Aerial throwing type autonomous underwater vehicle

Abstract

The invention discloses an air throwing type autonomous underwater vehicle, which belongs to the technical field of marine environment observation and seabed resource exploration, and comprises a head hydrophone section, a communication antenna section, an energy cabin section, a tail power section and a parachute assembly which are sequentially connected in the axial direction, the parachute assembly comprises a head cover, a connecting belt, a parachute opening mechanism and a parachute. The head cover is arranged on the front portion of the head hydrophone section in a sleeving mode, the parachute opening mechanism is arranged on the rear portion of the tail power section, the parachute opening mechanism and the head cover are connected through a connecting belt, and the head cover and the parachute opening mechanism are fixed to the underwater vehicle body through a tensioning belt. The parachute is located in the parachute opening mechanism. The air launching type autonomous underwater vehicle has remarkable advantages in the aspects of structure, energy efficiency, reliability, simplicity and convenience in operation and the like, the cost can be effectively reduced, the performance can be effectively improved, meanwhile, the application range of the AUV is expanded, and the air launching type autonomous underwater vehicle is particularly suitable for the fields of deep sea detection, environment monitoring, military reconnaissance and the like.

Description

Technical Field

[0001] The invention belongs to the technical field of marine environment observation and seabed resource exploration, and in particular relates to an air-dropped autonomous underwater vehicle. Background Art

[0002] An Autonomous Underwater Vehicle (AUV) is an autonomous underwater detection platform that is widely used in the fields of marine science research, environmental monitoring, military reconnaissance, etc. As an efficient underwater operation tool, AUV is capable of deep-sea exploration, data collection, and mission execution without human intervention. Since traditional underwater AUVs are difficult and time-consuming to deploy in harsh environments or distant waters, air-dropped AUVs have become a new research direction. After being dropped from the air, this type of AUV can quickly enter the target waters, reduce deployment time, and improve operational efficiency. It has important application value, especially in remote waters and extreme environments.

[0003] At present, air-dropped underwater vehicles (AUVs) face a series of technical and cost challenges in practical applications. First of all, existing air-dropped AUVs are usually deployed by carrying them on the wings of drones, which limits the number of AUVs deployed each time. Generally speaking, a drone can only carry 2 to 3 AUVs for deployment, which results in low efficiency of a single operation and cannot meet the needs of large-scale, underwater detection missions. In addition, the release mechanism and related system design during the deployment process are complex, the deployment cost is high, and the deployment speed is slow, which limits its application in emergency or large-scale operations.

[0004] Secondly, due to the non-uniform dimensions of current AUVs, it is often necessary to customize a dedicated release device for each AUV. This non-standard design not only increases the manufacturing and maintenance costs of the dedicated release equipment, but also adds additional operational complexity during deployment. Each deployment requires specific preparation and adjustment work, which makes the operation of air-dropped AUVs cumbersome and time-consuming, further increasing the overall cost of the system.

[0005] In addition, the lack of a unified standardized size results in poor adaptability of airdrop AUVs. Existing drone platforms can only be customized according to the specific AUV size, and this non-standard design requires specific equipment support for each AUV usage scenario, limiting its flexibility on different platforms. Therefore, the deployment and use of airdrop AUVs are greatly limited.

[0006] In summary, the main problems of existing airdrop AUVs include small number of deployments, slow deployment speed, high deployment cost, poor adaptability and additional costs due to non-standard dimensions. These shortcomings limit the large-scale application and development of airdrop AUVs in the fields of ocean exploration and environmental monitoring. Therefore, how to standardize the dimensions of airdrop AUVs and make them adaptable to standard launchers for efficient and low-cost deployment has become a technical problem that needs to be solved urgently. Summary of the invention

[0007] In view of a series of technical and cost problems of current air-dropped underwater vehicles, such as small number of deployments, slow deployment speed, high deployment costs, and poor adaptability due to irregular appearance and dimensions, the present invention provides an air-dropped autonomous underwater vehicle.

[0008] The present invention is implemented as follows: an air-dropped autonomous underwater vehicle, characterized in that it includes a head hydrophone section, a communication antenna section, an energy compartment section, a tail power section and a parachute assembly that are axially connected in sequence; the parachute assembly includes a hood, a connecting belt, an umbrella opening mechanism and a parachute; the hood is sleeved on the front of the head hydrophone section, the umbrella opening mechanism is placed on the rear of the tail power section, the umbrella mechanism and the hood are connected by a connecting belt, and the hood and the umbrella opening mechanism are fixed to the underwater vehicle body by a tension belt; the parachute is located inside the umbrella opening mechanism.

