Multi-propeller cooperative underwater vehicle

Abstract

The invention relates to the production field of ocean engineering, in particular to a multi-propeller cooperative underwater vehicle which comprises an equipment compartment and a battery compartment arranged in the equipment compartment, a holder compartment is mounted at the front end of the equipment compartment, mounting seats are arranged at the upper end and the lower end of the equipment compartment, hydrofoil fins are arranged at the left end and the right end of the equipment compartment, and a propeller is arranged in the battery compartment. Each propelling assembly is divided into the front propelling assembly and the rear propelling assembly in a full-vector layout mode, the arrangement mode can counteract reaction torque generated by rotation of propellers and can also counteract water flow disturbance generated by each propelling assembly, meanwhile, water inlets of the front propelling assemblies are concentrated, water outlets are diverged outwards, and therefore water flow disturbance generated by the propellers can be counteracted. Water inlets of the rear propelling assembly group diverge, drained water is concentrated inwards, it is guaranteed that water flow generated by the front propelling assembly does not interfere with the rear propelling assembly and the front propelling assembly, the underwater vehicle can run stably, and the underwater vehicle can move at six degrees of freedom through the synergistic effect of the eight propelling assemblies.

Description

Technical Field

[0001] The present invention relates to the field of marine engineering production, and in particular to a multi-thruster cooperative underwater vehicle. Background Art

[0002] With the development of the world economy, human demand for energy has increased, and the ocean is rich in resources. In order to rationally develop and utilize them, we need to fully explore and understand the ocean. Underwater vehicles are multidisciplinary complexes that can replace humans in long-term underwater operations. They have been applied in many fields and achieved remarkable benefits. Small underwater vehicles are mostly used in the civil field. They have many advantages and can play a role in aquaculture, surveying and salvage. They also have typical applications in my country's hydropower and water conservancy engineering fields. Their research and development has broad prospects and important significance.

[0003] As an important tool for human beings to develop the ocean, underwater vehicles can not only be used as tools for human beings to explore the ocean, but also can replace humans in dangerous and complex waters to perform exploration, search and rescue, daily inspection and other tasks. They have broad development prospects. However, the diving depth of traditional divers is limited, and they cannot reach deeper waters to operate. In addition, divers have limited underwater operation time. Underwater vehicles can break through this limitation and can also work continuously for a long time to improve operation efficiency. Existing underwater vehicles have poor maneuverability in complex underwater environments and can only move in a single direction, making it difficult to flexibly respond to various situations.

[0004] Therefore, it is necessary to propose a multi-thruster cooperative underwater vehicle to solve the above technical problems. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a multi-thruster cooperative underwater vehicle, which solves the technical problems that traditional divers have limited diving depth and cannot reach deeper waters to operate, and that divers have limited underwater operation time, and that existing underwater vehicles have poor maneuverability in complex underwater environments and can only move in a single direction.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0007] The technical solution adopted by the present invention to solve the technical problem is: a multi-thruster cooperative underwater vehicle, comprising an equipment cabin and a battery cabin arranged inside the equipment cabin, a pan / tilt cabin is installed at the front end of the equipment cabin, mounting seats are arranged at the upper and lower ends of the equipment cabin, and hydrofoil fins are arranged at the left and right ends of the equipment cabin;

[0008] There are eight propulsion assemblies, each of which includes a fairing, a motor seat, a propeller and a shroud. The fairing is a hollow cylindrical structure, a motor is mounted on the middle of the fairing through the motor seat, a propeller is mounted on the output end of the motor, a three-blade propeller in a circular array is mounted on the outer side of the propeller, and a shroud is mounted on the front and rear ends of the fairing through bolts, and the shroud has a wing-shaped or angled linear surface.

