An underwater vehicle flexible handling test device, method and handling method

Abstract

The application relates to the technical field of underwater unmanned vehicles, in particular to a flexible handling test device, a handling method and a handling method for an underwater vehicle, which comprises a trailer, a movable clamping and releasing device for clamping and releasing a flexible rope net is arranged on the trailer, and a steel plate connecting piece for connecting the underwater unmanned vehicle is arranged on the trailer; the clamping and releasing device is used for controlling the flexible rope net to be released. The embodiment of the application has a simple structure and can be used for testing the flexible capture of the underwater unmanned vehicle.

Description

Technical Field

[0001] This invention relates to the technical field of unmanned underwater vehicles (UUVs), and more particularly to a flexible disposal test device, method, and disposal method for underwater vehicles. Background Technology

[0002] With the widespread application of underwater unmanned autonomous technology, underwater unmanned vehicles (UAVs) are revolutionizing traditional underwater warfare with their low-cost construction and unconventional tactical systems. Currently, traditional defense and countermeasures against underwater UAVs primarily rely on existing underwater strike methods such as torpedoes and mines. This approach is prone to resource waste and seawater pollution. Furthermore, underwater strikes expose underwater targets, increasing operational risks.

[0003] Therefore, it is necessary to conduct research on flexible disposal test methods for underwater vehicles, and the capture of underwater unmanned vehicles is the key problem that this invention needs to solve. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides an underwater vehicle flexible disposal test device, method and disposal method, which solves the technical problems of resource waste and seawater pollution caused by the existing underwater strike disposal methods, and the exposure of the target.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0008] In a first aspect, embodiments of the present invention provide a flexible disposal test device for an underwater vehicle, comprising: a trailer, on which a movable clamping and releasing device for clamping and releasing a flexible rope net is provided, and a steel plate connector for connecting and towing an underwater unmanned vehicle; the clamping and releasing device is used to control the release of the flexible rope net.

[0009] The underwater vehicle flexible handling test device proposed in this embodiment of the invention has a simple structure and can conduct tests on the flexible capture of underwater unmanned vehicles.

[0010] Optionally, the clamping and releasing device further includes: a wire rope, a hand-cranked control device, and a clamping blade; the hand-cranked control device controls the clamping blade to clamp and release the flexible rope net via the wire rope;

[0011] When the clamping blade is fixed underwater and the flexible rope net is released, it is on the same waterline as the centerline of the underwater unmanned vehicle.

[0012] Secondly, embodiments of the present invention provide a method for conducting flexible disposal tests on underwater vehicles, using the aforementioned flexible disposal test apparatus for underwater vehicles, comprising the following steps:

[0013] The underwater unmanned vehicle is fixed to the trailer by steel plate connectors, and a flexible rope net is held by a clamping and releasing device; both the underwater unmanned vehicle and the clamping and releasing device are arranged below the water surface.

[0014] Start the trailer, which will move the underwater unmanned vehicle and the clamping and releasing device forward together; turn on the propeller motor of the underwater unmanned vehicle.

[0015] After the propeller is running stably, release the flexible rope net until the flexible rope net moves with the water flow to the duct or the propeller suction area, causing the propeller to become entangled with the flexible rope and be stopped.

[0016] Record the torque and thrust when the propeller is running stably, and when it is stopped.

[0017] The underwater vehicle flexible handling test method proposed in this embodiment of the invention uses a trailer to move the underwater unmanned vehicle and the clamping and release device forward together; by utilizing the flow field formed around the underwater vehicle during the journey and the eddy field generated by the propeller suction, the flexible rope net is deployed and released underwater in a targeted manner to achieve a flexible capture test of the target underwater unmanned vehicle.

[0018] Optionally, releasing the flexible net includes: changing the release position of the flexible net from the clamping release device to the axial, radial, and water depth directions of the underwater unmanned vehicle by moving the release device; repeating the step of releasing the flexible net until the propeller is stopped, and recording the direction and distance data between the underwater unmanned vehicle and the clamping release device to test the interaction between the flexible net and the flow field around the target underwater unmanned vehicle, including: statistically analyzing the probability of the net entanglement and propeller entanglement within different measurement point location conditions and the optimal release range.

[0019] Optionally, releasing the flexible rope net includes: changing the length, size, and release shape of the flexible rope net released by the clamping and releasing device; repeating the step of releasing the flexible rope net until the propeller is stopped, recording the corresponding rope net release form and the winding mechanism of the underwater unmanned vehicle, as well as the corresponding stopping time and the torque and thrust after stopping. Different forms of flexible rope nets are designed to explore the winding mechanism and release form during the process of the rope net winding around the propeller, verifying whether the rope net can be wound around the propeller at different distances when it contacts the vehicle and the propeller, causing the propeller to be entangled and stopped, thereby forming a flexible damage treatment effect on the underwater unmanned vehicle.