[0009] In the above technical scheme, preferably, the communication antenna segment includes an antenna segment shell, an antenna upper fixed plate, a telescopic sleeve, a telescopic sleeve bottom cover, a spring, an antenna, an antenna clamping block, a constant force spring, and a trigger device; one end of the antenna segment shell is connected to the head hydrophone segment, and the other end is connected to the energy compartment segment; the antenna upper fixed plate is connected to the antenna segment shell, the telescopic sleeve is connected to the telescopic sleeve bottom cover, the telescopic sleeve bottom cover is connected to the tensile end of the constant force spring, and the constant force spring is installed on the antenna segment shell; the bottom of the antenna is inside the telescopic sleeve, the antenna is pressed inside the antenna segment shell by the antenna clamping block, the antenna clamping block is fixed to the antenna upper fixed plate by threads by the trigger device, the trigger device is fixed to the antenna upper fixed plate by threads, and the trigger device is triggered when it encounters water to extend the antenna.

[0010] In the above technical solution, preferably, when the antenna clamping block presses the antenna inside the antenna segment housing, the constant force spring is in a stretched state and applies an elastic force to extend the bottom cover of the telescopic sleeve, the spring is in a compressed state and applies an elastic force to extend the spring, and the trigger device is provided with a trigger device pin that triggers disengagement when in contact with seawater, and the antenna clamping block is locked to the antenna segment housing through the trigger device pin.

[0011] In the above technical solution, preferably, the head hydrophone section includes a hydrophone shell, a hydrophone rubber bladder, a hydrophone base, a hydrophone, a compensation airbag, a compensation airbag clamping ring, and a watertight penetration piece, and the hydrophone shell is connected to the hydrophone base; an O-ring structure is provided at the open end of the hydrophone rubber bladder, and the hydrophone shell presses the O-ring structure into the sealing groove of the hydrophone base to achieve sealing and isolation between the inside and outside of the hydrophone rubber bladder, and an O-ring structure is provided at the open end of the compensation airbag, and the O-ring structure of the compensation airbag is pressed into the sealing groove of the hydrophone base by the compensation airbag clamping ring; the watertight penetration piece is connected to the hydrophone base by a thread; and one end of the hydrophone base is connected to the communication antenna section.

[0012] In the above technical scheme, preferably, the energy compartment section includes main control electrical components, a pressure-resistant cabin, a battery rear mounting plate, a square guide rail, a mobile battery pack, a push rod sensor, a motor screw, a screw nut, a nut fixing plate, a nut baffle, a battery front mounting plate, a front head, an airbag, and an airbag clamping ring. The main control electrical components are fixed on the battery rear mounting plate, and the battery rear mounting plate is fixed to one end of the pressure-resistant cabin; one end of the square guide rail is fixed to the battery rear mounting plate, and the other end is fixed to the battery front mounting plate. A square hole is provided in the middle of the battery pack, and the square hole is mounted on the square guide rail and can move forward and backward; the push rod sensor is installed on the battery pack for measuring the position of the battery; the motor screw is fixed on the battery pack, and the screw nut is fixed on the nut fixing plate; the nut baffle is fixed on the battery front mounting plate, and the nut fixing plate is pressed against the battery front mounting plate by the nut baffle; the battery front mounting plate is fixed to the other end of the pressure-resistant cabin by bolts.

[0013] In the above technical scheme, preferably, the energy compartment includes a gas buoyancy regulating module, which is fixed on the inner side of the front head; the airbag opening section is provided with an O-ring structure, which is pressed in the sealing groove of the front head by an airbag clamping ring, and the airbag clamping ring is fixed to the front head by bolts; the gas buoyancy regulating module includes a solenoid valve, a right-angle joint, an adapter, a one-way valve 64, a one-way valve adapter, and a micro air pump; the solenoid valve is connected to one end of the right-angle joint; the other end of the right-angle joint is connected to the adapter; the connection between the adapter and the front head is sealed by a sealing ring; the other end of the adapter is connected to the one-way valve; the other end of the one-way valve is connected to the solenoid valve adapter, and the other end of the solenoid valve adapter is connected to the micro air pump; one end of the solenoid valve adapter is connected to the one-way valve, and the other end of the solenoid valve adapter is connected to the micro air pump.

[0014] The air-launched autonomous underwater vehicle (AUV) proposed in this patent application has many significant advantages and effects.

