Long-endurance skidable UUV and endurance operation method

Abstract

A long endurance skidable UUV and endurance operation method, the outer shell of the navigation body is provided with a gap on the upper part of the middle part and is installed with a skid wing, the outer surface of the skid wing is consistent with the streamlined surface of the navigation body, and a power module is arranged in the inner part of the outer shell; the skid wing comprises a surface solar charging plate, a cable connected with the surface solar charging plate and the power module is arranged in the positioning groove of the lower part of the skid wing; the positioning block of the rotating mechanism in the outer shell passes through the upper surface of the gap and is located above the gap, the cable is arranged in the guide through hole in the inner part of the rotating mechanism, and a winch for tightening and loosening the cable is arranged in the outer shell; the rotating mechanism drives the skid wing to rotate by 90 degrees, so that the UUV has a skid function; the winch spreads the skid wing to the water surface, and the surface solar charging plate charges the power module. Thus, when the UUV performs a covert task, it is not limited by the noise of its own propeller and the power, can fully exert its unmanned, adaptive cluster operation, and realizes intelligent navigation.

Description

Technical Field

[0001] This invention relates to the field of underwater vehicle technology, and in particular to a long-endurance gliding UUV and a method for continuous operation. Background Technology

[0002] As a crucial piece of equipment in underwater combat systems, the UUV plays a significant role in underwater reconnaissance, search, and mapping. Typically, a UUV is launched from a mother ship and propels itself underwater, requiring support facilities such as submarines or mother ships for recharging. The distance between the submarine or mother ship and the UUV's operational location is usually considerable, and the UUV's operational position may not be easily accessible to the submarine or mother ship. Therefore, if the UUV's operations are not completed, its battery power may become insufficient.

[0003] In addition, when a UUV needs to perform covert tasks in the target area, the noise from its own propeller makes the UUV's movement in the target area not meet the operating conditions. The noise of the UUV mainly comes from the propeller, and turning off the propeller can achieve a silent effect.

[0004] Therefore, when UUVs perform covert missions, they are somewhat unsuitable for swarm operations due to the noise of their own propellers, and their power supply limits them, preventing them from fully utilizing their unmanned advantages. Summary of the Invention

[0005] In response to the shortcomings of the existing production technologies, the applicant provides a long-endurance gliding UUV and a method for continuous operation, so that when performing covert missions, the UUV is not limited by its own propeller noise and power, and can give full play to its unmanned nature, adapt to swarm operations, and achieve intelligent navigation.

[0006] The technical solution adopted in this invention is as follows:

[0007] A long-endurance gliding UUV includes a main body and a gliding wing. A propulsion system is provided at the tail of the main body. A notch is provided at the upper middle part of the outer shell of the main body. After the notch is engaged with the lower part of the gliding wing, the outer surface of the gliding wing is consistent with the streamlined shape of the outer surface of the main body. A power module that provides power to the propulsion system is provided inside the outer shell.

[0008] The gliding wing includes a surface solar charging panel with a streamlined shape consistent with the outer surface of the aircraft body. A positioning groove is provided at the lower part of the gliding wing, and a cable connected to the surface solar charging panel extends out of the positioning groove.

[0009] The housing contains a rotating mechanism, which includes a positioning block at the upper end of the rotating mechanism, the positioning block passing through the upper surface of the notch and located above the notch, and a guide hole penetrating inside the rotating mechanism, one end of the guide hole being located on the outer surface of the positioning block and the other end being located at the lower end of the rotating mechanism. The end of the cable passes through the guide hole and is electrically connected to the power module. The housing contains a winch for tightening and loosening the cable.

[0010] After the winch tightens the cable and engages the positioning block with the positioning groove, the rotating mechanism drives the sliding wing to rotate 90 degrees, giving the UUV a sliding function.

[0011] After the winch loosens the cable and disengages the positioning block from the positioning groove, the sliding wing is placed on the water surface, and the surface solar charging panel charges the power module located inside the outer shell.

[0012] Its further technical solution lies in:

[0013] Both the positioning block and the positioning groove are semi-ellipsoidal.

[0014] The structure of the gliding wing is as follows: it includes a surface solar charging panel, the surface solar charging panel has a buoyancy material inside, a first solar charging panel is hinged to one side of the surface solar charging panel along the length direction of the gliding wing, a second solar charging panel is hinged to the other side of the surface solar charging panel along the length direction of the gliding wing, and a first deployment device and a second deployment device are installed in the middle of the gliding wing along its length direction. The first deployment device is used to retract and unfold the first solar charging panel, and the second deployment device is used to retract and unfold the second solar charging panel.

[0015] When the first and second solar charging panels are retracted, they are located at the lower part of the sliding wing and fit with the notch. When the first and second solar charging panels are unfolded, they are located on both sides of the surface solar charging panel, with the power generation surfaces of the first and second solar charging panels facing upwards.

[0016] The cable is electrically connected to the first solar charging panel and the second solar charging panel, and also electrically connected to the first deployment device and the second deployment device.

[0017] When the first solar charging panel and the second solar charging panel are retracted, the second solar charging panel is located above the first solar charging panel, and the power generation surface of the first solar charging panel mates with the upper surface of the notch.

[0018] The number of the first solar charging panels is two, and they are spaced apart along the length of the sliding wing. The two first solar charging panels are connected by a first connecting rod.

[0019] The second solar charging panel consists of two pieces, which are spaced apart along the length of the sliding wing, and the two second solar charging panels are connected by a second connecting rod.

