An underwater self-floating unmanned aerial vehicle group carrying device and working process

Abstract

This invention relates to an underwater self-floating unmanned aerial vehicle (UAV) swarm transport device and its operating process, comprising, from top to bottom, a top cover, an airbag compartment, a main body section, a tail section, and a deceleration parachute compartment. The top cover, main body section, and tail section are all externally covered with deep-sea buoyancy material. A transport device is located inside the main body section, comprising an UAV compartment, a battery compartment, and a control compartment. The UAV compartment carries the UAV system to ensure surface launch. The battery compartment and control compartment are located below the UAV compartment. The battery compartment provides power throughout the process, and the control compartment controls the device's movement and signal transmission and reception. A fixing ring is located at the bottom of the transport device for connecting an acoustic release device and a gravity anchor. This facilitates rapid and reliable transport and ascent of the UAV swarm, stable surface launch of multiple UAVs, and ensures operational reliability.

Description

Technical Field

[0001] This invention relates to the field of marine engineering systems and assembly technology, and in particular to an underwater self-floating unmanned aerial vehicle (UAV) swarm transport device and its working process. Background Technology

[0002] A drone is an unmanned aerial vehicle that can perform flight missions remotely or through pre-programmed flight plans. Miniaturized drones, as an effective reconnaissance tool, have been widely used in both military and civilian fields, possessing advantages such as mature technology, small size, and low cost.

[0003] In recent years, the Navy has also turned its attention to miniaturized unmanned aerial vehicles (UAVs) as a long-range reconnaissance force. To achieve this goal, the problem of UAVs' inability to fly long distances needs to be solved. One effective method is to launch UAV swarms from a mother ship, but this method suffers from slow response times. Another approach is to design an underwater UAV carrier, pre-deployed in the mission area, which can respond quickly when needed to enable underwater loitering and surface launch of UAVs.

[0004] To achieve rapid response and enable the application of drones in remote sea areas, the main problems and challenges are as follows:

[0005] I. Reliability Issues. Traditional rapid ascent methods mainly control the ascent speed through thrusters, but for unmanned aerial vehicle (UAV) carriers that exist underwater for extended periods, it is difficult to meet the long-term reliability requirements.

[0006] Second, the issue of launch efficiency. Reconnaissance missions by UAVs typically require multi-UAV cooperation; deploying single-UAV units is uneconomical and results in low overall utilization efficiency.

[0007] Third, launch support issues: In order to meet the requirements of rapid response capability, the launch vehicle rises at a relatively fast speed, which may cause it to directly break out of the water surface, lose control of the tube attitude, and affect the launch of the UAV.

[0008] In addition, the launch of drones on the water surface places high demands on the attitude of the launch vehicle on the water surface. In particular, when launching multiple drones in sequence, it is necessary to counteract the recoil of the drones after launch and prevent water from entering the launch tube to ensure the success of subsequent drone launches. Summary of the Invention

[0009] In response to the shortcomings of the existing production technology, the applicant provides an underwater self-floating unmanned aerial vehicle (UAV) swarm transport device and its working process, which facilitates the rapid and reliable transport and ascent of UAV swarms, stable launch of multiple UAVs on the water surface, and ensures operational reliability.

[0010] The technical solution adopted in this invention is as follows:

[0011] An underwater self-floating unmanned aerial vehicle (UAV) swarm transport device includes a top cover, an airbag compartment, a main body section, a tail section, and a deceleration parachute compartment connected sequentially from top to bottom. The top cover, main body section, and tail section are all covered with deep-sea buoyancy material. A transport device is located inside the main body section. The transport device includes an unmanned aerial vehicle (UAV) compartment, a battery compartment, and a control compartment. The UAV compartment carries the UAV system to ensure surface launch. The battery compartment and control compartment are located below the UAV compartment. The battery compartment provides power throughout the entire process, and the control compartment is used to control the movement of the device and transmit and receive signals. The bottom of the transport device has a fixing ring for connecting an acoustic release device and a gravity anchor.

[0012] The main body section includes a carbon fiber pressure-resistant shell, and the outer surface of the carbon fiber pressure-resistant shell is wrapped with buoyancy material for the main body section.

