Overturnable range extender for unmanned underwater vehicles and unmanned underwater vehicle systems

Abstract

This invention relates to the field of unmanned underwater vehicle (UUV) technology, and provides a tiltable range extender and a UUV system. The tiltable range extender includes: a frame structure, a clamping mechanism, a hull structure, a propeller, and a controller. The clamping mechanism is located within and connected to the frame structure, and is openable and closable to clamp or release the UUV. The hull structure is located on one side of the frame structure and connected to it. The propeller is connected to the hull structure. The controller is electrically connected to the propeller and the clamping mechanism. The tiltable range extender utilizes the propeller to move the hull structure, thereby transporting the UUV to a designated location. The controller controls the clamping mechanism to release the UUV, achieving remote-controlled transport of the UUV to a designated location and avoiding the waste of human resources caused by manual transport.

Description

Technical Field

[0001] This invention relates to the field of unmanned underwater vehicle technology, and in particular to a tiltable range extender for unmanned underwater vehicles and an unmanned underwater vehicle system. Background Technology

[0002] Unmanned underwater vehicles are a type of underwater robot that is unmanned, self-powered, autonomously navigated and controlled, automatically propelled, and operates autonomously. They can be widely used in various fields such as reconnaissance and surveillance, intelligence gathering, tracking, early warning, communication relay, and underwater attack.

[0003] Miniature unmanned underwater vehicles (UUVs) are typically small in size, limiting their battery power and thus their endurance. To extend their operational time as much as possible, current methods primarily involve personnel carrying the UUVs to the vicinity of the work location before deploying them into the sea. This manual deployment of UUVs results in a significant waste of human resources. Furthermore, if the anticipated work area is characterized by rough sea conditions or is deemed too dangerous for personnel to approach, the UUVs will be unable to commence operations. Summary of the Invention

[0004] This invention provides a tiltable range extender for unmanned underwater vehicles and an unmanned underwater vehicle system to solve the shortcomings of existing technologies where micro and small unmanned underwater vehicles need to be manually deployed to the vicinity of a designated working location and cannot be remotely deployed in adverse sea conditions.

[0005] This invention provides a tiltable range extender for an unmanned underwater vehicle, comprising: a frame structure; a clamping mechanism disposed within and connected to the frame structure, the clamping mechanism being openable and closable to clamp or release the unmanned underwater vehicle; a hull structure disposed on one side of the frame structure and connected to the frame structure; a thruster connected to the hull structure; and a controller electrically connected to the thruster and the clamping mechanism.

[0006] According to the present invention, a capsizing range extender for an unmanned underwater vehicle is provided, wherein the number of hull structures is a pair, the pair of hull structures are symmetrically arranged on both sides of the frame structure, and each hull structure is connected to the thruster.

[0007] According to the present invention, a tiltable range extender for an unmanned underwater vehicle is provided, wherein the frame structure includes: a frame body with a hollow center, an impact head at one end of the frame body, a clamping mechanism disposed at the hollow center, and the two ends of the clamping mechanism being connected to the frame body respectively.

[0008] According to the present invention, a tiltable range extender for an unmanned underwater vehicle is provided, wherein the clamping mechanism includes: a pair of frames arranged in parallel, the two ends of the pair of frames being respectively connected to a frame body; and a clamping member disposed on the pair of frames, the clamping member being used to clamp or release the unmanned underwater vehicle, the clamping member being electrically connected to the controller.

[0009] According to the present invention, a tiltable range extender for an unmanned underwater vehicle (UUV) includes a clamping member comprising: a fixing part disposed on a pair of frames, the fixing part having an arc-shaped structure for accommodating the UUV; and a pair of clamping parts rotatably connected to the two ends of the fixing part, the clamping parts being able to engage or disengage from the UUV to clamp or release the UUV, and the clamping parts being electrically connected to the controller.

[0010] According to the present invention, a tiltable range extender for an unmanned underwater vehicle is provided, each frame comprising: a first rod, the first end of which is connected to the frame body; a second rod, the two ends of which are respectively connected to the first rod and the frame body, the second rod having a bend, and the two bends of a pair of frames being arranged opposite to each other to form an accommodating space, the accommodating space being used to accommodate the actuator of the unmanned underwater vehicle.

[0011] According to the present invention, a tiltable range extender for an unmanned underwater vehicle is provided, wherein the clamping mechanism further includes a protective cover, the two ends of which are respectively connected to a pair of the bent portions, and the protective cover is located above the actuator of the unmanned underwater vehicle.