[0020] The first unfolding device is disposed inside the lower surface of the surface solar charging panel between two first solar charging panels, and the second unfolding device is disposed inside the lower surface of the surface solar charging panel between two second solar charging panels. The first unfolding device and the second unfolding device have the same structure.

[0021] The structure of the first deployment device is as follows: it includes a drive motor fixedly installed inside the lower surface of the surface solar charging panel, and also includes a first connecting rod and a second connecting rod. One end of the first connecting rod is fixedly connected to the output end of the drive motor, the other end of the first connecting rod is hinged to one end of the second connecting rod, and the other end of the second connecting rod is hinged to the first connecting rod.

[0022] The first deployment device includes an energy management module, which is disposed inside the lower surface of the surface solar charging panel between the two first solar charging panels, and the energy management module is electrically connected to a cable.

[0023] The rotating mechanism comprises a first motor fixedly installed inside the outer casing and a base rotatably installed on the outer casing. The first motor drives the base to rotate, and a connecting shaft is provided on the base, with the upper end of the connecting shaft being the positioning block.

[0024] It also includes a second motor fixedly mounted on the base, and a bushing rotatably mounted on the base. The second motor is used to drive the bushing to rotate. The inner hole of the bushing is provided with an internal thread, and the outer side of the connecting shaft is provided with an external thread that mates with the internal thread.

[0025] The base is provided with a guide rod that mates with the internal guide hole of the connecting shaft. Both the guide rod and the guide hole are arranged along the axial direction of the connecting shaft. The guide through hole passes through the connecting shaft, the bushing, and the base.

[0026] A method for extended-range gliding UUV operation includes the following steps:

[0027] Self-propelled navigation operation: The communication and navigation system detects that the UUV is in a non-sensitive sea area and sends out a position signal. At the same time, the power module outputs a normal power signal. After receiving the position signal and the normal power signal, the data processing system controls the propulsion system to work. The UUV is driven by the propulsion system to sail towards the target area.

[0028] Taxiing operation: The communication and navigation system detects that the UUV is in a sensitive sea area near the target area and sends out a position signal. After receiving the position signal, the data processing system sends out a signal to start the taxiing function, starts the rotation mechanism, controls the taxiing wing to rotate 90 degrees, and then shuts down the propulsion system. At this time, the UUV has a certain initial velocity and taxis to the target area or taxis out of the sensitive sea area from the target area.

[0029] Charging navigation operation: The communication and navigation system detects that the UUV is in a non-sensitive sea area and sends a position signal. At the same time, the power module outputs a low power signal. After receiving the position signal and the low power signal, the data processing system sends a signal to start the charging function. At the same time, the winch releases the cable to lower the gliding wing to the water surface. The surface solar charging panel charges the power module. When the power module outputs a sufficient power signal, the data processing system controls the propulsion system to work, and the UUV conducts underwater exploration operations while the surface solar charging panel continues to charge the power module.

[0030] Its further technical solution lies in:

[0031] During the charging navigation operation, before deploying the glider to the water surface, the rotation mechanism is activated to control the glider to rotate 90 degrees.

[0032] The beneficial effects of this invention are as follows:

[0033] This invention features a compact and rational structure, and is easy to operate. By setting a gliding wing with a streamlined outer surface that matches the outer surface of the main body and equipped with a solar charging panel above the middle of the main body, the gliding wing can be rotated 90 degrees by a rotating mechanism to provide gliding functionality for the UUV. This allows the UUV to turn off its propulsion system and glide while performing covert missions, reducing noise impact for both single and group operations. The gliding wing is deployed to the water surface via a winch and cable, simultaneously enabling the UUV to charge on the sea surface. During long-distance operations, charging can be performed as needed to extend the UUV's range, fully leveraging the advantages of unmanned operation and achieving intelligent navigation.

[0034] Furthermore, the present invention also has the following advantages:

[0035] (1) By setting a first and second solar charging panel that can be retracted and opened at the bottom of the gliding wing, the effective area for converting solar energy into electrical energy after the gliding wing is deployed on the water surface is increased, the charging speed is accelerated, and the wave resistance of the gliding wing when it floats on the sea surface is also improved.

[0036] (2) By adding a lifting function of the connecting shaft relative to the base to the rotating mechanism, the second motor is started before the rotating mechanism drives the gliding wing to rotate 90 degrees, so that the connecting shaft rises and the positioning block rises to lift the gliding wing 3 as a whole, so that the gliding wing is less likely to touch the gap or the navigating body during rotation; when recovering the gliding wing, before the winch tightens the cable, the second motor is started to increase the overall length of the guide hole, which can reduce the possibility of the cable being entangled by the boat appendages during the recovery of the gliding wing and increase the reliability of the recovery process.

[0037] (3) The UUV endurance operation method of this embodiment realizes the functions of UUV self-driving in non-sensitive sea areas, gliding in sensitive sea areas, and charging in non-sensitive sea areas. After the UUV is released by the mother ship in a non-sensitive area, it autonomously navigates to the edge of the non-sensitive area. In sensitive sea areas, it can quietly approach the target area to complete the mission while ensuring that the propulsion system is turned off. It is suitable for covert operation scenarios. The gliding wing cloth with charging function is placed on the water surface for charging. Compared with traditional UUVs, the UUV of this embodiment can also charge autonomously in harsh sea conditions, which greatly ensures the endurance of the single unit and increases the operation time of UUV underwater detection. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of the present invention.

[0039] Figure 2 This is a schematic diagram of the structure of the present invention (internal).

[0040] Figure 3 This is a schematic diagram of the state of the present invention (gliding state).

[0041] Figure 4 This is a bottom view of the gliding wing of the present invention.