[0013] The airbag compartment structure includes an airbag shell, an airbag compartment opening system, a slot, a cover pushing system, a gas-fired inflation device, and an airbag. The entire airbag compartment is installed on the upper part of the carbon fiber pressure-resistant shell. The airbag compartment opening system consists of an airbag cover and a cover C-shaped mounting base. The cover pushing system consists of a push rod guide bracket, a push rod spring, and a top cover push rod. There are two sets of the cover pushing system and the gas-fired inflation device, which are symmetrically arranged on both sides of the airbag shell and located inside the airbag cover.

[0014] The structure of the top cover is as follows: it includes top cover buoyancy material, top cover pressure-resistant ball end cap, C-type bracket, No. 1 explosive bolt, and nut. The top cover buoyancy material is glued to the top cover pressure-resistant ball end cap. The C-type bracket is installed on the airbag shell. The top cover pressure-resistant ball end cap is fastened in the C-type bracket through the end cap pivot. The No. 1 explosive bolt is fixed to the other end of the top cover pressure-resistant ball end cap.

[0015] The tail section has four tail fins and a depth gauge evenly arranged around its circumference. The tail fins are welded to the carbon fiber pressure-resistant shell.

[0016] Its further technical solution lies in:

[0017] The airbag cabin opening system comprises multiple components, arranged circumferentially on the outside of the airbag shell.

[0018] The airbag shell is fixedly connected to the carbon fiber pressure-resistant shell. The upper part of the airbag shell is welded with a C-shaped mounting seat for the cover plate, and the lower part is installed with a slot for limiting the airbag cover plate. A push rod guide bracket is installed on the top of the airbag shell, and a through hole is left for the top cover push rod to extend and push the top cover. When underwater, the airbag is in an uninflated state. The upper cover plate pivot is locked in the groove of the cover plate C-shaped mounting seat, and the lower part is limited by the slot. The lower part of the airbag cover plate is the cover plate tear section. When the airbag is inflated, the cover plate tear section breaks, and the airbag cover plate can be opened. At this time, the cover plate pivot falls out of the groove of the cover plate C-shaped mounting seat, and the airbag cover plate is completely detached.

[0019] The cover push system is installed on the upper part of the airbag. The cover push rod is restricted by the push rod guide bracket and moves in the vertical direction. The cover push rod is suspended inside the airbag chamber by the push rod spring.

[0020] The structure of the deceleration parachute compartment includes a deceleration parachute shell, a deceleration parachute, a deceleration parachute end cap, and a No. 2 explosive bolt. The deceleration parachute shell is welded to the tail fin, the deceleration parachute is installed inside the deceleration parachute shell, and the deceleration parachute end cap is installed at the end of the deceleration parachute shell by the No. 2 explosive bolt.

[0021] The structure of the drone cabin includes a drone mounting base and four drone launch tubes arranged circumferentially. Each drone launch tube consists of a folding-wing drone, a piston, a compressed nitrogen storage tank, a shear pin, and a launch tube end cap. The wings of the folding-wing drone can unfold autonomously after being ejected into the air.

[0022] The working process of an underwater self-floating unmanned aerial vehicle swarm transport device includes the following operation procedures:

[0023] S1: Liberation and Ascent;

[0024] When the control cabin receives the ascent command, the acoustic release device connected to the fixed ring is released, and the carrier device achieves rapid ascent.

[0025] S2: Decelerate and ascend;

[0026] The depth gauge at the bottom of the carrier device measures the depth of the carrier device in real time. When the carrier device floats up to near the water surface, the No. 2 explosive bolt at the tail is released, the deceleration parachute end cap falls under the action of gravity, and the deceleration parachute end cap itself acts as a traction mechanism to guide the deceleration parachute to open, and the floating speed of the carrier device decreases rapidly.

[0027] S3: Floating lid opening;

[0028] After the carrier floats to the surface, the control cabin receives the depth gauge signal, the gas-fired inflation device releases gas to rapidly inflate the airbag, and at the same time the explosive bolts at the top cover explode and unlock. The airbag lifts the top cover push rod and moves it along the push rod guide bracket. The top cover push rod acts on the top cover, causing the top cover to rotate around the head shaft. The head shaft falls off the C-shaped bracket, and the top cover slides obliquely into the water under the support of gravity and the top cover push rod.