[0009] Preferably, the full vector layout of each group of propulsion components is divided into a front propulsion component and a rear propulsion component. The front propulsion component is upright, and the rear propulsion component is inverted. The motors of each group of propulsion components at the same vertical diagonal position have the same rotation direction, and the motors in the horizontal and vertical directions rotate in opposite directions. The propulsion components are placed to form a 360-degree full vector angle. Each propulsion component is on a plane b that is 45 degrees to the horizontal plane a, and 30 degrees to the plane b. The thrust of each propulsion component can be decomposed into three components. Assuming that each propulsion component generates a thrust of F, it can be decomposed into the backward thrust. The component of force perpendicular to plane b and the component of force F / 2 perpendicular to plane b can be decomposed into the component perpendicular to horizontal plane a. and the component parallel to the horizontal plane a When each group of the propulsion components propels forward in the positive direction at the same time, the thrusts in each direction cancel each other out and the resultant force is zero;

[0010] The underwater vehicle has six degrees of freedom in underwater motion: forward and backward, left and right translation, left and right rotation, roll, pitch, and float and dive. It can be represented by X, Y, Z, A, B, and C. The coordinate system is based on the Cartesian rectangular coordinate system. A is the rotation axis of the X axis, B is the rotation axis of the Y axis, and C is the rotation axis of the Z axis. The motion equation of the underwater vehicle is as follows:

[0011] Longitudinal force in X-axis direction:

[0012] Lateral force in Y-axis direction:

[0013] Vertical force in Z-axis direction:

[0014] Torque around the X axis:

[0015] Moment around the Y axis:

[0016] Moment about the Z axis:

[0017] Preferably, the hydrofoil fin is configured as a fully submerged combined hydrofoil imitating the pectoral fin of a bionic fish.

[0018] Preferably, the side length of the hydrofoil fin is 0.18 m, and the angle with the horizontal plane is 5 degrees. According to the Zhukovsky lift formula, since the fluid is viscous, the hydrofoil fin 14 will generate a resistance D in the opposite direction of the movement in addition to the lift L perpendicular to the movement direction;

[0019] L=ρVΓ

[0020]

[0021] Γ=∫ C Vcosθds=∫2πrcosθdr

[0022] The buoyancy of an underwater vehicle under ideal conditions is: The volume of the device is about 0.06m 3 , the dry weight is about 98N, the cruising speed of the hydrofoil fin 14 is 1m / s, if the lift provided by the hydrofoil fin 14 when the underwater vehicle is cruising is approximately equal to the gravity of the underwater vehicle in the water, then the side length of the hydrofoil fin can be calculated to be 0.16m by the Zhukovsky lift formula and the circulation calculation formula.

[0023] The overall length of the propulsion assembly is 120 mm, the diameter of the propeller 23 is 55 mm, and the designed maximum power is 400 W. The thrust coefficient, torque coefficient and propeller efficiency of the propulsion assembly are calculated as follows:

[0024]

[0025] If the thrust of the propulsion assembly reaches more than 20N, it is calculated by Zhukovsky lift formula and circulation calculation formula that the propeller diameter of the propulsion assembly is at least 0.05m.

[0026] Preferably, a plurality of slide grooves are provided on the side of the mounting seat away from the equipment compartment 1 for installing water quality monitoring equipment, professional photographic equipment, laser calipers and various sensors. The plane of the mounting seat has an array of M3 10mm×10mm screw holes, and the mounting seat is composed of an aluminum profile frame.

[0027] Preferably, connecting plates symmetrically arranged in an upper and lower manner are installed at the front and rear ends of the equipment cabin, and mounting frames are installed at the left and right ends of the connecting plates. The mounting frames are provided with an inclined surface on the side away from the central axis of the equipment cabin, and disassembly plates are symmetrically installed on the upper side of the fairing, one of the disassembly plates is fixedly connected on the inclined surface by bolts, a first limit block is installed by bolts on the side of the mounting frames located at the front and rear away from the equipment cabin, and a horizontally symmetrical second limit block is installed on the mounting seats located at the upper and lower ends, and the hydrofoil fins located at the left and right ends are fixedly connected to the limit blocks located at the upper and lower ends by bolts, a protective cover is installed on the side of one of the disassembly plates away from the equipment cabin, the middle part of the protective cover is an arc-shaped structure, and the left and right ends of the protective cover are fixedly connected to the first limit block and the second limit block by bolts.