[0020] Thirdly, embodiments of the present invention provide a flexible disposal method for underwater vehicles, comprising the following steps:

[0021] The clamping and release device moves in the same phase as the target underwater unmanned vehicle (UAV), and at the same time releases a flexible rope net in the suction area of ​​the flow field around the UAV. The flexible rope net moves with the water flow to the suction area of ​​the target UAV's duct or propeller, causing the propeller to become entangled with the soft rope and be stopped, thus achieving flexible capture of the target UAV.

[0022] The underwater vehicle flexible disposal method proposed in this invention addresses the operational characteristics and practical needs of underwater unmanned vehicles. It utilizes flexible ropes or nets to entangle the underwater vehicle's propeller, causing the propulsion system to stall, decelerate, be damaged, or become unstable. This achieves vehicle capture based on flexible damage methods such as ropes or nets. The flexible damage is reversible and does not cause significant damage to the underwater vehicle. Furthermore, the capture process does not easily expose the target.

[0023] Optionally, before releasing the flexible rope net, the model of the target underwater unmanned vehicle is matched, the range of the flow field suction area around the target underwater unmanned vehicle is calculated, and then the flexible rope net is released into the range of the flow field suction area around the target vehicle through the clamping release device.

[0024] (III) Beneficial Effects

[0025] The beneficial effects of this invention are as follows: The underwater vehicle flexible disposal test device, method, and disposal method of this invention utilize the flow field formed around the underwater vehicle during navigation and the vortex field generated by the propeller's suction effect to implement targeted underwater deployment and release of flexible rope nets. This enables experimental methods for capturing underwater vehicles based on flexible damage disposal methods such as ropes or nets. Specifically, by using flexible rope nets or similar devices to entangle the underwater vehicle's propeller, effects such as stalling, deceleration, damage, or instability of the underwater vehicle's propulsion system are caused. The flexible damage is reversible and does not cause significant damage to the underwater vehicle. Attached Figure Description

[0026] Figure 1 This is a front view of an underwater flexible rope net test for capturing an unmanned aerial vehicle according to a preferred embodiment of the present invention.

[0027] Figure 2 This is a top view of a test of capturing an unmanned aerial vehicle using an underwater flexible rope net, according to a preferred embodiment of the present invention.

[0028] Figure 3 This is a schematic diagram of a flexible rope net wound propeller according to a preferred embodiment of the present invention.

[0029] [Explanation of Labels in the Attached Image]

[0030] 1. Trailer; 2. Steel plate connector; 3. Water surface; 4. Hand-cranked control device; 5. Steel wire rope; 6. Clamping and release device; 7. Clamping blade; 8. Flexible rope net; 9. Propeller; 10. Conduit; 11. Underwater unmanned vehicle; 12. Pool wall. Detailed Implementation

[0031] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] The underwater vehicle flexible disposal test device, method, and disposal method proposed in this invention utilize the flow field formed around the underwater vehicle during navigation and the vortex field generated by the suction effect of the propeller 9 to implement targeted underwater deployment and release of the flexible rope net 8. By entangled with the underwater vehicle's propeller 9 through the flexible rope net 8 and other devices, effects such as stalling, deceleration, damage, or instability of the underwater unmanned vehicle 11's propulsion system are caused. This allows for testing the interaction mechanism and range of action between the underwater unmanned vehicle 11 and the flexible rope net 8.

[0033] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0034] See Figure 1 , Figure 2 This invention provides a flexible handling test device for underwater vehicles, comprising: a trailer 1 (or tugboat), on which a movable clamping and releasing device 6 for clamping and releasing a flexible rope net 8 is mounted, and a steel plate connector 2 for connecting and towing an underwater unmanned vehicle 11 (in this embodiment, a 1:1 model of the "Bluefin Tuna-21" vehicle is used). The clamping and releasing device 6 further includes: a steel wire rope 5, a hand-cranked control device 4, a clamping blade 7, and the flexible rope net 8; the hand-cranked control device 4 controls the clamping blade 7 to clamp and release the flexible rope net 8 via the steel wire rope 5. When the clamping blade 7 is fixed underwater to release the flexible rope net 8, it is on the same waterline as the centerline of the underwater unmanned vehicle 11.

[0035] The underwater vehicle flexible handling test device proposed in this embodiment of the invention has a simple structure and can conduct tests on the flexible capture of underwater unmanned vehicles 11.