[0029] At the same time, after the airbag is inflated, the tear part of the cover plate at the bottom of the airbag cover plate breaks under the force, the cover plate pivot falls out of the groove of the cover plate C-shaped mounting seat, the airbag cover plate falls off, the airbag fully unfolds, and supports the carrier to float on the water surface.

[0030] S4: Payload launch;

[0031] After receiving the shore-based transmission signal, the control cabin powers on the folding-wing UAV, searches for satellites, and sets the mission. Once the gyroscope in the control cabin detects that the launch tube's attitude meets the launch requirements, the compressed nitrogen storage tank inside the UAV launch tube is triggered, pushing the piston. The piston then pushes the folding-wing UAV out of the tube. When the folding-wing UAV exits the tube, it first impacts the launch tube end cap. The breakable shear pin on the launch tube end cap breaks under the impact force, and the launch tube end cap is pushed open, allowing the folding-wing UAV to launch. Subsequently, the other UAV launch tubes can sequentially launch the folding-wing UAVs inside. After the wings of the folding-wing UAVs are ejected into the air, they can autonomously unfold and perform flight missions.

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

[0033] This invention features a compact and reasonable structure and is easy to operate. Through the coordinated operation of components such as the top cover, airbag compartment, main body section, tail section, and deceleration parachute compartment, it can easily and reliably transport and float up a swarm of UAVs and stably launch multiple UAVs onto the water surface, effectively solving various problems and difficulties in the prior art.

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

[0035] (1) The present invention uses a buoyancy material shell and is designed with a hydrodynamic profile suitable for rapid ascent. Combined with a lightweight carbon fiber pressure-resistant shell and tail fin, it achieves rapid ascent response and has the advantages of fast ascent speed and high reliability of unpowered ascent motion.

[0036] (2) After the present invention floats to the water surface, it triggers the airbag to provide a large positive buoyancy, which can counteract the recoil when the UAV is launched, maintain the stability of the carrier's water surface attitude, prevent the cylinder from tilting and taking in water, and ensure the sequential launch or salvo launch of multiple UAVs.

[0037] (3) The opening method of the present invention is to push the push rod through the airbag to open the cover. The opening mechanism is equipped with a C-shaped card seat, which effectively reduces the use of pyrotechnic action device and has the advantages of safety, reliability, economy and environmental protection.

[0038] (4) The UAV launch tube end cap is secured by a breakable shear pin. When the UAV is ejected from the tube, the shear pin breaks, the end cap is pushed open, and the UAV launch is completed. The end cap and breakable shear pin effectively prevent external water splashes from entering the UAV launch tube during launch. As a second layer of protection against water ingress, it maximizes the safety of the UAV launch environment. It also helps maintain the UAV in a dry state before launch, improving equipment reliability.

[0039] (5) This invention, by incorporating a deceleration parachute compartment, prevents the unmanned aerial vehicle (UAV) swarm carrier from experiencing excessive buoyancy and rapid ascent during the ascent process, which could lead to an excessively high water exit height and an inability to control the water exit attitude. This reduces system risk and ensures the smooth execution of subsequent workflows. Furthermore, the deceleration parachute compartment directly opens the deceleration parachute for deceleration, with the end cap itself acting as a traction mechanism to guide the parachute's opening, replacing the push-launch mechanism, thus reducing system complexity and increasing reliability. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of the present invention.

[0041] Figure 2 This is a schematic diagram of the internal structure of the present invention.

[0042] Figure 3 This is an exploded view of the head of the invention.

[0043] Figure 4 This is a schematic diagram of the internal structure of the present invention.

[0044] Figure 5 for Figure 4 Full sectional view (and enlarged) along section AA.

[0045] Figure 6 This is a side view of the present invention.

[0046] Figure 7 This is a schematic diagram of the structure of the drone launch tube of the present invention.

[0047] Figure 8 This is a schematic diagram of the present invention in its floating working state.

[0048] Figure 9 This is a schematic diagram of the present invention in the launch operation state.