[0042] Figure 5 for Figure 4 A sectional view of section AA in the middle.

[0043] Figure 6 for Figure 4 Sectional view of section BB.

[0044] Figure 7 for Figure 4 A sectional view of section CC.

[0045] Figure 8 This is a schematic diagram of the structure of the first unfolding device of the present invention (when the first and second solar charging panels are retracted).

[0046] Figure 9 This is a schematic diagram of the structure of the first unfolding device of the present invention (when the first and second solar charging panels are opened).

[0047] Figure 10 for Figure 9 Enlarged view of a section at point D.

[0048] Figure 11 This is a schematic diagram of the rotating mechanism of the present invention (including the winch and cables).

[0049] Figure 12 This is a cross-sectional view of the rotating mechanism of the present invention.

[0050] Figure 13 This is a schematic diagram of the state of the present invention (charging state).

[0051] Figure 14 This is a schematic diagram of the state of the present invention (charging state, when the first and second solar charging panels are turned on).

[0052] The components include: 1. Propulsion system; 2. Vehicle body; 20. Outer shell; 201. Notch; 21. Data processing system; 22. Power module; 23. Communication and navigation system; 24. Detection system.

[0053] 3. Gliding wing; 30. Surface solar charging panel; 31. Buoyancy material; 32. First solar charging panel; 320. First deployment device; 321. Drive motor; 322. Energy management module; 323. First connecting rod; 324. Second connecting rod; 33. First hinge; 34. First connecting rod; 35. Second connecting rod; 36. Cable; 361. Winch; 37. Positioning slot; 38. Second solar charging panel; 380. Second deployment device; 39. Second hinge;

[0054] 4. Rotating mechanism; 41. Positioning block; 42. Connecting shaft; 421. Guide hole; 43. Guide through hole; 44. Bushing; 45. Base; 451. Guide rod; 46. Second motor; 460. Second cover; 461. Second gear; 47. First motor; 470. Second cover; 471. First gear. Detailed Implementation

[0055] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0056] Example 1:

[0057] like Figures 1-14 As shown, the long-endurance gliding UUV of this embodiment includes a gliding body 2 and a gliding wing 3. A propulsion system 1 is provided at the tail of the gliding body 2. A notch 201 is provided at the upper middle part of the outer shell 20 of the gliding body 2. After the notch 201 is engaged with the lower part of the gliding wing 3, the outer surface of the gliding wing 3 is consistent with the streamlined shape of the outer surface of the gliding body 2. A power module 22 for providing power to the propulsion system 1 is provided inside the outer shell 20.

[0058] The gliding wing 3 includes a surface solar charging panel 30 with a streamlined shape consistent with the outer surface of the navigating body 2. A positioning groove 37 is provided at the lower part of the gliding wing 3, and a cable 36 connected to the surface solar charging panel 30 extends out of the positioning groove 37.

[0059] The housing 20 is equipped with a rotating mechanism 4. The rotating mechanism 4 includes a positioning block 41 located at the upper end of the rotating mechanism 4. The positioning block 41 passes through the upper surface of the notch 201 and is located above the notch 201. It also includes a guide hole 43 that passes through the interior of the rotating mechanism 4. One end of the guide hole 43 is located on the outer surface of the positioning block 41, and the other end of the guide hole 43 is located at the lower end of the rotating mechanism 4. The end of the cable 36 passes through the guide hole 43 and is electrically connected to the power module 22. The housing 20 is equipped with a winch 361, which is used to tighten and loosen the cable 36.

[0060] After the winch 361 tightens the cable 36 and the positioning block 41 engages with the positioning groove 37, the rotating mechanism 4 drives the sliding wing 3 to rotate 90 degrees, giving the UUV a sliding function.

[0061] After the winch 361 loosens the cable 36 and disengages the positioning block 41 from the positioning groove 37, the sliding wing 3 is placed on the water surface, and the surface solar charging panel 30 charges the power module 22 located inside the outer shell 20.

[0062] UUV stands for Unmanned underwater vehicle.

[0063] Cable 36 is used to transmit electrical energy and signals and can withstand large tensile forces to pull the glider 3, while also overcoming the buoyancy generated by the glider 3. When the glider 3 is engaged with the notch 201, the length direction of the glider 3 is the same as the length direction of the UUV, such as... Figure 1 As shown; the rotating mechanism 4 is located in the midship section of the navigating body 2; the positioning block 41 and the positioning groove 37 cooperate to limit the relative position of the gliding wing 3 and the rotating mechanism 4 so that they do not rotate relative to each other, thereby allowing the rotating function of the rotating mechanism 4 to act on the gliding wing 3; the tightening cable 36 is used to prevent the positioning block 41 and the positioning groove 37 from disengaging from each other.

[0064] The vehicle body 2 includes an outer shell 20 with a streamlined design or a rotating structure. The propulsion system 1 is located on the outer side of the tail of the outer shell 20 and is used to propel the UUV to navigate underwater. The propulsion system 1 can be a propeller.

[0065] A detection system 24 is provided on the inner side of the head of the outer casing 20. The detection system 24 includes a lighting and camera device.

[0066] A data processing system 21 and a communication and navigation system 23 are installed inside the upper part of the outer casing 20, and a power module 22 is installed inside the lower part of the outer casing 20.

[0067] The power module 22 is used to store electrical energy and output power signals. When there is enough electrical energy to drive the propulsion system 1, the power signal is a sufficient power signal. When there is insufficient electrical energy to drive the propulsion system 1, the power signal is a insufficient power signal. The number of power modules 22 is set according to the specific situation. In order to keep the center of gravity of the ship body 2 stable, the power modules 22 are generally located at one in the forward and one in the forward direction of the ship body 2.