[0015] First, the AUV's antenna design is very compact. Before entering the water, the antenna is in a retracted state, and the overall size is very small, with an outer diameter of no more than 124mm and a length of no more than 914mm. This design enables the AUV to be air-launched through a standard 124mm-caliber launcher without the need for an additional airdrop device, thereby reducing the cost and complexity of deployment. At the same time, the AUV's antenna can automatically extend after entering the water, ensuring that the AUV can communicate normally underwater and meet the needs of real-time data transmission and command reception.

[0016] Secondly, the present invention adopts a mechanical telescopic antenna, avoiding the complexity of using electrical signal control. This mechanical extension method not only saves energy, but also greatly improves the reliability of the system, reduces the risk of failure, and ensures that the AUV can work stably during long-term deep-sea operations. Compared with traditional electrically controlled antennas, mechanical telescopic antennas have obvious advantages in low power consumption and high reliability, and are particularly suitable for underwater detection tasks that require long-term autonomous operation.

[0017] In addition, the AUV also has a buoyancy adjustment function. This design enables the AUV to flexibly adjust its buoyancy in deep-sea environments, optimize its navigation posture and effectively save energy consumption. By precisely controlling buoyancy, the AUV can maintain an efficient navigation state in waters of different depths and extend its operating time. Especially during long-term underwater cruising, it can significantly reduce energy consumption and improve work efficiency. This buoyancy adjustment function further enhances the AUV's adaptability in complex marine environments and broadens its application scenarios.

[0018] To sum up, the air-dropped autonomous underwater vehicle of this patent shows significant advantages in structure, energy efficiency, reliability and ease of operation. It can effectively reduce costs, improve performance, and expand the application scope of AUV. It is especially suitable for deep-sea exploration, environmental monitoring and military reconnaissance. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is the overall structural principle diagram of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of the head hydrophone section of the present invention;

[0021] Figure 3 It is a schematic diagram of the structure of the communication antenna segment of the present invention;

[0022] Figure 4 It is a partial structural schematic diagram of the communication antenna segment of the present invention;

[0023] Figure 5 It is a schematic diagram of the structure of the trigger device of the present invention;

[0024] Figure 6 This is a schematic diagram of the energy compartment structure of the present invention;

[0025] Figure 7 It is a schematic diagram of the structure of the tail power section of the present invention;

[0026] Figure 8 It is a schematic diagram of a parachute assembly of the present invention;

[0027] Fig. 9 A diagram showing the communication antenna of the present invention in an extended state;

[0028] Fig.10 It is a schematic diagram of the gas buoyancy adjustment module of the present invention.

[0029] Among them: 1-head hydrophone section; 2-communication antenna section; 3-energy compartment section; 4-tail power section; 5-parachute assembly; 6-hydrophone shell; 7-hydrophone; 8-hydrophone rubber bladder; 9-watertight penetration parts; 10-compensation airbag clamping ring; 11-compensation airbag; 12-hydrophone base; 13-antenna section shell; 14-antenna clamping block; 15-antenna; 16-antenna upper fixing plate; 17-constant force spring; 18-telescopic sleeve bottom cover; 19-spring; 20-trigger device; 21-telescopic sleeve; 23-nut; 24-trigger device pin; 27-main control electrical parts; 28-battery rear mounting plate; 29-pressure-resistant cabin; 30-rod sensor; 31-square guide rail; 32-motor lead screw; 33-screw nut; 34-nut fixing plate; 35-screw Female baffle; 36-gas buoyancy adjustment module; 37-front seal; 38-airbag clamping ring; 39-airbag; 40-battery front mounting plate; 41-mobile battery pack; 42-rear guide shell; 43-electric push rod; 44-propulsion motor; 45-connecting rod A; 46-rudder shaft connecting rod B; 47-rudder shaft; 48-rudder blade; 49-rudder shaft connecting rod A; 50-propeller duct; 51-drive shaft seal; 52-tail vertebrae cap; 53-blade; 54-motor output shaft; 55-rear guide cover; 56-pressure sensor; 57-electric push rod mounting plate; 58-head cover; 59-connecting belt; 60-parachute opening mechanism; 61-solenoid valve; 62-right angle joint; 63-adapter B; 64-check valve; 65-check valve adapter; 66-micro air pump; 67-electric push rod clamping. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0031] In order to solve a series of technical and cost problems of current air-dropped underwater vehicles, such as small number of deployments, slow deployment speed, high deployment cost, and poor adaptability due to irregular dimensions, the present invention provides an air-dropped autonomous underwater vehicle. In order to further illustrate the structure of the present invention, a detailed description is provided in conjunction with the accompanying drawings as follows:

[0032] See also Figure 1 and Figure 2 , an air-dropped autonomous underwater vehicle. The pressure cabin of the air-dropped underwater vehicle is sealed and connected. In order for the present invention to work properly, the pressure cabin of the underwater vehicle needs to have a certain vacuum degree, specifically 0.6 to 0.7 atmospheres.