[0049] The components include: 1. Top cover; 2. Airbag compartment; 3. Main body section; 4. Tail section; 5. Deceleration parachute compartment; 6. Unmanned aerial vehicle compartment; 7. Battery compartment; 8. Control compartment; 9. Fixing ring;

[0050] 11. Buoyancy material for the top cover; 12. Pressure-resistant ball head for the top cover; 1201. Head shaft; 13. C-type bracket; 14. No. 1 explosion bolt; 15. Nut;

[0051] 21. Airbag shell; 22. Airbag cover; 2201. Cover pivot; 2202. Cover tear; 23. Cover C-type mounting base; 24. Slot; 25. Push rod guide bracket; 26. Push rod spring; 27. Top cover push rod; 28. Gas-fired inflation device; 29. ​​Airbag;

[0052] 31. Buoyancy material of the main section; 32. Carbon fiber pressure-resistant shell;

[0053] 41. Tail fin; 42. Depth gauge;

[0054] 51. Deceleration chute outer shell; 52. Deceleration chute; 53. Deceleration chute end cap; 54. No. 2 explosion bolt;

[0055] 61. UAV mounting base; 62. Launch tube end cap; 63. UAV launch tube; 64. Folding-wing UAV; 65. Wing; 66. Piston; 67. Compressed nitrogen storage tank; 68. Shear pin. Detailed Implementation

[0056] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0057] like Figures 1-9 As shown, the underwater self-floating unmanned aerial vehicle (UAV) swarm carrier device of this embodiment includes a top cover 1, an airbag compartment 2, a main body section 3, a tail section 4, and a deceleration parachute compartment 5 connected sequentially from top to bottom. The top cover 1, the main body section 3, and the tail section 4 are all wrapped with deep-sea buoyancy material. A carrier device is set inside the main body section 3. The carrier device includes an unmanned aerial vehicle (UAV) compartment 6, a battery compartment 7, and a control compartment 8. The UAV compartment 6 carries the UAV system to ensure surface launch. The battery compartment 7 and the control compartment 8 are located below the UAV compartment 6. The battery compartment 7 is used for power supply throughout the process, and the control compartment 8 is used to control the movement of the device and transmit and receive signals. The bottom of the carrier device is a fixing ring 9, which is used to connect the acoustic release device and the gravity anchor.

[0058] The main body section 3 includes a carbon fiber pressure-resistant shell 32, and the outer surface of the carbon fiber pressure-resistant shell 32 is wrapped with a buoyancy material 31 for the main body section.

[0059] The structure of the airbag compartment 2 includes an airbag shell 21, an airbag compartment opening system, a slot 24, a cover plate pushing system, a gas-fired inflation device 28, and an airbag 29. The entire airbag compartment 2 is installed on the upper part of the carbon fiber pressure-resistant shell 32. The airbag compartment opening system consists of an airbag cover plate 22 and a cover plate C-shaped mounting seat 23. The cover plate pushing system consists of a push rod guide bracket 25, a push rod spring 26, and a top cover push rod 27. There are two sets of the cover plate pushing system and the gas-fired inflation device 28, which are symmetrically arranged on both sides of the airbag shell 21 and located inside the airbag cover plate 22.

[0060] The structure of the top cover 1 is as follows: it includes a top cover buoyancy material 11, a top cover pressure-resistant ball end cap 12, a C-type bracket 13, a No. 1 explosion bolt 14, and a nut 15. The top cover buoyancy material 11 is glued to the top cover pressure-resistant ball end cap 12. The C-type bracket 13 is installed on the airbag shell 21. The top cover pressure-resistant ball end cap 12 is fastened in the C-type bracket 13 through the end cap rotating shaft 1201. The No. 1 explosion bolt 14 is fixed to the other end of the top cover pressure-resistant ball end cap 12.

[0061] Four tail fins 41 and a depth gauge 42 are evenly arranged around the tail section 4. The tail fins 41 are welded to the carbon fiber pressure-resistant shell 32.

[0062] The airbag opening system comprises multiple components, arranged circumferentially on the outside of the airbag shell 21.

[0063] The airbag shell 21 is fixedly connected to the carbon fiber pressure-resistant shell 32. The upper part of the airbag shell 21 is welded with a C-shaped mounting base 23 for the cover plate, and the lower part is installed with a slot 24 for limiting the airbag cover plate 22. The top of the airbag shell 21 is equipped with a push rod guide bracket 25, and a through hole is left for the top cover push rod 27 for extending and pushing the top cover 1. When underwater, the airbag 29 is in an uninflated state. The upper cover plate pivot 2201 of the airbag cover plate 22 is stuck in the groove of the cover plate C-shaped mounting base 23, and the lower part is limited by the slot 24. The lower part of the airbag cover plate 22 is the cover plate tear section 2202. When the airbag 29 is inflated, the cover plate tear section 2202 is broken, and the airbag cover plate 22 can be opened. At this time, the cover plate pivot 2201 falls out of the groove of the cover plate C-shaped mounting base 23, and the airbag cover plate 22 is completely detached.

