) is installed in the load compartment (1-1-2), and the third water tank (5-3) is installed in the energy compartment (1-1-3). A third water pipe (5-8) is connected to the first water tank (5-1) and the second water tank (5-2) at the top, bottom, left, and right positions, respectively. Each third water pipe (5-8) is equipped with a filter and a valve. The first water tank (5-1) and the second water tank (5-2) are connected by two symmetrically arranged first water pipes (5-4), and each first water pipe (5-4) is equipped with a valve (5-5); the second water tank (5-2) and the third water tank (5-3) are connected by several second water pipes (5-6) and a fourth water pipe (5-17), and each second water pipe (5-6) is equipped with a water pump and a heat exchanger (5-7) in sequence along the water flow direction.

2. The modular nuclear-powered unmanned underwater vehicle according to claim 1, characterized in that: The submersible body (1) includes an outer shell (1-1), two forewings (1-2), three tail fins (1-3), a propeller (1-4), and a fairing (1-5); the two forewings (1-2) are symmetrically installed at both ends of the bow of the outer shell (1-1), the three tail fins (1-3) are respectively installed at the left and right ends and the upper end of the stern of the outer shell (1-1), the propeller (1-4) is rotatably installed at the end of the stern of the outer shell (1-1), and the fairing (1-5) covers the outside of the propeller (1-4); The outer shell (1-1) is divided into a bow compartment (1-1-1), a cargo compartment (1-1-2), an energy compartment (1-1-3), and a propulsion compartment (1-1-4) from bow to stern. The monitoring system (2), the remote communication system (3), and the control system (4) are installed in the bow compartment (1-1-1). The snorkeling-cooling system is installed in the bow compartment (1-1-1), the cargo compartment (1-1-2), and the energy compartment (1-1-3). The power system (8) is installed in the bow compartment (1-1-1) and the propulsion compartment (1-1-4), respectively. The thermoelectric conversion system (6), the shielding system, and the passive waste heat removal heat exchanger (10) are installed in the energy compartment (1-1-3). The motors for driving the propeller (1-4) and the motors for driving the snorkeling-cooling system are installed inside the propulsion compartment (1-1-4).

3. The modular nuclear-powered unmanned underwater vehicle according to claim 1, characterized in that: The second water tank (5-2) is provided with several cold water pipes axially. One end of the cold water pipe passes through the side wall of the second water tank (5-2) and is connected to the thermoelectric conversion system (6).

4. A modular nuclear-powered unmanned underwater vehicle according to claim 3, characterized in that: The thermoelectric conversion system (6) includes a reactor and several thermoelectric power generation units, which are respectively installed in the cold water pipes in the second water tank (5-2); each reactor includes several reactor heating units arranged in an array, and the reactor heating units and thermoelectric power generation units are arranged one-to-one.

5. A modular nuclear-powered unmanned underwater vehicle according to claim 4, characterized in that: Each reactor heating unit includes one heat pipe (6-1), eight fuel rods (6-2), and four moderator rods (6-3); the four moderator rods (6-3) are evenly arranged circumferentially at one end of the heat pipe (6-1), and two fuel rods (6-2) are arranged between two adjacent moderator rods (6-3); the other end of the heat pipe (6-1) is inserted into the thermoelectric power generation unit. Four control rods (6-4), four plug-in drivers, and four sliding reflective layers (6-5) are arranged outside the reactor heating unit of the array. The four sliding reflective layers (6-5) are connected in sequence to form a ring structure, which completely surrounds the reactor heating unit. A control rod (6-4) is arranged between two adjacent sliding reflective layers (6-5). The control rod (6-4) and the sliding reflective layer (6-5) are slidably connected. Each control rod (6-4) is driven by a plug-in driver to move and control the power and start / stop of the reactor heating unit.

6. A modular nuclear-powered unmanned underwater vehicle according to claim 5, characterized in that: Each thermoelectric power generation unit includes an insulating and heat-conducting layer (7-1), several thermoelectric material layers (7-2), and several copper sheets (7-3). The insulating and heat-conducting layer (7-1) surrounds the heat pipe (6-1), and the several thermoelectric material layers (7-2) are arranged circumferentially in two layers, inner and outer, between the insulating and heat-conducting layer (7-1) and the cold water pipe. The inner and outer thermoelectric material layers (7-2) are connected in series through the copper sheets (7-3).

7. A modular nuclear-powered unmanned underwater vehicle according to claim 1, characterized in that: The power system (8) is divided into two groups. One group is located in the bow compartment (1-1-1) to supply power to the monitoring system (2), the remote communication system (3) and the control system (4); the other group is located in the propulsion compartment (1-1-4) to supply power to the propeller and aileron servo motors of the submarine.

8. A modular nuclear-powered unmanned underwater vehicle according to claim 1, characterized in that: The shielding system includes two shadow shields (9-1), which are respectively arranged on both sides of the thermoelectric conversion system (6).

9. A modular nuclear-powered unmanned underwater vehicle according to claim 1, characterized in that: The passive waste heat removal heat exchanger (10) includes an inner shell (10-1) and an outer shell (10-2). The outer shell (10-2) is fitted over the inner shell (10-1), and an annular cavity (10-3) is formed between them. The upper and lower ends of the outer shell (10-2) are respectively provided with an inlet pipe (10-4) and an outlet pipe (10-5). The inlet pipe (10-4) and the outlet pipe (10-5) are both connected to the annular cavity (10-3), and a valve is provided on the inlet pipe (10-4) and the outlet pipe (10-5). The inner shell (10-1) is a cylindrical structure, and the passive waste heat removal heat exchanger (10) is fitted over the reactor.

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