[0012] According to the present invention, a tiltable range extender for an unmanned underwater vehicle, the clamping mechanism further includes: a rotating member disposed within the frame body and rotatably connected to the frame body; a pair of first ends of the frame bodies connected to the rotating member; and a pair of second ends of the frame bodies rotatably connected to the frame body; and a driver disposed within the impact head, the driver being used to drive the rotating member to rotate.

[0013] The present invention also provides an unmanned underwater vehicle system, including an unmanned underwater vehicle and a tiltable range extender for the unmanned underwater vehicle as described above, wherein the tiltable range extender is used to carry the unmanned underwater vehicle.

[0014] The tiltable range extender for unmanned underwater vehicles provided by this invention, by setting up a clamping mechanism, a frame structure, a hull structure, a propeller and a controller, uses the propeller to drive the hull structure to move, thereby transporting the unmanned underwater vehicle to the vicinity of a designated location. The controller controls the clamping mechanism to release the unmanned underwater vehicle, realizing remote / automatic transport of the unmanned underwater vehicle to the vicinity of a designated location, avoiding the waste of human resources caused by manual transport. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overturnable range extender device for the unmanned underwater vehicle provided by the present invention;

[0017] Figure 2 yes Figure 1 The diagram shows a structural schematic of the hull.

[0018] Figure 3 This is a schematic diagram of the structure of the unmanned underwater vehicle system provided by the present invention;

[0019] Figure label:

[0020] 10: Frame; 11: Clamping component; 12: Protective cover; 20: Frame structure; 30: Hull structure; 31: First body part; 32: Second body part; 40: Propeller; 101: First rod; 102: Second rod; 111: Fixing part; 112: Clamping part; 201: Frame body; 202: Impact head; 311: First inclined surface; 312: Second inclined surface; 321: Third inclined surface; 322: Fourth inclined surface. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0022] The terms "first" and "second" in the specification and claims of this invention may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0023] The following is combined with Figures 1-3 The present invention describes a tiltable range extender for an unmanned underwater vehicle and an unmanned underwater vehicle system.

[0024] like Figure 1 As shown, this embodiment of the invention provides a tiltable range extender for an unmanned underwater vehicle, comprising: a clamping mechanism, a frame structure 20, a hull structure 30, a thruster 40, and a controller. The clamping mechanism is disposed within and connected to the frame structure 20, and is openable and closable to clamp or release the unmanned underwater vehicle. The hull structure 30 is disposed on one side of the frame structure 20 and connected to it. The thruster 40 is connected to the hull structure 30 and is used to drive the hull structure 30 to move. The controller is electrically connected to the thruster 40 and the clamping mechanism.

[0025] Specifically, the frame structure 20 has a hollow section in the middle, where a clamping mechanism is located to hold the unmanned underwater vehicle (UUV). The hull structure 30 is located on one side of the frame structure 20 and is submerged in the sea. Driven by the propulsion unit 40, the hull structure 30 can navigate in the sea, thereby transporting the UUV to a designated location. When the UUV reaches the vicinity of the designated location, the clamping mechanism is released to release the UUV.

[0026] Furthermore, the tiltable range extender for unmanned underwater vehicles provided in this embodiment of the invention can be remotely controlled by the controller, or the tiltable range extender can be automatically controlled by the controller to navigate along a set route and automatically deploy the unmanned underwater vehicle when it is near a designated location.

[0027] The tiltable range extender for unmanned underwater vehicles provided in this invention embodiment, by setting up a clamping mechanism, a frame structure, a hull structure, a propeller and a controller, uses the propeller to drive the hull structure to move, thereby transporting the unmanned underwater vehicle to the vicinity of a designated location. The controller controls the clamping mechanism to release the unmanned underwater vehicle, realizing remote / automatic transport of the unmanned underwater vehicle to the vicinity of a designated location, avoiding the waste of human resources caused by manual transport.

[0028] like Figure 1 As shown, in an embodiment of the present invention, there is a pair of hull structures 30, which are symmetrically arranged on both sides of the frame structure 20, and each hull structure 30 is connected to a propeller 40.