[0064] The cover push system is installed on the upper part of the airbag 29. The cover push rod 27 is restricted by the push rod guide bracket 25 and moves in the vertical direction. The cover push rod 27 is suspended inside the airbag chamber 2 by the push rod spring 26.

[0065] The structure of the deceleration parachute compartment 5 is as follows: it includes a deceleration parachute shell 51, a deceleration parachute 52, a deceleration parachute end cap 53, and a second explosive bolt 54. The deceleration parachute shell 51 is welded to the tail fin 41. The deceleration parachute 52 is installed inside the deceleration parachute shell 51. The deceleration parachute end cap 53 is installed at the end of the deceleration parachute shell 51 by the second explosive bolt 54.

[0066] The structure of the unmanned aerial vehicle (UAV) cabin 6 includes a UAV mounting base 61 and four UAV launch tubes 63 arranged circumferentially. Each UAV launch tube 63 consists of a folding-wing UAV 64, a piston 66, a compressed nitrogen storage tank 67, a shear pin 68, and a launch tube end cap 62 placed inside. The wings 65 of the folding-wing UAV 64 can unfold autonomously after being ejected into the air.

[0067] The specific structure and function of the underwater self-floating unmanned aerial vehicle swarm transport device described in this invention are as follows:

[0068] It mainly includes an openable top cover 1, an airbag compartment 2, a main body section 3, a tail section 4, and a deceleration parachute compartment 5, which are connected in sequence.

[0069] The top cover 1, main body section 3, and tail section 4 are all covered with deep-sea buoyancy material. The buoyancy material shell gives the carrier a large positive buoyancy, and together with the airbag chamber 2 shell, they form a hydrodynamic shape suitable for rapid ascent.

[0070] The launch vehicle internally includes an unmanned aerial vehicle (UAV) compartment 6, a battery compartment 7, and a control compartment 8. The UAV compartment 6 carries the UAV system to ensure surface launch, the battery compartment 7 provides power throughout the entire process, and the control compartment 8 is used to control the movement of the device and transmit and receive signals. The bottom of the launch vehicle has a fixing ring 9, which is used to connect the acoustic release device and the gravity anchor to enable the launch vehicle to stay underwater for a long time.

[0071] Figure 3 This is an exploded view of the top cover 1 and the airbag compartment 2 in this embodiment. Figure 4 This is a cross-sectional view of this embodiment. In this embodiment, the internal buoyancy material is a carbon fiber pressure-resistant shell 32, which can provide a dry atmospheric pressure mounting environment for the UAV.

[0072] The airbag compartment 2 consists of an airbag shell 21, an airbag compartment opening system, a slot 24, a cover pushing system, a gas-fired inflation device 28, and an airbag 29, and is installed on the upper part of the carbon fiber pressure-resistant shell 32. The airbag compartment opening system consists of an airbag cover 22 and a cover C-shaped mounting base 23. In this example, there are multiple airbag compartment opening systems, arranged circumferentially on the outside of the airbag shell 21. The cover pushing system consists of a push rod guide bracket 25, a push rod spring 26, and a top cover push rod 27. In this example, there are two sets of the cover pushing system and two sets of the gas-fired inflation device 28, symmetrically arranged on both sides of the airbag shell 21, located inside the airbag cover 22.