[0068] The communication and navigation system 23 is used to detect the position of the UUV and output a position signal;

[0069] Data processing system 21 is used to receive power signals and position signals, process the data, and output control signals to control the functions of the internal components of the UUV.

[0070] This includes a signal to activate the taxiing function when the rotating mechanism 4 controls the taxiing wing 3 to rotate 90 degrees, and a signal to deactivate the taxiing function.

[0071] The winch 361 is started to loosen the cable 36, which deploys the sliding wing 3 to the water surface, and the charging function is started by a charging signal to charge the power module 22, and conversely, the charging function is stopped by a charging signal.

[0072] Specifically, unlike previous UUVs that relied on their own propulsion system 1, the UUV in this embodiment has a gliding function. The UUV can be released from a mother ship or other equipment at a distance from the target area, and then navigate to the target area by gliding. This avoids the possibility of the mother ship or other large equipment being detected near the target area, increasing the stealth of UUV operations. The gliding wing 3 can be deployed on the water surface. While the surface solar charging panel 30 charges the power module 22, the UUV's main body 2 is underwater, which is similar to directly fixing the solar charging panel to the main body 2. Compared to charging the UUV by having its outer surface and the entire UUV float to the water surface, the method where the main body 2 is located below the water surface and only a flexible cable 36 connects the main body 2 and the gliding wing 3 minimizes the impact of wind and waves on the water surface on the UUV, expands the applicability of solar charging, and improves the UUV's endurance. In addition, when the power module 22 has enough power to drive the propulsion system 1 during charging, the gliding wing 3 is located on the water surface to charge the UUV, while the main body 2 of the UUV can also navigate and conduct underwater operations, increasing the UUV's underwater exploration time.

[0073] By setting a gliding wing 3 with a streamlined outer surface consistent with the outer surface of the main body 2 and equipped with a solar charging panel on the upper middle part of the main body 2, the gliding wing 3 can be rotated 90 degrees by the rotating mechanism 4 to provide gliding function for the UUV. When the UUV is performing covert missions, the propulsion system 1 can be turned off for gliding. The noise impact can be reduced for single or group operations. The gliding wing 3 is deployed to the water surface by the winch 361 and cable 36, and the UUV can be charged on the sea surface at the same time. During long-distance operations, it can be charged according to the actual situation to extend the UUV's range, give full play to the advantages of unmanned operation, and realize intelligent navigation.

[0074] The rotatable gliding wing 3, which can change its state in conjunction with the main body 2, provides gliding functionality for the UUV, enabling the UUV to quietly approach the target area, reducing the UUV's power consumption, achieving energy saving, and increasing the UUV's endurance. At the same time, when gliding is not required, the gliding wing 3 ensures that the streamlined outer surface of the main body 2 is consistent with the UUV's, ensuring the UUV's flexibility in underwater navigation.

[0075] The gliding wing 3 is located on the water surface to charge the UUV, while the UUV's main body 2 is located below the water surface. This increases the applicability of the UUV to solar charging, improves the UUV's endurance, and also increases the UUV's underwater exploration operation time.

[0076] Furthermore, such as Figures 4-5 , Figures 11-12 As shown, both the positioning block 41 and the positioning groove 37 are semi-ellipsoidal.

[0077] Specifically, the semi-ellipsoidal shape gives the positioning groove 37 a certain arc-shaped guide concave surface, and the positioning block 41 also has an arc-shaped guide convex surface that cooperates with the positioning groove 37. When the winch 361 tightens the cable 36, the contact process between the positioning block 41 and the positioning groove 37 is smoother. At the same time, the ellipsoidal shape avoids the relative rotation between the positioning block 41 and the positioning groove 37.

[0078] The positioning blocks 41 and positioning slots 37 are all semi-ellipsoidal mating structures, which makes the positioning method of the positioning blocks 41 and positioning slots 37 simple and effective during the recovery of the gliding wing 3. The gliding wing 3 can also be recovered smoothly even when it has a certain initial angle relative to the UUV.

[0079] Furthermore, such as Figures 4-10As shown, the structure of the glider 3 is as follows: it includes a surface solar charging panel 30, a buoyancy material 31 is provided inside the surface solar charging panel 30, a first solar charging panel 32 is hinged to one side of the surface solar charging panel 30 along the length direction of the glider 3, a second solar charging panel 38 is hinged to the other side of the surface solar charging panel 30 along the length direction of the glider 3, and a first deployment device 320 and a second deployment device 380 are installed in the middle of the glider 3 along the length direction. The first deployment device 320 is used to retract and open the first solar charging panel 32, and the second deployment device 380 is used to retract and open the second solar charging panel 38.

[0080] After the first solar charging panel 32 and the second solar charging panel 38 are retracted, they are located at the lower part of the sliding wing 3 and cooperate with the notch 201. After the first solar charging panel 32 and the second solar charging panel 38 are unfolded, they are located on both sides of the surface solar charging panel 30, with the power generation surfaces of the first solar charging panel 32 and the second solar charging panel 38 facing upwards.

[0081] Cable 36 is electrically connected to the first solar charging panel 32 and the second solar charging panel 38, and is also electrically connected to the first deployment device 320 and the second deployment device 380.

[0082] Specifically, the first solar charging panel 32 is hinged to the surface solar charging panel 30 via the first hinge 33, and the second solar charging panel 38 is hinged to the surface solar charging panel 30 via the second hinge 39.