[0029] Specifically, sea conditions vary, sometimes good and sometimes bad. In bad sea conditions, there is a risk of capsizing when manually transporting unmanned underwater vehicles (UUVs), making it impossible to sail in such conditions and severely limiting the operational capabilities of UUVs. In this embodiment, hull structures 30 are provided on both sides of the frame structure 20, forming a catamaran structure. The catamaran structure has high-speed navigation capabilities. Each hull structure 30 is connected to a propeller 40, with a total of four identical propellers 40. The propellers 40 use electric propulsion, and each hull structure 30 houses the same energy system, control system, navigation, and communication system. During normal operation, only the two submerged propellers 40 are needed to propel the capsizing range extender. Differential control allows for steering of the capsizing range extender. When sea conditions are rough, even if the capsizing range extender capsizes while navigating at sea, the other side of the hull structure 30 will be submerged in the sea. The controller will then activate the thruster 40 located on this side, which will move the hull structure 30 to transport the unmanned underwater vehicle to the designated location for deployment.

[0030] The capsizing range extender for unmanned underwater vehicles (UUVs) provided in this invention, by setting hull structures and propellers on both sides of the frame structure, allows the hull structure on the other side to submerge in the sea after the capsizing range extender capsizes. The propeller on that side then drives the hull structure to move, transporting the UUV to a designated location. The capsizing range extender for UUVs provided in this invention does not require attention to sea conditions and can still navigate at high speed and stably even in rough seas, successfully deploying the UUV and ensuring its operational capability.

[0031] like Figure 2 As shown, in an embodiment of the present invention, the hull structure 30 includes: a first body portion 31 and a second body portion 32. The first body portion 31 has a first surface and a second surface opposite to each other. The first surface is connected to the frame structure 20. The second surface has a first inclined surface 311 and a second inclined surface 312. The first inclined surface 311 and the second inclined surface 312 are symmetrically arranged, and the center of the second surface protrudes. A propeller 40 is provided at the first end of the first body portion 31. The first end of the second body portion 32 is connected to the second end of the first body portion 31. The second end of the second body portion 32 is pointed. The second body portion 32 has a third surface and a fourth surface opposite to each other. The third surface is connected to the frame structure 20. The fourth surface has a third inclined surface 321 and a fourth inclined surface 322. The third inclined surface 321 and the fourth inclined surface 322 are symmetrically arranged, and the center of the fourth surface protrudes.

[0032] Specifically, the outer side of the first body section 31 of each hull structure 30 has a symmetrically arranged first inclined surface 311 and a second inclined surface 312. The first inclined surface 311 and the second inclined surface 312 are constructed into a triangular structure to reduce the contact area with seawater, thereby reducing navigation resistance. Correspondingly, the outer side of the second body section 32 also has a symmetrically arranged third inclined surface 321 and a fourth inclined surface 322. The third inclined surface 321 and the fourth inclined surface 322 are also constructed into a triangular structure to reduce the contact area with seawater, thereby reducing navigation resistance. At the same time, the end of the second body section 32 that is not connected to the first body section 31 is a pointed end to reduce navigation resistance, enabling the capsizing range extender to navigate at high speed.

[0033] It should be noted that the specific structural form of the hull structure 30 described above is only one embodiment of the present invention, and the hull structure 30 can be flexibly designed according to specific needs.

[0034] like Figure 1 As shown, in an embodiment of the present invention, the frame structure 20 includes a frame body 201 and an impact head 202. The center of the frame body 201 is hollow, and the impact head 202 is provided at one end of the frame body 201. A clamping structure is located at the hollow, and both ends of the clamping mechanism are connected to the frame body 201.

[0035] Specifically, the frame 201 constitutes the main body of the tiltable range extender. In this embodiment, the frame 201 is a rectangular frame with a rectangular groove at its center, which extends through the upper and lower surfaces of the frame 201 to form a through slot. A clamping mechanism is disposed within this through slot, and the unmanned underwater vehicle is located below it. A hull structure 30 is disposed on each side of the rectangular frame, and each hull structure 30 is connected to two thrusters 40. An impact head 202 is disposed on one side of the frame 201, located between the two tips of the pair of hull structures 30.

[0036] like Figure 1 As shown, in an embodiment of the present invention, the clamping mechanism includes a pair of frames 10 and a clamping member 11. The pair of frames 10 are arranged in parallel, and both ends of the pair of frames 10 are respectively connected to the frame body 201. The clamping member 11 is disposed on the pair of frames 10, and the clamping member 11 is used to clamp or release the unmanned underwater vehicle. The clamping member 11 is electrically connected to the controller.