[0073] The airbag shell 21 is fixedly connected to the carbon fiber pressure-resistant shell 32. A C-shaped mounting base 23 for the cover plate is welded to the upper part of the airbag shell 21, and a slot 24 is installed at the lower part to limit the airbag cover plate 22. A push rod guide bracket 25 is installed on the top of the airbag shell 21, and a through hole is provided for the top cover push rod 27 to extend and push the top cover 1. When underwater, the airbag 29 is in an uninflated state. The upper cover plate pivot 2201 of the airbag cover plate 22 is engaged in the groove of the C-shaped mounting base 23, and the lower part is limited by the slot 24. The lower part of the airbag cover plate 22 has a cover plate tear section 2202. When the airbag 29 is inflated, the cover plate tear section 2202 breaks, and the airbag cover plate 22 can be opened. At this time, the cover plate pivot 2201 falls out of the groove of the C-shaped mounting base 23, and the airbag cover plate 22 is completely detached. The cover push system is installed on the upper part of the airbag 29. The cover push rod 27 is restricted by the push rod guide bracket 25 and can move in the vertical direction. The cover push rod 27 is suspended inside the airbag chamber 2 by the push rod spring 26.

[0074] The top cover 1 is composed of a top cover buoyancy material 11, a top cover pressure-resistant ball end cap 12, a C-type bracket 13, a No. 1 explosion bolt 14, and a nut 15. The top cover buoyancy material 11 is glued to the top cover pressure-resistant ball end cap 12. The C-type bracket 13 is installed on the airbag shell 21. The top cover pressure-resistant ball end cap 12 can be fastened in the C-type bracket 13 through the end cap pivot 1201. The No. 1 explosion bolt 14 is fixed to the other end of the top cover pressure-resistant ball end cap 12.

[0075] In this embodiment, four tail fins 41 and a type of depth gauge 42 are evenly arranged circumferentially in the tail section 4. The tail fins 41 are welded to the carbon fiber pressure-resistant shell 32.

[0076] The deceleration chute compartment 5 consists of a deceleration chute shell 51, a deceleration chute 52, a deceleration chute end cap 53, and a second explosive bolt 54. The deceleration chute shell 51 is welded to the tail fin 41. The deceleration chute 52 is installed inside the deceleration chute shell 51. The deceleration chute end cap 53 is installed at the end of the deceleration chute shell 51 by the second explosive bolt 54.

[0077] In this example, the unmanned aerial vehicle (UAV) bay 6 consists of a UAV mounting base 61 and four UAV launch tubes 63 arranged circumferentially. For example... Figure 6 As shown, the drone launch tube 63 consists of a folding-wing drone 64, a piston 66, a compressed nitrogen storage tank 67, a shear pin 68, and a launch tube end cap 62, all housed internally. The wings 65 of the folding-wing drone 64 can unfold autonomously after being ejected into the air.

[0078] In practical operation, this invention includes the following steps:

[0079] (a) Liberation and Ascent:

[0080] When the control cabin 8 receives the ascent command, the acoustic release device connected to the fixed ring 9 is released, and the carrier device achieves rapid ascent.

[0081] (II) Deceleration and Ascent:

[0082] Deceleration and Ascent State Figure 8 As shown. The depth gauge 42 at the bottom of the carrier device measures the depth of the carrier device in real time. When the carrier device is detected to float up to near the water surface, the No. 2 explosive bolt 54 at the tail is released. The deceleration parachute end cap 53, which has a certain weight, falls under the action of gravity. The deceleration parachute end cap 53 itself acts as a traction mechanism to guide the deceleration parachute 52 to open, and the floating speed of the carrier device is rapidly reduced.

[0083] (III) Floating Opening:

[0084] Water surface condition as Figure 9 As shown, after the carrier floats to the surface, the control cabin 8 receives a signal from the depth gauge 42, and the gas-fired inflation device 28 releases gas, causing the airbag 29 to inflate rapidly. At the same time, the No. 1 explosive bolt 14 at the top cover 1 explodes and unlocks. The airbag 29 pushes up the top cover push rod 27 and moves it along the push rod guide bracket 25. The top cover push rod 27 acts on the top cover 1, causing the top cover to rotate around the end cap shaft 1201. The end cap shaft 1201 detaches from the C-type bracket 13, and the top cover 1 slides obliquely into the water under the support of gravity and the top cover push rod 27.

[0085] At the same time, after the airbag 29 is inflated, the cover plate tear 2202 at the bottom of the airbag cover plate 22 breaks under force, the cover plate pivot 2201 falls out of the groove of the cover plate C-shaped mounting seat 23, the airbag cover plate 22 falls off, the airbag 29 fully deploys, and supports the carrier to float on the water surface.

[0086] (iv) Payload launch.