[0083] The internal area of ​​the surface solar charging panel 30 is mainly used to set the buoyancy material 31, so that the gliding wing 3 has a slight positive buoyancy and the navigating body 2 has a slight negative buoyancy, so as to realize charging near the water surface.

[0084] By setting a retractable and retractable first solar charging panel 32 and a second solar charging panel 38 on the lower part of the gliding wing 3, the effective area for converting solar energy into electrical energy after the gliding wing 3 is deployed on the water surface is increased, the charging speed is accelerated, and the wave resistance of the gliding wing 3 when floating on the sea surface is also improved.

[0085] Furthermore, such as Figure 8 As shown, when the first solar charging panel 32 and the second solar charging panel 38 are retracted, the second solar charging panel 38 is located above the first solar charging panel 32, and the power generation surface of the first solar charging panel 32 is matched with the upper surface of the notch 201.

[0086] Specifically, after the first solar charging panel 32 and the second solar charging panel 38 are retracted, the charging panels on the sliding wing 3 are distributed as follows: the surface solar charging panel 30 is on top, the first solar charging panel 32 is on the bottom, and the second solar charging panel 38 is located between the first solar charging panel 32 and the second solar charging panel 38, as shown below. Figure 8As shown, the effective area of ​​the first solar charging panel 32 and the second solar charging panel 38 is increased.

[0087] Furthermore, such as Figure 4 , Figure 14 As shown, there are two first solar charging panels 32, which are spaced apart along the length of the sliding wing 3, and the two first solar charging panels 32 are connected by a first connecting rod 34.

[0088] There are two second solar charging panels 38, which are spaced apart along the length of the sliding wing 3, and the two second solar charging panels 38 are connected by a second connecting rod 35.

[0089] The first unfolding device 320 is disposed inside the lower surface of the surface solar charging panel 30 between the two first solar charging panels 32, and the second unfolding device 380 is disposed inside the lower surface of the surface solar charging panel 30 between the two second solar charging panels 38. The first unfolding device 320 and the second unfolding device 380 have the same structure.

[0090] The structure of the first deployment device 320 is as follows: it includes a drive motor 321 fixedly installed inside the lower surface of the surface solar charging panel 30, and also includes a first connecting rod 323 and a second connecting rod 324. One end of the first connecting rod 323 is fixedly connected to the output end of the drive motor 321, and the other end of the first connecting rod 323 is hinged to one end of the second connecting rod 324. The other end of the second connecting rod 324 is hinged to the first connecting rod 34.

[0091] Specifically, the second connecting rod 324 of the second deployment device 380 is hinged to the second connecting rod 35; the first deployment device 320 and the second deployment device 380 can be fixedly connected to the surface solar charging panel 30 through the frame structure; the first connecting rod 34 connects the two first solar charging panels 32, so that the first deployment device 320 can easily drive the first solar charging panel 32 to retract and open at the same time; in order to facilitate the avoidance of the first deployment device 320 and the second deployment device 380, the buoyancy material 31 is segmented and set inside the surface solar charging panel 30, which facilitates the installation of the first deployment device 320 and the second deployment device 380, and also facilitates the setting of the positioning groove 37.

[0092] Furthermore, such as Figures 8-9 As shown, the first deployment device 320 includes an energy management module 322, which is disposed inside the lower surface of the surface solar charging panel 30 between the two first solar charging panels 32, and is electrically connected to the cable 36.

[0093] Specifically, the energy management module 322 is used to control the charging power of each charging plate, etc., to facilitate system control.

[0094] Furthermore, such as Figures 11-12 As shown, the structure of the rotating mechanism 4 is as follows: it includes a first motor 47 fixedly installed inside the outer shell 20 and a base 45 rotatably installed on the outer shell 20. The first motor 47 is used to drive the base 45 to rotate. A connecting shaft 42 is provided on the base 45, and the upper end of the connecting shaft 42 is a positioning block 41.

[0095] Specifically, the base 45 can be rotatably mounted inside the outer shell 20 via a slewing support. The first motor 47 can be connected to the transmission base 45 via a belt or gear structure. The rotation of the sliding wing 3 is achieved through the cooperation of the positioning block 41 and the positioning groove 37. The structure is simple and small in size, and can be built into the outer shell 20. The first motor 47 is set inside the first cover 470.

[0096] Furthermore, such as Figures 11-12 The device also includes a second motor 46 fixedly mounted on the base 45, and a bushing 44 rotatably mounted on the base 45. The second motor 46 is used to drive the bushing 44 to rotate. The inner hole of the bushing 44 is provided with an internal thread, and the outer side of the connecting shaft 42 is provided with an external thread that mates with the internal thread.

[0097] The base 45 is provided with a guide rod 451 that mates with the guide hole 421 inside the connecting shaft 42. Both the guide rod 451 and the guide hole 421 are arranged along the axial direction of the connecting shaft 42. The guide through hole 43 passes through the connecting shaft 42, the bushing 44 and the base 45.

[0098] Specifically, the lower part of the bushing 44 is rotatably mounted on the base 45 via a rotary support, and the bushing 44 is sleeved on the outside of the guide rod 451; the structure for the first motor 47 to drive the base 45 to rotate can be such that the base 45 is disc-shaped and has a first gear ring structure on its outer circumference, the first gear ring structure meshing with the first gear 471 installed at the output end of the first motor 47; the structure for the second motor 46 to drive the bushing 44 to rotate can be such that a second gear ring structure is provided on the lower outer circumference of the bushing 44, the second gear ring structure meshing with the first gear 471 installed at the output end of the second motor 46. Two gears 461 mesh, and the second motor 46 is located inside the second cover 460. There are two guide rods 451. When the second motor 46 is started, the bushing 44 rotates, and the guide rods 451 play the role of axially guiding the lifting and lowering of the connecting shaft 42 and radially restricting the rotation of the connecting shaft 42. The internal thread of the rotating bushing 44 interacts with the external thread of the connecting shaft 42 to realize the lifting and lowering of the connecting shaft 42 relative to the base 45. When the connecting shaft 42 rises, it increases the overall length of the guide through hole 43 and increases the distance between the positioning block 41 and the notch 201.