[0037] Specifically, a pair of frames 10 are disposed in rectangular slots of frame body 201, and clamping members 11 are disposed on the pair of frames 10. The clamping members 11 can be opened and closed to release or clamp the unmanned underwater vehicle.

[0038] Furthermore, such as Figure 1As shown, in an embodiment of the present invention, the clamping member 11 includes: a fixing part 111 and a pair of clamping parts 112. The fixing part 111 is disposed on a pair of frames 10 and has an arc-shaped structure for accommodating the unmanned underwater vehicle. The pair of clamping parts 112 are rotatably connected to both ends of the fixing part 111, and the clamping parts 112 can engage or disengage from the unmanned underwater vehicle to clamp or release it. The clamping parts are electrically connected to the controller.

[0039] Specifically, the fixing part 111 has an arc-shaped structure to match the shape of the unmanned underwater vehicle (UUV). The UUV is placed inside the fixing part 111, and the clamping part 112 overlaps with the UUV to fix it in place. When the tilting range extender transports the UUV to the designated location, the controller controls the clamping part 112 of the clamping part 11 to rotate, the clamping part 112 separates from the UUV, and the UUV submerges into the sea.

[0040] Furthermore, to ensure the unmanned underwater vehicle (UUV) remains securely fixed, in this embodiment, two clamping members 11 are used: one to secure the head of the UUV and the other to secure the tail. It is understood that when the UUV is long, the number of clamping members 11 can be three or more.

[0041] like Figure 1 As shown, in an embodiment of the present invention, each frame 10 includes: a first rod 101 and a second rod 102. The first end of the first rod 101 is connected to the frame body 201, and the two ends of the second rod 102 are respectively connected to the first rod 101 and the frame body 201. The second rod 102 has a bent portion, and the two bent portions of a pair of frame bodies 10 are arranged opposite to each other.

[0042] Specifically, in this embodiment, the shape of the first rod 101 can be set according to the shape of the unmanned underwater vehicle to be transported, so that the protruding parts of the unmanned underwater vehicle, such as the antenna, can be located in the gap between the pair of first rods 101, thereby avoiding interference between the first rod 101 and the unmanned underwater vehicle. In this embodiment, the second rod 102 has a bent portion, and the bent portions of the two second rods 102 form an accommodating space, in which the key actuators of the unmanned underwater vehicle, such as the rudder and propeller, are located.

[0043] like Figure 1 As shown, in an embodiment of the present invention, the clamping mechanism further includes a protective cover 12, the two ends of which are respectively connected to a pair of bent portions, and the protective cover is located above the actuator of the unmanned underwater vehicle.

[0044] Specifically, the protective cover 12 is used to protect the actuators of the unmanned underwater vehicle and prevent the water surface from hitting the actuators of the unmanned underwater vehicle after the overturnable range extender device overturns.

[0045] In an embodiment of the present invention, the clamping mechanism further includes a rotating member and a driver. The rotating member is disposed within the frame body 201 and is rotatably connected to the frame body 201. The first end of a pair of frame bodies 10 is connected to the rotating member, and the second end of the pair of frame bodies 10 is rotatably connected to the frame body 201. The driver is disposed within the impact head 202 and is used to drive the rotating member to rotate.

[0046] Specifically, when the drive rotates, it can drive the rotating parts to rotate, which in turn drives the frame 10 to rotate relative to the frame body 201. When the overturnable range extender overturns, the controller controls the drive to rotate, which drives the rotating parts to rotate, which in turn drives the frame 10 to rotate, so that the unmanned underwater vehicle is back in the forward direction. Regardless of whether the overturnable range extender is in an overturned state or not, the unmanned underwater vehicle is in the forward direction.

[0047] Optionally, in an embodiment of the present invention, the driver is a motor.

[0048] like Figure 3 As shown, this embodiment of the invention also provides an unmanned underwater vehicle system, including an unmanned underwater vehicle and a tiltable range extender, the tiltable range extender being used to carry the unmanned underwater vehicle.

[0049] Specifically, the tiltable range extender includes: a clamping mechanism, a frame structure 20, a hull structure 30, a thruster 40, and a controller. The clamping mechanism is located within and connected to the frame structure 20; it is openable and closable to clamp or release the unmanned underwater vehicle. The hull structure 30 is located on one side of the frame structure 20 and connected to it. The thruster 40 is connected to the hull structure 30 and is used to drive the hull structure 30 to move. The controller is electrically connected to the thruster 40 and the clamping mechanism.