[0087] After receiving the shore-based transmission signal, the control cabin 8 powers on the folding-wing UAV 64, searches for satellites, and sets its mission. Once the gyroscope in the control cabin 8 detects that the launch tube's attitude meets launch requirements, the compressed nitrogen storage tank 67 inside the UAV launch tube 63 is triggered, pushing the piston 66. The piston 66 then pushes the folding-wing UAV 64 out of the tube. Upon exiting the tube, the folding-wing UAV 64 first impacts the launch tube end cap 62. The breakable shear pin 68 on the launch tube end cap 62 breaks under the impact force, opening the launch tube end cap 62 and launching the folding-wing UAV 64. Subsequently, the remaining UAV launch tubes 63 can sequentially launch their internal folding-wing UAVs 64. After being ejected into the air, the wings 65 of the folding-wing UAV 64 can autonomously unfold and perform its flight mission.

[0088] 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. An underwater self-floating drone swarm carrier, characterized by: The device includes a top cover (1), an airbag compartment (2), a main body section (3), a tail section (4), and a deceleration parachute compartment (5) connected from top to bottom. The top cover (1), the main body section (3), and the tail section (4) are all wrapped with deep-sea buoyancy material. A transport device is set inside the main body section (3). The transport device includes an unmanned aerial vehicle (UAV) compartment (6), a battery compartment (7), and a control compartment (8). The UAV compartment (6) carries the UAV system to ensure surface launch. The battery compartment (7) and the control compartment (8) are located below the UAV compartment (6). The battery compartment (7) is used for power supply throughout the process. The control compartment (8) is used to control the movement of the device and transmit and receive signals. The bottom of the transport device is a fixed ring (9) for connecting the acoustic release device and the gravity anchor. The main body section (3) includes a carbon fiber pressure shell (32), and the outer surface of the carbon fiber pressure shell (32) is wrapped with the buoyancy material (31) of the main body section. The structure of the airbag compartment (2) is as follows: it includes an airbag shell (21), an airbag compartment opening system, a slot (24), a cover plate pushing system, a gas-fired inflation device (28), and an airbag (29). The entire airbag compartment (2) is installed on the upper part of the carbon fiber pressure-resistant shell (32). The airbag compartment opening system consists of an airbag cover plate (22) and a cover plate C-type mounting seat (23). The cover plate pushing system consists of a push rod guide bracket (25), a push rod spring (26), and a top cover push rod (27). There are two sets of the cover plate pushing system and the gas-fired inflation device (28), which are symmetrically arranged on both sides of the airbag shell (21) and located inside the airbag cover plate (22). The structure of the top cover (1) is as follows: it includes a top cover buoyancy material (11), a top cover pressure-resistant ball end cap (12), a C-type bracket (13), a No. 1 explosion bolt (14), and a nut (15). The top cover buoyancy material (11) is glued to the top cover pressure-resistant ball end cap (12). The C-type bracket (13) is installed on the airbag shell (21). The top cover pressure-resistant ball end cap (12) is fastened in the C-type bracket (13) through the end cap pivot (1201). The No. 1 explosion bolt (14) is fixed to the other end of the top cover pressure-resistant ball end cap (12). Four tail fins (41) and a depth gauge (42) are evenly arranged around the tail section (4). The tail fins (41) are welded to the carbon fiber pressure shell (32). The airbag shell (21) is fixedly connected to the carbon fiber pressure-resistant shell (32). The upper part of the airbag shell (21) is welded with a C-shaped mounting seat (23) for the cover plate, and the lower part is fitted with a slot (24) for limiting the airbag cover plate (22). The top of the airbag shell (21) is fitted with a push rod guide bracket (25), and a through hole is left for the top cover push rod (27) for extending and pushing the top cover (1). When underwater, the airbag (29) is in an uninflated state, and the airbag cover plate (2) 2) The upper cover plate pivot (2201) is stuck in the groove of the cover plate C-type mounting seat (23), and the lower part is limited by the slot (24); the lower part of the airbag cover plate (22) is the cover plate tear part (2202). When the airbag (29) is inflated, the cover plate tear part (2202) is broken, and the airbag cover plate (22) can be opened. At this time, the cover plate pivot (2201) falls out from the groove of the cover plate C-type mounting seat (23), and the airbag cover plate (22) is completely detached.