[0099] By adding a lifting function to the connecting shaft 42 relative to the base 45 to the rotating mechanism 4, the second motor 46 is started before the rotating mechanism 4 drives the planing wing 3 to rotate 90 degrees, so that the connecting shaft 42 rises and the positioning block 41 rises to lift the planing wing 3 as a whole, making it less likely for the planing wing 3 to touch the notch 201 or the navigating body 2 during rotation; when recovering the planing wing 3, before the winch 361 tightens the cable 36, the second motor 46 is started to increase the overall length of the guide hole 43, which can reduce the possibility of the cable 36 being entangled by the boat appendages during the recovery of the planing wing 3, and increase the reliability of the recovery process.

[0100] Specifically, the appendages of the boat include structures such as the propeller and tail fin of the propulsion system 1.

[0101] When the first motor 47 starts, the first gear ring structure on the base 45 rotates under the drive of the first gear 471. The second motor 46 does not start, locking the connecting shaft 42 so that it does not rotate. The guide rod 451 on the base 45 drives the connecting shaft 42, the bushing 44, the second motor 46, and the base 45 to rotate together. With the cooperation of the positioning block 41 and the positioning groove 37, the connecting shaft 42 rotates, driving the sliding wing 3 to rotate.

[0102] During the specific operation of the long-endurance gliding UUV in this embodiment, the following two states are included:

[0103] 1. Switch the UUV to taxi mode to allow it to travel a short distance quietly and energy-efficiently:

[0104] While the winch 361 tightens the cable 36, maintaining the engagement of the positioning block 41 and the positioning groove 37, the second motor 46 is activated, causing the connecting shaft 42 to rise, which in turn raises the positioning block 41, lifting the sliding wing 3 as a whole. The second motor 46 is then turned off, and the first motor 47 is activated. The first motor 47 drives the first gear 471 to rotate, and the first gear 471 meshes with the first gear ring structure below the base 45. The guide rod 451 begins to rotate, driving the connecting shaft 42, which has a guide hole 421, to rotate. Because the connecting shaft 42 is threadedly engaged with the bushing 44, and the second motor 46 has a self-locking function, the bushing 44, the base 45, and the connecting shaft 42 rotate together, and the positioning block 41 rotates synchronously. The positioning block 41 drives the sliding wing 3 to rotate 90 degrees through the positioning groove 37. In order to make the lower part of the sliding wing 3 fit with the notch 201, while the winch 361 tightens the cable 36 to keep the positioning block 41 and the positioning groove 37 in place, the second motor 46 is started, which causes the connecting shaft 42 to descend, thereby lowering the positioning block 41 and driving the sliding wing 3 to fall onto the notch 201.

[0105] Since the gliding wing 3 provides lift to the main body 2, the UUV can glide a certain distance with the propulsion system 1 turned off, achieving the effects of quiet operation and energy saving. At this time, the winch 361 tightens the cable 36.

[0106] 2. Switch the UUV to charging mode, enabling the UUV to have near-surface charging capability in non-sensitive sea areas:

[0107] When the data processing system 21 receives the signal to activate the charging function, similar to switching the taxiing state, it first rotates the taxiing wing 3 90 degrees, keeping the length direction of the taxiing wing 3 perpendicular to the length direction of the main body 2. Then, the winch 361 releases the cable 36. Under the action of the buoyancy material 31, the taxiing wing 3 gradually moves away from the main body 2. Figure 13 As shown.

[0108] After being released a certain distance, the first deployment device 320 and the second deployment device 380 inside the gliding wing 3 are activated respectively, driving the first connecting rod 34 and the second connecting rod 35 away from the surface solar charging panel 30, and unfolding the first solar charging panel 32 and the second solar charging panel 38 around the first hinge 33 and the second hinge 39 respectively. Figure 9 , Figure 14 As shown, the glider 3 eventually floats on the water surface, while the main body 2 is located below the glider 3, below the water surface, and connected to the main body 2 via cable 36. The glider 3 has a slight positive buoyancy, while the main body 2 below has a slight negative buoyancy, enabling charging near the water surface.

[0109] After charging is complete, the reverse process is performed for recovery. The cooperation between the semi-ellipsoidal positioning block 41 and the positioning groove 37 reduces the difficulty of recovery of the sliding wing 3, allowing it to have a certain initial angle. As the winch 361 tightens the cable 36, it eventually reaches the predetermined position. The lifting structure composed of the bushing 44 and the connecting shaft 42 increases the overall length of the guide hole 43, keeping the positioning block 41 at its highest position during cable tightening. This avoids the possibility of the cable 36 getting entangled with the boat appendages during tightening, increasing the reliability of the recovery process.

[0110] Example 2:

[0111] The extended-range gliding UUV operation method according to Example 1 includes the following steps:

[0112] Self-propelled navigation operation: The communication and navigation system 23 detects that the UUV is located in a non-sensitive sea area and sends a position signal. At the same time, the power module 22 outputs a normal power signal. After receiving the position signal and the normal power signal, the data processing system 21 controls the propulsion system 1 to work. The UUV is driven by the propulsion system 1 to sail towards the target area.