[0033] like Figure 1 As shown, the present invention includes a head hydrophone section 1, a communication antenna section 2, an energy compartment section 3, a tail power section 4 and a parachute assembly 5. The head hydrophone section 1 is connected to the communication antenna section 2 by bolts, the communication antenna section 2 is fixedly connected to the energy compartment section 3 by bolts, and the other end of the energy compartment section 3 is connected to the tail power section 4 by bolts and sealed by a sealing ring; the parachute assembly 5 can be divided into a hood 58, a connecting belt 59, an opening mechanism 60 and a parachute; the hood 58 is sleeved on the front of the head hydrophone section 1, the opening mechanism 60 is placed at the rear of the tail power section 4, the opening mechanism 60 and the hood 58 are connected by a connecting belt 59, and the hood 58 and the opening mechanism 60 are fixed to the underwater vehicle body by a tensioning belt 59; the parachute is located inside the opening mechanism 60, and when the opening mechanism 60 is triggered, the parachute opens.

[0034] like Figure 2As shown, the head hydrophone section 1 includes a hydrophone housing 6, a hydrophone rubber bladder 8, a hydrophone base 12, a hydrophone 7, a compensation airbag 11, a compensation airbag clamping ring 10, a watertight penetration part 9, etc. The hydrophone housing 6 is connected to the hydrophone base 12 by bolts; the opening end of the hydrophone rubber bladder 8 is provided with an O-ring structure, and the hydrophone housing 6 presses the O-ring structure into the sealing groove of the hydrophone base 12 to achieve the sealing isolation between the inside and the outside of the hydrophone rubber bladder 8, and the inside of the hydrophone rubber bladder is filled with transformer insulating oil. Since the rubber bladder is flexible, when the underwater vehicle is in the deep sea and the external pressure is large, the pressure can be transmitted to the transformer insulating oil through the bladder, so that the pressure of the transformer insulating oil is the same as the external seawater pressure, which plays an absolute pressure protection role for the hydrophone and the line in the insulating oil; the opening end of the compensation airbag 11 is provided with an O-ring structure The O-ring structure of the compensation airbag 11 is pressed into the sealing groove of the hydrophone base 12 by the compensation airbag clamping ring 10 to achieve the purpose of sealing; when the underwater vehicle is on the water surface, the compensation airbag 11 is in an expanded state, and the compensation air chamber formed by the compensation airbag 11 and the hydrophone base 12 is filled with normal pressure gas. When the underwater vehicle dives to the deep sea, since the compensation airbag 11 is flexible, the gas in the compensation air chamber is compressed, and the volume of the air chamber is reduced, resulting in a smaller buoyancy of the entire vehicle to resist the buoyancy effect caused by the density difference of seawater at different depths, so that the vehicle is closer to neutral buoyancy when sailing in the deep sea, reducing the work done by the vehicle to overcome the buoyancy difference and saving energy consumption; the watertight penetration part 9 is connected to the hydrophone base 12 by threads and sealed by an O-ring; a threaded hole is provided at one end of the hydrophone base 12, and the end is connected to the communication antenna section 2 by bolts.

[0035] like Figure 3 , Figure 4 , Fig. 9As shown, the communication antenna section 2 includes an antenna section housing 13, an antenna upper fixing plate 16, a telescopic sleeve 21, a telescopic sleeve bottom cover 18, a spring 19, an antenna 15, an antenna clamping block 14, a constant force spring 17, a trigger device 20, etc., one end of the antenna section housing 13 is connected to the head hydrophone section 1 by bolts, and the other end is connected to the energy compartment section 3; the antenna upper fixing plate 16 is connected to the antenna section housing 13 by bolts, the telescopic sleeve 21 is connected to the telescopic sleeve bottom cover 18 by bolts, the bottom of the antenna 15 is inside the telescopic sleeve 21, the spring 19 is between the bottom of the antenna 15 and the telescopic sleeve bottom cover 18, the head of the antenna 15 is pressed on the upper part of the antenna section housing 13 by the antenna clamping block 14, and the spring 19 is in a compressed state at this time; the telescopic sleeve bottom cover 18 is connected to the tensile end of the constant force spring 17 by bolts, and the The constant force spring 17 is installed on the antenna segment housing 13; the antenna clamping block 14 is fixed to the antenna upper fixing plate 16 by a thread by the trigger device 20, and the trigger device 20 is fixed to the antenna upper fixing plate 16 by a thread; when the antenna clamping block 14 presses the head of the antenna 15 on the upper part of the antenna segment housing 13, the constant force spring 17 is in a stretched state, and the spring 19 is in a compressed state. When the underwater vehicle enters the water, the trigger device 20 contacts the sea water for triggering. At this time, the trigger device pin 24 is separated from the trigger device 20, and the trigger device pin 24 and the antenna clamping block 14 are bounced upward under the action of the spring 19 and the constant force spring 17. After that, the spring 19 is in a natural telescopic state, and the antenna 15 extends from the telescopic sleeve 21. The constant force spring is in a natural contracted state, and the telescopic sleeve 21 extends from the antenna upper fixing plate 16, so that the antenna 15 is in an extended state, as shown in FIG. Fig. 9 shown.