[0050] The frame structure 20 has a hollow section in the middle, where a clamping mechanism is located to hold the unmanned underwater vehicle (UUV). A hull structure 30 is located on one side of the frame structure 20 and is submerged in the sea. Driven by the propulsion unit 40, the hull structure 30 can navigate in the sea, thereby transporting the UUV to a designated location. When the UUV reaches the vicinity of the designated location, the controller releases the clamping mechanism to release the UUV.

[0051] The unmanned underwater vehicle system provided in this embodiment of the invention, by setting up a tiltable range extender, can transport the unmanned underwater vehicle to a designated location. The clamping mechanism releases the unmanned underwater vehicle, realizing remote-controlled transport of the unmanned underwater vehicle to the vicinity of the designated location, avoiding the waste of human resources caused by manual transport.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tilting range extender for an unmanned underwater vehicle, characterized in that, include: Framework structure; A clamping mechanism is disposed within and connected to the frame structure. The clamping mechanism can be opened and closed to clamp or release the unmanned underwater vehicle. A pair of hull structures are symmetrically arranged on both sides of the frame structure and connected to the frame structure; The propulsion unit is connected to the hull structure. The controller is electrically connected to the pusher and the clamping mechanism; The hull structure includes: a first body part and a second body part. The first body part has a first surface and a second surface opposite to each other. The first surface is connected to the frame structure. The second surface has a first inclined surface and a second inclined surface. The first inclined surface and the second inclined surface are symmetrically arranged. The center of the second surface protrudes. The first end of the first body part is provided with the propeller. The first end of the second body portion is connected to the second end of the first body portion. The second end of the second body portion is pointed. The second body portion has a third surface and a fourth surface opposite to each other. The third surface is connected to the frame structure. The fourth surface has a third inclined surface and a fourth inclined surface. The third inclined surface and the fourth inclined surface are symmetrically arranged. The center of the fourth surface protrudes.

2. The tilting range extender for an unmanned underwater vehicle according to claim 1, characterized in that, The framework structure includes: The frame has a hollow center and an impact head at one end. The clamping mechanism is located at the hollow center and is connected to the frame at both ends.

3. The tilting range extender for an unmanned underwater vehicle according to claim 2, characterized in that, The clamping mechanism includes: A pair of frames are arranged in parallel, and the two ends of the pair of frames are respectively connected to the frame body; A clamping element is provided on a pair of the aforementioned frames. The clamping element is used to clamp or release the unmanned underwater vehicle. The clamping element is electrically connected to the controller.

4. The tilting range extender for an unmanned underwater vehicle according to claim 3, characterized in that, The clamping element includes: A fixing part is provided on a pair of said frames. The fixing part has an arc-shaped structure, and the arc-shaped structure is used to accommodate the unmanned underwater vehicle. A pair of clamping parts are rotatably connected to both ends of the fixing part. The clamping parts can be engaged or disengaged from the unmanned underwater vehicle to clamp or release the unmanned underwater vehicle. The clamping parts are electrically connected to the controller.

5. The tilting range extender for an unmanned underwater vehicle according to claim 3, characterized in that, Each of the aforementioned frames includes: The first rod, the first end of the first rod is connected to the frame body; The second rod has two ends connected to the first rod and the frame respectively. The second rod has a bend. The two bends of the frame are arranged opposite to each other to form an accommodating space, which is used to accommodate the actuator of the unmanned underwater vehicle.

6. The tilting range extender for an unmanned underwater vehicle according to claim 5, characterized in that, The clamping mechanism further includes: A protective cover, the two ends of which are respectively connected to a pair of the bent portions, is located above the actuator of the unmanned underwater vehicle.

7. The tilting range extender for an unmanned underwater vehicle according to claim 3, characterized in that, The clamping mechanism further includes: A rotating component is disposed within the frame body and rotatably connected to the frame body. A first end of a pair of frame bodies is connected to the rotating component, and a second end of a pair of frame bodies is rotatably connected to the frame body. A driver is disposed inside the impact head, and the driver is used to drive the rotating component to rotate.

8. An unmanned underwater vehicle system, characterized in that, The invention includes an unmanned underwater vehicle and a tiltable range extender for the unmanned underwater vehicle according to any one of claims 1-7, the tiltable range extender being used to carry the unmanned underwater vehicle.

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