[0036] Correspondingly, this embodiment of the invention provides a method for flexible disposal testing of underwater vehicles, using the aforementioned flexible disposal testing device for underwater vehicles to conduct disposal tests. This embodiment... Figure 2The experiment was conducted in the water tank shown. Figure 2 The upper and lower boundaries are the pool wall 12. The experiment includes the following steps:

[0037] The underwater unmanned vehicle 11 is fixed to the trailer 1 by the steel plate connector 2, and the flexible rope net 8 is clamped by the clamping and releasing device 6; the underwater unmanned vehicle 11 and the clamping and releasing device 6 are both arranged below the water surface 3.

[0038] Start the trailer 1, which moves the underwater unmanned vehicle 11 and the clamping and releasing device 6 forward together; turn on the motor of the propeller 9 of the underwater unmanned vehicle 11, so that the propeller 9 rotates. Normally, as the trailer 1 moves the vehicle, the propeller 9 rotates at the speed corresponding to the speed of the journey.

[0039] After propeller 9 has stabilized, release the flexible rope net 8. (See below) Figure 3 The released flexible rope net 8 flows into the duct 10 or the suction area of ​​the propeller 9 under the action of the flow field around the underwater unmanned vehicle 11 and the suction flow field of the propeller 9, and is sucked and entangled by the propeller 9 until the propeller 9 is entangled with the soft rope and is stopped.

[0040] The torque and thrust of propeller 9 when it is running stably, as well as when it is stalled, can be measured and recorded by sensors installed on the hull.

[0041] During implementation, the flexible rope net 8 is released, including: changing the release position of the flexible rope net 8 held by the clamping release device 6 to the release distance in the axial, radial and water depth directions of the underwater unmanned vehicle 11 by moving it; repeating the step of releasing the flexible rope net 8 until the propeller 9 is stopped, and recording the direction and distance data between the underwater unmanned vehicle 11 and the clamping release device 6, so as to test the interaction between the flexible rope net 8 and the surrounding flow field of the target underwater unmanned vehicle 11, including: statistically analyzing the probability of the rope net entanglement and propeller 9 within different measurement point location conditions and the optimal release area range.

[0042] Before initiating the flexible capture of the underwater unmanned vehicle 11 using this method, the distance between the clamping and release device 6 and the hull needs to be determined. To ensure the feasibility of the underwater flexible capture experiment, the vehicle and the clamping and release device need to be submerged to a certain underwater position. This position cannot be too deep from the surface 3, otherwise the test rope will not be able to contact and entangle with the propeller 9. The underwater unmanned vehicle 11 and the clamping and release device 6 are at the same underwater height. The released flexible rope net 8 will flow to the propeller 9 area of ​​the underwater unmanned vehicle 11 under the action of the water current, or contact and entangle with the propeller 9 guide tube 10, or drift away from the propeller 9. Therefore, when testing the release direction and distance, it is also necessary to calculate the probability of the flexible rope net 8 successfully entangled with the propeller 9 after release at each distance. That is, after one test, the flexible rope net 8 needs to be released multiple times at different measuring points, and the probability of the rope net entangled and jammed with the propeller 9 within the optimal release range under different measuring point conditions needs to be calculated, so as to draw the basic conclusion of the flexible rope net 8's underwater capture of the vehicle.

[0043] During implementation, the flexible rope net 8 is released, including: changing the length, size, and release shape of the flexible rope net 8 released by the clamping and release device 6; repeating the step of releasing the flexible rope net 8 until the propeller 9 is stopped, recording the corresponding rope net release form and the winding mechanism of the underwater unmanned vehicle 11, as well as the corresponding stopping time and the torque and thrust after stopping. Different forms of flexible rope net 8 are designed to explore the winding mechanism and release form of the rope net during the process of the rope net winding around the propeller 9, and to verify whether the rope net can be wound by the propeller 9 when it contacts the vehicle and the propeller 9 at different distances, causing the propeller 9 to be entangled and stopped, thereby forming a flexible damage treatment effect on the underwater unmanned vehicle 11.

[0044] The above-mentioned flexible handling test method for underwater vehicles uses a trailer 1 to move the underwater unmanned vehicle 11 and the clamping and release device 6 forward together; by utilizing the flow field formed around the underwater vehicle 11 during the navigation and the vortex field generated by the suction effect of the propeller 9, the flexible rope net 8 is deployed and released underwater in a targeted manner to achieve a flexible capture test of the target underwater unmanned vehicle 11.

[0045] This invention also provides a flexible disposal method for underwater vehicles, comprising the following steps:

[0046] The clamping and release device 6 approaches the target underwater unmanned vehicle 11 and moves in the same phase as it. It releases a flexible rope net 8 in the suction area of ​​the flow field around the propeller 9 of the underwater unmanned vehicle 11. The flexible rope net 8 moves with the water flow to the suction area of ​​the duct 10 or propeller 9 of the target underwater unmanned vehicle 11, causing the propeller 9 to become entangled with the soft rope and be stopped, thus achieving flexible capture of the target underwater unmanned vehicle 11.