[0113] like Figure 1 As shown, at this time, the main body 2 and the gliding wing 3 cooperate with the notch 201 to make the UUV streamlined as a whole, and the propulsion system 1 provides power. At this time, it is in self-driving mode.

[0114] Taxiing operation: The communication and navigation system 23 detects that the UUV is located in a sensitive sea area near the target area and sends a position signal. After receiving the position signal, the data processing system 21 sends a signal to start the taxiing function, starts the rotation mechanism 4, controls the taxiing wing 3 to rotate 90 degrees, and then shuts down the propulsion system 1. At this time, the UUV has a certain initial velocity and taxis to the target area or taxis out of the sensitive sea area from the target area.

[0115] During taxiing operations, UUVs have low noise levels, good stealth capabilities, and are in a low-energy-consumption state, which improves their endurance.

[0116] Charging navigation operation: The communication and navigation system 23 detects that the UUV is located in a non-sensitive sea area and sends a position signal. At the same time, the power module 22 outputs a low power signal. After receiving the position signal and the low power signal, the data processing system 21 sends a signal to start the charging function. Meanwhile, the winch 361 releases the cable 36 to deploy the gliding wing 3 to the water surface. The surface solar charging panel 30 charges the power module 22. When the power module 22 outputs a power signal that the power is sufficient, the data processing system 21 controls the propulsion system 1 to work. The UUV performs underwater exploration operations, and the surface solar charging panel 30 continues to charge the power module 22.

[0117] Specifically, during charging navigation operations, when the position of the glider 3 floating on the water surface changes relatively little, the length of the cable 36 is sufficient to meet the detection range of the UUV; during charging navigation operations, the propulsion system 1 operates in a low-energy-consumption state, and the power consumption per unit time is less than the charging power per unit time.

[0118] Before sailing to the target sea area, the UUV can be recharged multiple times in non-sensitive sea areas; similarly, it can be recharged during the return voyage, and finally sails to the mother ship using its own electric power, where the mother ship will then recover the UUV.

[0119] The UUV endurance operation method of this embodiment enables the UUV to self-propelled navigation in non-sensitive sea areas, gliding in sensitive sea areas, and charging navigation in non-sensitive sea areas. After being released from the mother ship in a non-sensitive area, the UUV autonomously navigates to the edge of the non-sensitive area. In sensitive sea areas, it can quietly approach the target area to complete the mission while ensuring that the propulsion system 1 is turned off. This method is suitable for covert operation scenarios. The gliding wing 3 with charging function is deployed on the water surface for charging. Compared with traditional UUVs, the UUV of this embodiment can also charge autonomously in harsh sea conditions, which greatly ensures the endurance of a single unit and increases the operation time of underwater detection by the UUV.

[0120] Furthermore, during the charging navigation operation, before deploying the planing wing 3 to the water surface, the rotating mechanism 4 is activated to control the planing wing 3 to rotate 90 degrees. This ensures that the initial state of the planing wing 3 during deployment is consistent with the attitude of being towed by the navigation body 2, reducing instability during deployment and improving deployment efficiency.

[0121] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A long endurance skidable UUV, characterized by: The application relates to a UUV (underwater unmanned vehicle) which comprises a navigation body (2) and a sliding wing (3), the tail of the navigation body (2) is provided with a propelling system (1), a gap (201) is arranged above the middle of the outer shell (20) of the navigation body (2), the outer surface of the sliding wing (3) is in line with the outer surface of the navigation body (2) after the gap (201) cooperates with the lower part of the sliding wing (3), and a power module (22) for providing electric energy for the propelling system (1) is arranged in the inner part of the outer shell (20). The sliding wing (3) comprises a surface layer solar charging plate (30) which is in line with the outer surface of the navigation body (2), and the lower part of the sliding wing (3) is provided with a positioning groove (37), and a cable (36) connected with the surface layer solar charging plate (30) is arranged in the inner part of the positioning groove (37). The outer shell (20) is internally provided with a rotating mechanism (4), the rotating mechanism (4) comprises a positioning block (41) arranged at the upper end of the rotating mechanism (4), the positioning block (41) penetrates through the upper surface of the gap (201) and is arranged above the gap (201), further comprises a guide through hole (43) arranged in the inner part of the rotating mechanism (4), one end of the guide through hole (43) is arranged on the outer surface of the positioning block (41), the other end of the guide through hole (43) is arranged at the lower end of the rotating mechanism (4), the end part of the cable (36) penetrates through the guide through hole (43) and is electrically connected with the power module (22), and a winch (361) is arranged in the outer shell (20), the winch (361) is used for tightening and loosening the cable (36). After the winch (361) tightens the cable (36) and the positioning block (41) cooperates with the positioning groove (37), the rotating mechanism (4) drives the sliding wing (3) to rotate by 90 degrees, so that the UUV has a sliding function. After the winch (361) loosens the cable (36) and the positioning block (41) is disengaged from the positioning groove (37), the sliding wing (3) is arranged on the water surface, and the surface layer solar charging plate (30) charges the power module (22) arranged in the inner part of the outer shell (20).

2. A long endurance skimming UUV as claimed in claim 1, characterized in that: The positioning block (41) and the positioning groove (37) are both semi-ellipsoidal.