[0028] Preferably, the battery compartment includes a plug-in socket installed on the side of the equipment compartment close to the gimbal compartment, the equipment compartment is slidably connected with a sliding seat, the sliding seat is plugged with a battery body, the equipment compartment and the battery compartment are drawer-type plug-in design, the battery body is connected to the equipment compartment through an XT90 terminal, and the battery size is designed to be 80mm×60mm×160mm.

[0029] Beneficial effects:

[0030] (1) The present invention divides each group of the propulsion components into a front propulsion component and a rear propulsion component by arranging a full vector layout, wherein the front propulsion component is upright and the rear propulsion component is inverted. The motors of each group of propulsion components at the same vertical diagonal position have the same direction of rotation, while the motors in the horizontal and vertical directions have opposite directions of rotation. This arrangement can offset the counter-torque generated by the rotation of the propeller itself, and can also offset the water flow disturbance generated by each group of propulsion components. At the same time, the water inlet of the front propulsion component group is concentrated and the water outlet is divergent outward, while the water inlet of the rear propulsion component group is divergent and the water outlet is concentrated inward, thereby ensuring that the water flow generated by the front propulsion component will not interfere with the rear propulsion component, so that the underwater vehicle can operate smoothly. Through the coordinated action of the eight propulsion components, the underwater vehicle can achieve six degrees of freedom of movement, has the characteristics of high maneuverability and sensitive operation, and can flexibly respond to various complex underwater environments. Compared with traditional divers, the underwater vehicle can work continuously for a long time, thereby improving work efficiency.

[0031] (2) The present invention adopts a full vector layout by setting the propulsion assembly to offset the counter-torque and water flow disturbance generated by the propeller's own rotation, thereby ensuring the smooth operation of the underwater vehicle. The hydrofoil fin adopts a bionic fish pectoral fin fully immersed combined hydrofoil, which can enable the hull to obtain different lifts and improve the lift and stability of the vehicle. The mounting seat is provided with a slide groove and a screw hole array to adapt to different loading equipment, and is composed of an aluminum profile frame, which is light in weight and high in structural strength. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0033] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0034] Figure 2 It is a top view of the structure of the present invention;

[0035] Figure 3 It is a front view of the structure of the present invention;

[0036] Figure 4 is a schematic diagram of a propulsion assembly of the present invention;

[0037] Figure 5 It is a force diagram of the equipment cabin of the present invention;

[0038] Figure 6 It is a schematic diagram of the motion coordinate system and the static coordinate system of the present invention;

[0039] Figure 7 It is a schematic diagram of each propulsion assembly of the present invention;

[0040] Figure 8 It is a schematic diagram of the posture control of the present invention;

[0041] Fig. 9 It is a schematic diagram of the equipment cabin, connecting plate and mounting frame of the present invention;

[0042] Fig.10 It is a schematic diagram of the equipment cabin of the present invention;

[0043] Fig.11 A schematic diagram of a first limiting block and a second limiting block of the present invention;

[0044] Fig.12 Schematic diagram of the battery compartment of the present invention.