[0036] In this embodiment, Figure 5 The trigger device 20 includes a spring cap 201, a dissolving material compression spring 202, a spring baffle 203, an external limiting cover 204, a dissolving material protection shell 205, a spring pin 206, an end face nut with a hole 207, an antenna clamping block 208, and a water-soluble baffle 209.

[0037] The spring cap 201 is located at the lower part of the underwater trigger unit and is fixed to the external limiting cover 204 by threads; the dissolving material compression spring 202 is located inside the spring cap 201, one end of which is in contact with the spring cap 201, and the other end of which is in contact with the spring stopper 203; the spring stopper 203 is located inside the underwater trigger unit, the upper end of which is in contact with the spring pin 206, and the lower end of which is in contact with the dissolving material compression spring 202; the external limiting cover 204 is located below the upper fixing plate 16 of the antenna, the upper end of which is fixed to the upper fixing plate 16 of the antenna by threads, and the lower end of which is fixed to the spring cap 201 by threads; the dissolving material compression spring 202 The dissolving material protection shell 205 is located inside the external limiting cover 204, and the upper end face is limited by the boss inside the external limiting cover 204, and the outer cylindrical surface forms a matching relationship with the inner cylindrical surface of the external limiting cover 204; the spring pin 206 is located inside the underwater trigger unit, the lower end face is in contact with the spring baffle 203, and the middle outer conical surface is tightly clamped by the elastic petals inside the dissolving material protection shell 205; the water-soluble retaining ring 209 is located inside the dissolving material protection shell 205, the outer cylindrical surface is in contact with the inner cylindrical surface of the protection shell 205, and its concentric inner cylindrical surface is in contact with the elastic petals inside the protection shell 205, so as to hold the elastic petals tightly. The end face nut 207 with a hole is located above the antenna clamping block 208, is connected to the spring pin 206 through a thread, and its end face clamps the antenna clamping block 208; the antenna clamping block 208 is located outside the antenna segment housing 13 and above the antenna 15, and its lower inner arc surface contacts the upper part of the antenna 15, and its upper stepped hole boss mating surface contacts the end face nut 207 with a hole.