3. A long endurance skimming UUV as claimed in claim 1, characterized in that: The structure of the sliding wing (3) comprises the surface layer solar charging plate (30), the inner part of the surface layer solar charging plate (30) is provided with a buoyancy material (31), a first solar charging plate (32) is hinged on one side of the surface layer solar charging plate (30) along the length direction of the sliding wing (3), a second solar charging plate (38) is hinged on the other side of the surface layer solar charging plate (30) along the length direction of the sliding wing (3), a first unfolding device (320) and a second unfolding device (380) are arranged at the middle of the length direction of the sliding wing (3), the first unfolding device (320) is used for folding and unfolding the first solar charging plate (32), and the second unfolding device (380) is used for folding and unfolding the second solar charging plate (38). The first solar charging panel (32) and the second solar charging panel (38) are located in the lower part of the sliding wing (3) and cooperate with the notch (201) when they are retracted, and are located on both sides of the surface solar charging panel (30) when they are unfolded, and the power generation surfaces of the first solar charging panel (32) and the second solar charging panel (38) face upwards. The cable (36) is electrically connected with the first solar charging panel (32) and the second solar charging panel (38) and is also electrically connected with the first unfolding device (320) and the second unfolding device (380).

4. A long endurance skimming UUV as claimed in claim 3, characterized in that: When the first solar charging panel (32) and the second solar charging panel (38) are retracted, the second solar charging panel (38) is located above the first solar charging panel (32), and the power generation surface of the first solar charging panel (32) cooperates with the upper surface of the notch (201).

5. The long-endurance skidable UUV of claim 3, wherein: The number of the first solar charging panel (32) is two, and the two first solar charging panels (32) are arranged at intervals along the length direction of the sliding wing (3) and are connected by a first connecting rod (34). The number of the second solar charging panel (38) is two, and the two second solar charging panels (38) are arranged at intervals along the length direction of the sliding wing (3) and are connected by a second connecting rod (35). The first unfolding device (320) is arranged inside the lower surface of the surface solar charging panel (30) between the two first solar charging panels (32), and the second unfolding device (380) is arranged inside the lower surface of the surface solar charging panel (30) between the two second solar charging panels (38), and the first unfolding device (320) and the second unfolding device (380) have the same structure. The structure of the first unfolding device (320) comprises a driving motor (321) fixedly installed inside the lower surface of the surface solar charging panel (30), a first connecting rod (323), and a second connecting rod (324), one end of the first connecting rod (323) is fixedly connected with the output end of the driving motor (321), the other end of the first connecting rod (323) and one end of the second connecting rod (324) are hingedly connected, and the other end of the second connecting rod (324) is hingedly connected with the first connecting rod (34).

6. A long endurance skimming UUV as claimed in claim 5, characterized in that: The first unfolding device (320) comprises an energy management module (322) arranged inside the lower surface of the surface solar charging panel (30) between the two first solar charging panels (32), and the energy management module (322) is electrically connected with the cable (36).

7. A long endurance skimming UUV as claimed in claim 1, wherein: The rotating mechanism (4) is structured as follows: a first motor (47) fixedly installed inside the outer shell (20) and a base (45) rotatably installed on the outer shell (20), the first motor (47) is used to drive the base (45) to rotate, the base (45) is provided with a connecting shaft (42), and the upper end of the connecting shaft (42) is the positioning block (41).

8. A long endurance skimming UUV as claimed in claim 7, characterized by: Further comprising a second motor (46) fixedly installed on the base (45) and a shaft sleeve (44) rotatably installed on the base (45), the second motor (46) is used to drive the shaft sleeve (44) to rotate, the inner hole of the shaft sleeve (44) is provided with an internal thread, and the outer part of the connecting shaft (42) is provided with an external thread matched with the internal thread; The base (45) is provided with a guide rod (451) matched with an internal guide hole (421) of the connecting shaft (42), the guide rod (451) and the guide hole (421) are both arranged along the axial direction of the connecting shaft (42), and the guide through hole (43) penetrates the connecting shaft (42), the shaft sleeve (44) and the base (45).

9. A method of endurance operation using the long endurance skiffable UUV as claimed in claim 1, wherein: The method comprises the following steps: Self-driving navigation operation: the communication and navigation system (23) detects that the UUV is located in a non-sensitive sea area and sends a position signal, and the power module (22) outputs a normal power signal, after the data processing system (21) receives the position signal and the normal power signal, the propulsion system (1) is controlled to work, and the UUV is driven by the propulsion system (1) to sail towards the target area; Sliding navigation operation: the communication and navigation system (23) detects that the UUV is located in a sensitive sea area near the target area and sends a position signal, and the data processing system (21) sends a sliding function starting signal after receiving the position signal, the rotating mechanism (4) is started, the sliding wing (3) is controlled to rotate by 90 degrees, and then the propulsion system (1) is turned off, at this time, the UUV has an initial speed, and the UUV slides to the target area or slides out of the sensitive sea area from the target area; Charging navigation operation: the communication and navigation system (23) detects that the UUV is located in a non-sensitive sea area and sends a position signal, and the power module (22) outputs an insufficient power signal, after the data processing system (21) receives the position signal and the insufficient power signal, a charging function starting signal is sent, and the winch (361) loosens the cable (36) to deploy the sliding wing (3) to the water surface, the surface solar charging panel (30) charges the power module (22), and when the power module (22) outputs a sufficient power signal, the data processing system (21) controls the propulsion system (1) to work, and the UUV performs detection operation underwater, and the surface solar charging panel (30) continues to charge the power module (22).

10. The method of claim 9, wherein: In the charging navigation operation step, before the sliding wing (3) is deployed to the water surface, the rotating mechanism (4) is started, and the sliding wing (3) is controlled to rotate by 90 degrees.

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