2. The underwater self-floating unmanned aerial vehicle swarm transport device as described in claim 1, characterized in that: The airbag opening system comprises multiple units, arranged circumferentially on the outside of the airbag shell (21).

3. The underwater self-floating unmanned aerial vehicle swarm transport device as described in claim 1, characterized in that: The cover push system is installed on the upper part of the airbag (29). The top cover push rod (27) is restricted by the push rod guide bracket (25) and moves in the vertical direction. The top cover push rod (27) is suspended inside the airbag chamber (2) by the push rod spring (26).

4. The underwater self-floating unmanned aerial vehicle swarm transport device as described in claim 3, characterized in that: The structure of the deceleration parachute compartment (5) is as follows: it includes a deceleration parachute shell (51), a deceleration parachute (52), a deceleration parachute end cap (53), and a No. 2 explosive bolt (54). The deceleration parachute shell (51) is welded to the tail fin (41). The deceleration parachute (52) is installed inside the deceleration parachute shell (51). The deceleration parachute end cap (53) is installed at the end of the deceleration parachute shell (51) by the No. 2 explosive bolt (54).

5. The underwater self-floating unmanned aerial vehicle swarm transport device as described in claim 4, characterized in that: The structure of the unmanned aerial vehicle (6) includes a drone mounting base (61) and four drone launch tubes (63) arranged in a circumferential direction. The drone launch tube (63) consists of a folding-wing drone (64), a piston (66), a compressed nitrogen storage tank (67), a shear pin (68), and a launch tube end cap (62) placed inside. The wings (65) of the folding-wing drone (64) can unfold autonomously after being ejected into the air.

6. The working process of an underwater self-floating unmanned aerial vehicle swarm transport device as described in claim 5, characterized in that: The following operational procedures are included: S1: Liberation and Ascent; When the control cabin (8) receives the buoyancy command, the acoustic release device connected to the fixed ring (9) is released, and the carrier device achieves rapid buoyancy; S2: Decelerate and ascend; The depth gauge (42) at the bottom of the carrier device measures the depth of the carrier device in real time. When the carrier device floats up to near the water surface, the No. 2 explosive bolt (54) at the tail is released, the deceleration parachute end cap (53) falls under the action of gravity, and the deceleration parachute end cap (53) itself acts as a traction mechanism to guide the deceleration parachute (52) to open, and the floating speed of the carrier device decreases rapidly. S3: Floating lid opening; After the carrier floats to the surface, the control cabin (8) receives the signal from the depth gauge (42), the gas-type inflation device (28) releases gas, causing the airbag (29) to inflate rapidly. At the same time, the explosive bolt (14) at the top cover explodes and unlocks. The airbag (29) pushes up the top cover push rod (27) and moves along the push rod guide bracket (25). The top cover push rod (27) acts on the top cover (1), causing the top cover to rotate around the head shaft (1201). The head shaft (1201) falls off from the C-type bracket (13), and the top cover (1) slides obliquely into the water under the support of gravity and the top cover push rod (27). At the same time, after the airbag (29) is inflated, the cover plate tear (2202) at the bottom of the airbag cover plate (22) is broken by force, the cover plate pivot (2201) falls out from the groove of the cover plate C-type mounting seat (23), the airbag cover plate (22) falls off, the airbag (29) fully unfolds, and supports the carrier to float on the water surface; S4: Payload launch; After the control cabin (8) receives the shore-based transmission signal, the folding-wing UAV (64) is powered on, searches for satellites, and sets the mission. After the gyroscope in the control cabin (8) detects that the attitude of the launch tube meets the launch requirements, the compressed nitrogen storage tank (67) in the UAV launch tube (63) is triggered, pushing the piston (66). The piston (66) pushes the folding-wing UAV (64) out of the tube. When the folding-wing UAV (64) exits the tube, it first hits the launch tube end cap (62). The easily broken shear pin (68) on the launch tube end cap (62) breaks due to the impact force, and the launch tube end cap (62) is pushed open. The folding-wing UAV (64) is launched out of the tube. Subsequently, the other UAV launch tubes (63) can launch the internal folding-wing UAVs (64) in sequence. After the wings (65) of the folding-wing UAV (64) are ejected into the air, they can unfold autonomously to perform flight missions.

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