[0038] like Figure 6 , Fig.10As shown, the energy compartment section 3 includes a main control electrical component 27, a pressure-resistant cabin 29, a battery rear mounting plate 28, a square guide rail 31, a mobile battery pack 41, a push rod sensor 30, a motor screw 32, a screw nut 33, a nut fixing plate 34, a nut baffle 35, a battery front mounting plate 40, a gas buoyancy adjustment module 36, a front head 37, an airbag 39, an airbag clamping ring 38, etc. The main control electrical component 27 is fixed to the battery rear mounting plate 28 by bolts, and the battery rear mounting plate 28 is fixed to one end of the pressure-resistant cabin 29 by bolts; the square guide rail 31 includes a mobile battery pack 41, a push rod sensor 30, a motor screw 32, a screw nut 33, a nut fixing plate 34, a nut baffle 35, a battery front mounting plate 40, a gas buoyancy adjustment module 36, a front head 37, an airbag 39, an airbag clamping ring 38, etc. One end of the square rail 31 is fixed to the battery rear mounting plate 28 by bolts, and the other end is fixed to the battery front mounting plate 40. The mobile battery pack 41 is provided with a square hole in the middle, and the square hole is sleeved on the square rail 31 and can move forward and backward; the push rod sensor 30 is installed on the battery pack 41 to measure the position of the battery; the motor lead screw 32 is fixed to the battery pack 41, and the lead screw nut 33 is fixed to the nut fixing plate 34; the nut stopper 35 is fixed to the battery front mounting plate 40 by bolts, and the nut fixing plate 34 is pressed by the nut stopper 35 On the battery front mounting plate 40; the battery front mounting plate 40 is fixed to the other end of the pressure-resistant cabin 29 by bolts; the gas buoyancy regulating module 36 is fixed to the inner side of the front head 37 by bolts; the opening end of the airbag 39 is provided with an O-ring structure, which is pressed into the sealing groove of the front head 37 by the airbag clamping ring 38, and the airbag clamping ring 38 is fixed to the front head 37 by bolts; the gas buoyancy regulating module includes a solenoid valve 61, a right-angle joint 62, an adapter B63, a one-way valve 64, a one-way valve adapter 65, a micro air pump 66, etc.; The solenoid valve 61 is connected to one end of the right-angle joint 62; the other end of the right-angle joint 62 is connected to the adapter B63; the adapter B63 is connected to the front head 37 by bolts and sealed by a sealing ring; the other end of the adapter B63 is connected to the one-way valve 64; the other end of the one-way valve 64 is connected to the solenoid valve adapter 65, and the other end of the solenoid valve adapter 65 is connected to the micro air pump 66; one end of the solenoid valve adapter 65 is fixedly connected and connected to the one-way valve 64, and the other end is connected to the air outlet of the micro air pump 66 through a hose.

[0039] When the pitch attitude of the underwater vehicle needs to be adjusted, the motor screw 32 can be controlled to rotate. Since the screw nut 33 cooperates with the front end screw of the motor screw 32, and the screw nut 33 is fixed to the nut fixing plate 34 by threads, and the nut fixing plate 34 is pressed against the battery front mounting plate 40 by the nut blocking plate 35, the screw nut 33 is in a fixed state relative to the battery front mounting plate 40, causing the motor screw 32 to drive the battery pack 41 to move forward and backward, thereby achieving the purpose of adjusting the center of gravity of the underwater vehicle and changing the pitch attitude of the underwater vehicle.

[0040] When it is necessary to increase the buoyancy of the underwater vehicle, the micro air pump 66 can be opened and the solenoid valve 61 can be closed. The air inlet of the micro air pump 66 is connected to the interior of the closed cabin of the underwater vehicle. The micro air pump 66 sucks the gas inside the cabin, and the gas enters the closed space formed by the front head 37 and the air bag 39 through the air pump outlet, the solenoid valve adapter 65, the one-way valve 64, the adapter B63, and the air hole structure in the front head 37, so that the air bag expands, the displacement volume of the underwater vehicle increases, and the buoyancy increases. When the underwater vehicle needs to reduce the buoyancy, the micro air pump 66 can be closed and the solenoid valve 61 can be opened. At this time, Due to the one-way passing characteristic of the one-way valve 64, the gas in the airbag 39 is compressed inwardly under the combined action of the negative pressure inside the underwater vehicle cabin and the seawater pressure outside the underwater vehicle, and the air in the enclosed space formed by the airbag 39 and the front head 37 flows to the interior of the underwater vehicle cabin through the front head 37, the adapter B63, the right-angle connector 62, and the solenoid valve 61, so that the displacement volume of the underwater vehicle is reduced and the buoyancy is reduced; the main control electrical component 27 is provided with a vacuum sensor and a temperature sensor, and the buoyancy adjustment amount of the underwater vehicle cabin can be calculated by measuring the vacuum degree and temperature inside the underwater vehicle cabin.