[0047] Before releasing the flexible rope net 8, observe and query the model of the target underwater unmanned vehicle 11, calculate the range of the surrounding flow field suction area of ​​the target underwater unmanned vehicle 11, and then release the flexible rope net 8 into the range of the surrounding flow field suction area through the clamping release device 6.

[0048] The flexible handling method for underwater vehicles proposed in this invention addresses the operational characteristics and practical needs of the underwater unmanned vehicle 11. It utilizes flexible ropes or nets 8 to entangle the underwater vehicle's propeller 9, causing effects such as stalling, deceleration, damage, or instability in the underwater vehicle's propulsion system. This achieves vehicle capture using flexible damage handling methods such as ropes or nets. The flexible damage is reversible and does not cause significant damage to the underwater vehicle. Furthermore, the capture process does not easily expose the target.

[0049] In summary, the experimental method of using an underwater flexible rope net to capture an underwater unmanned vehicle (UAV) can verify the effectiveness of underwater flexible capture and underwater defense vehicles. The experiment concludes that the basic principles of underwater flexible capture are derived. This experimental method can be used to conduct experimental research on different types of underwater vehicle models.

[0050] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0051] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0052] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0053] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0054] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for testing the flexible handling of underwater vehicles, characterized in that, Includes the following steps: The underwater unmanned vehicle (11) is fixed to the trailer (1) by steel plate connector (2), and the flexible rope net (8) is clamped by clamping and releasing device (6); the underwater unmanned vehicle (11) and the clamping and releasing device (6) are both arranged below the water surface (3); Start the trailer (1) to move the underwater unmanned vehicle (11) and the clamping and releasing device (6) forward together; turn on the motor of the propeller (9) of the underwater unmanned vehicle (11); After the propeller (9) is running stably, the flexible rope net (8) is released until the flexible rope net (8) moves with the water flow to the guide tube (10) or the suction area of ​​the propeller (9), causing the propeller (9) to become entangled with the soft rope and stop; by repeating the step of releasing the flexible rope net (8) until the propeller (9) stops, and based on the recorded data of the direction and distance between the underwater unmanned vehicle (11) and the clamping release device (6), the probability of the rope net becoming entangled and the propeller (9) being trapped within the optimal release range under different measuring point location conditions is statistically analyzed; Record the torque and thrust of the propeller (9) when it is running stably and when it is stopped.

2. The underwater vehicle flexible handling test method as described in claim 1, characterized in that, The release of the flexible rope net (8) includes: changing the release position of the flexible rope net (8) of the clamping release device (6) to the axial, radial and water depth directions of the underwater unmanned vehicle (11) by moving and changing the release distance; repeating the step of releasing the flexible rope net (8) until the propeller (9) is stopped, and recording the data of the direction and distance between the underwater unmanned vehicle (11) and the clamping release device (6) respectively, in order to test the interaction between the flexible rope net (8) and the surrounding flow field of the target underwater unmanned vehicle (11), including: statistically analyzing the probability of the rope net getting entangled and the propeller (9) getting stuck within the range of different measurement point position conditions and the optimal release area.

3. The underwater vehicle flexible disposal test method as described in claim 1 or 2, characterized in that, The release of the flexible rope net (8) includes: changing the length, size and release shape of the flexible rope net (8) released by the clamping release device (6); repeating the step of releasing the flexible rope net (8) until the propeller (9) is stopped, recording the corresponding rope net release form and the winding mechanism of the underwater unmanned vehicle (11), as well as the corresponding stopping time and the torque and thrust after stopping.

4. A flexible handling test device for underwater vehicles, characterized in that, The device is used to perform a flexible disposal test method for an underwater vehicle as described in any one of claims 1 to 3, the device comprising: a trailer (1), the trailer (1) being provided with a movable clamping and releasing device (6) for clamping and releasing a flexible rope net (8), and a steel plate connector (2) for connecting and towing an underwater unmanned vehicle (11). The clamping and releasing device (6) is used to control the release of the flexible rope net (8).

5. The underwater vehicle flexible handling test device as described in claim 4, characterized in that, The clamping and releasing device (6) further includes: a wire rope (5), a hand-cranked control device (4), and a clamping blade (7); the hand-cranked control device (4) controls the clamping blade (7) to clamp and release the flexible rope net (8) through the wire rope (5); When the clamping blade (7) is fixed underwater and the flexible rope net (8) is released, it is on the same waterline as the centerline of the underwater unmanned vehicle (11).

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