[0041] like Figure 7As shown, the tail power section 4 includes a rear air guide housing 42, an electric push rod 43, a propeller motor 44, an electric push rod clamp 67, an electric push rod mounting plate 57, a rear air guide cover 55, a transmission shaft seal 51, a connecting rod A45, a rudder shaft connecting rod B46, a rudder shaft connecting rod A49, a rudder shaft 47, a rudder blade 48, a motor output shaft 54, a tail cone cap 52, a blade 53, a propeller duct 50 and the like; the rear air guide housing 42 is fixedly connected to the pressure-resistant cabin 29 by bolts and sealed by an O-ring; the electric push rod 43 is fixed to the electric push rod mounting plate 57 by the electric push rod clamp 67; the electric push rod clamp 67 is fixed to the electric push rod mounting plate 57 by bolts; the electric push rod mounting plate 57 is fixed to the rear air guide cover 55 by bolts; the rear air guide cover 55 is fixed to the rear air guide housing 42 by bolts, and the transmission shaft seal 51 It is fixed to the rear fairing 55 by bolts and sealed by an O-ring; the connecting rod A45 is fixedly connected to the push rod of the electric push rod 43, one end of the rudder shaft connecting rod B46 is connected to the connecting rod A45 by a pin, and the other end is connected to the rudder shaft connecting rod A49 by a pin, the rudder shaft connecting rod A49 is connected to the rudder shaft 47 by bolts, and the rudder shaft 47 is connected to the rudder blade 48 by bolts; the propeller motor 44 is fixed to the electric push rod mounting plate 57 by bolts, the motor output shaft 54 ​​passes through the transmission shaft seal 51 and the tail cone cap 52 and is fixedly connected to the output shaft of the propeller motor 44, and a seal is formed between the O-ring and the transmission shaft seal 51; the motor output shaft 54 ​​is fixedly connected to the blade 53; the tail cone cap 52 is connected to the transmission shaft seal 51 by threads; the propeller duct 50 is fixedly connected to the transmission shaft seal 51 by bolts.

[0042] When the underwater vehicle needs to move forward, the propeller motor 44 is controlled to rotate, which drives the motor output shaft 54 ​​to rotate, thereby driving the blades 53 to rotate and making the underwater vehicle move forward; when the underwater vehicle needs to change its heading, the push rod of the electric push rod 43 is controlled to move forward and backward, which drives the connecting rod A45 to move forward and backward, thereby driving the rudder shaft connecting rod B46 to move forward and backward, and the rudder shaft connecting rod A49 to swing forward and backward, thereby driving the rudder shaft 47 to rotate forward and reverse, and driving the rudder blades 48 to swing, so as to achieve the purpose of controlling the heading of the underwater vehicle.

[0043] like Figure 8 The parachute assembly includes a hood 58, a connecting belt 59, an opening mechanism 60, a parachute, etc.; the hood 58 is sleeved on the front end of the hydrophone housing 6, the opening mechanism 60 is placed at the tail of the propeller guide tube 50, the hood 58 and the opening mechanism 60 are tightened and fixed on the underwater vehicle body through the connecting belt 59, and the parachute is located inside the opening mechanism 60;

[0044] When the underwater vehicle is deployed from the air, the parachute opening mechanism 60 opens under the action of gas to release the parachute, and one end of the parachute rope is fixedly connected to the parachute opening mechanism 60, thereby being fixedly connected to the underwater vehicle body, so that the underwater vehicle reduces its descent speed. When the underwater vehicle falls into the water, the hood 58 is split into two halves under the action of the water impact force, and the hood 58, together with the connecting belt 59 and the parachute opening mechanism 60, are separated from the underwater vehicle body under the action of gravity, so that the underwater vehicle can operate normally in the water.

[0045] The whole operation process of the air-dropped underwater vehicle is as follows: the underwater vehicle is placed inside the standard launcher, the drone carries the launcher and flies into the sky and navigates to the target position, the launcher launches the air-dropped underwater vehicle after receiving the signal, the parachute opening mechanism 60 opens after the underwater vehicle comes out of the launcher, the parachute is released to reduce the speed of the underwater vehicle, the underwater vehicle descends and falls into the water, the hood 58 is split into two halves under the action of the water impact force, the hood 58, together with the connecting belt 59 and the parachute opening mechanism 60, are separated from the underwater vehicle body under the action of gravity, and at the same time, the trigger device 20 in the communication antenna section 2 is triggered by water, so that the antenna 15 is extended and can communicate with the shore-based operating console, the underwater vehicle starts the propeller motor 44 after receiving the control signal, drives the blade 53 to rotate, and the underwater vehicle starts to move forward, the underwater vehicle dives or floats by controlling the buoyancy, the pitch attitude of the underwater vehicle is controlled by controlling the forward and backward movement of the battery pack 41, and the forward heading of the underwater vehicle is controlled by controlling the swing of the rudder blade 48.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An air-dropped autonomous underwater vehicle, characterized in that: It comprises a head hydrophone section, a communication antenna section, an energy compartment section, a tail power section and a parachute assembly which are axially connected in sequence; the parachute assembly comprises a hood, a connecting belt, an umbrella opening mechanism and a parachute; the hood is sleeved on the front of the head hydrophone section, the umbrella opening mechanism is placed on the rear of the tail power section, the umbrella mechanism and the hood are connected by a connecting belt, and the hood and the umbrella opening mechanism are fixed to the underwater vehicle body by a tensioning belt; the parachute is located inside the umbrella opening mechanism.

2. The air-launched autonomous underwater vehicle according to claim 1, characterized in that: The communication antenna segment includes an antenna segment shell, an upper fixed plate of the antenna, a telescopic sleeve, a bottom cover of the telescopic sleeve, a spring, an antenna, an antenna clamping block, a constant force spring, and a trigger device. One end of the antenna segment shell is connected to the head hydrophone segment, and the other end is connected to the energy compartment segment; the upper fixed plate of the antenna is connected to the antenna segment shell, the telescopic sleeve is connected to the bottom cover of the telescopic sleeve, the bottom cover of the telescopic sleeve is connected to the tensile end of the constant force spring, and the constant force spring is installed on the antenna segment shell; the bottom of the antenna is inside the telescopic sleeve, the antenna is pressed inside the antenna segment shell by the antenna clamping block, the antenna clamping block is fixed to the upper fixed plate of the antenna by a threaded device, the trigger device is fixed to the upper fixed plate of the antenna by a threaded device, and the trigger device is triggered when it encounters water to extend the antenna.

3. The air-launched autonomous underwater vehicle according to claim 2, characterized in that: When the antenna clamping block presses the antenna inside the antenna segment housing, the constant force spring is in a stretched state and applies an elastic force to extend the bottom cover of the telescopic sleeve, the spring is in a compressed state and applies an elastic force to extend the spring, and the trigger device is provided with a trigger device pin shaft that triggers the disengagement when in contact with sea water, and the antenna clamping block is locked to the antenna segment housing through the trigger device pin shaft.

4. The air-launched autonomous underwater vehicle according to claim 1, characterized in that: The head hydrophone section includes a hydrophone shell, a hydrophone rubber bladder, a hydrophone base, a hydrophone, a compensation airbag, a compensation airbag clamping ring, and a watertight penetration piece. The hydrophone shell is connected to the hydrophone base; an O-ring structure is provided at the open end of the hydrophone rubber bladder, and the hydrophone shell presses the O-ring structure into the sealing groove of the hydrophone base to achieve sealing and isolation between the inside and outside of the hydrophone rubber bladder; an O-ring structure is provided at the open end of the compensation airbag, and the O-ring structure of the compensation airbag is pressed into the sealing groove of the hydrophone base by the compensation airbag clamping ring; the watertight penetration piece is connected to the hydrophone base through a thread; one end of the hydrophone base is connected to the communication antenna section.

5. The air-launched autonomous underwater vehicle according to claim 1, characterized in that: The energy compartment section includes main control electrical components, a pressure-resistant cabin, a battery rear mounting plate, a square guide rail, a mobile battery pack, a push rod sensor, a motor lead screw, a lead screw nut, a nut fixing plate, a nut baffle, a battery front mounting plate, a front head, an airbag, and an airbag clamping ring. The main control electrical components are fixed on the battery rear mounting plate, and the battery rear mounting plate is fixed on one end of the pressure-resistant cabin; one end of the square guide rail is fixed on the battery rear mounting plate, and the other end is fixed on the battery front mounting plate. A square hole is provided in the middle of the battery pack, and the square hole is mounted on the square guide rail and can move forward and backward; the push rod sensor is installed on the battery pack for measuring the position of the battery; the motor lead screw is fixed on the battery pack, and the lead screw nut is fixed on the nut fixing plate; the nut baffle is fixed on the battery front mounting plate, and the nut fixing plate is pressed against the battery front mounting plate by the nut baffle; the battery front mounting plate is fixed to the other end of the pressure-resistant cabin by bolts.

6. The air-launched autonomous underwater vehicle according to claim 5, characterized in that: The energy compartment section includes a gas buoyancy regulating module, which is fixed on the inner side of the front head; the airbag opening section is provided with an O-ring structure, which is pressed in the sealing groove of the front head by an airbag clamping ring, and the airbag clamping ring is fixed to the front head by bolts; the gas buoyancy regulating module includes a solenoid valve, a right-angle joint, an adapter, a one-way valve, a one-way valve adapter, and a micro air pump; the solenoid valve is connected to one end of the right-angle joint; the other end of the right-angle joint is connected to the adapter; the connection between the adapter and the front head is sealed by a sealing ring; the other end of the adapter is connected to the one-way valve; the other end of the one-way valve is connected to the solenoid valve adapter, and the other end of the solenoid valve adapter is connected to the micro air pump; one end of the solenoid valve adapter is connected to the one-way valve, and the other end of the solenoid valve adapter is connected to the micro air pump.

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