[0045] In the figure: 1, equipment compartment; 11, battery compartment; 111, plug-in socket; 112, sliding seat; 113, battery body; 12, gimbal compartment; 13, mounting seat; 131, slide slot; 14, hydrofoil fin;

[0046] 2. Propulsion assembly; 21. Fairing; 22. Motor; 23. Propeller; 24. Fairing; 211. Connecting plate; 212. Mounting frame; 213. Inclined surface; 214. Disassembly plate; 215. First stop block; 2151. Second stop block; 216. Protective cover. DETAILED DESCRIPTION

[0047] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0048] like Figure 1-Figure 5 As shown, a multi-thruster cooperative underwater vehicle comprises an equipment cabin 1 and a battery cabin 11 arranged inside the equipment cabin 1, a gimbal cabin 12 is installed at the front end of the equipment cabin 1, mounting seats 13 are arranged at the upper and lower ends of the equipment cabin 1, and hydrofoil fins 14 are arranged at the left and right ends of the equipment cabin 1, and a propulsion assembly 2, which is provided with eight in number. The propulsion assembly 2 comprises a fairing 21, a motor seat 22, a propeller 23 and a guide cover 24, wherein the fairing 21 is a hollow cylindrical structure, a motor 22 is installed at the middle of the fairing 21 through the motor seat, a propeller 23 is installed at the output end of the motor 22, and a three-blade propeller in a ring array is installed on the outside of the propeller 23, and a guide cover 24 is installed at the front and rear ends of the fairing 21 through bolts, and the planed surface of the guide cover 24 is a wing shape or a folded angle line shape;

[0049] The front and rear fairings 24 of the propulsion assembly 2 are used to eliminate the rotational motion of the water flow and balance the torque. The propulsion assembly 2 provides power for the entire vehicle to move the vehicle in the water. The propulsion assembly 2 should have strong power to enable the underwater vehicle to have high maneuverability and sensitive operation to resist water current surges.

[0050] The overall length of the propulsion assembly 2 is 120 mm, the diameter of the propeller 23 is 55 mm, and the designed maximum power is 400 W.

[0051] The number of propeller blades is selected according to the propulsion performance, vibration and cavitation of the underwater vehicle. If the diameter and expansion area of ​​the propeller 23 are the same, the one with fewer blades has a slightly higher efficiency. The one with more blades has a lower efficiency due to the increased interference of the blades. However, more blades are beneficial to reducing vibration, and fewer blades are beneficial to avoiding cavitation. The selection of the number of propeller 23 blades is closely related to the vibration. Generally, as the number of blades increases, the pressure induced by the propeller 23 tends to decrease. In summary, the underwater propulsion component 2 finally adopts a three-blade propeller to obtain higher power and improve power density at the expense of a little efficiency. By selecting a three-blade propeller and sleeve a fairing 24 on the outside of the propeller 23, the power density and efficiency of the propeller 23 are improved at the expense of a little efficiency to a certain extent.

[0052] A fairing 24 is placed outside the propeller 23, which is equivalent to adding an annular sleeve to the periphery of the propeller 23. The fairing 24 has a wing-shaped or angled surface. When the water flow generates thrust on the fairing 24, the water flow at the propeller disk is accelerated, reducing the thrust generated by the propeller 23. At the same time, part of the thrust of the propeller 23 is transferred to the fairing 21, so that part of the tail vortex of the propeller 23 becomes the attached vortex of the duct, thereby reducing the energy loss of the wake flow and improving the efficiency of the propeller 23.

[0053] Adding a deflector 24 outside the propeller 23 can not only improve the propulsion efficiency of the propeller 23 but also prevent debris from getting stuck inside the propeller 23, so as to reduce the possibility of malfunction.

[0054] Among them, the gimbal cabin 12 can filter most of the vibration, maintain the relative position of the camera, and improve the stability of the camera. With the advancement of large-scale integrated circuit technology and the improvement of MCU computing power, FOC drive control algorithms are widely used. The gimbal adopts brushless motor closed-loop control FOC algorithm for control, which improves the anti-shake effect and the control accuracy, so that the video signal can be accurately sent to the onshore operator through the 5.8G image transmission module. The use of magnetic encoders can further improve the control accuracy, extend the service life, and reduce noise;

[0055] In order to put the gimbal cabin 12 into the ball head cover of the equipment cabin 1, the gimbal is miniaturized and the circumference does not exceed 60mm. Among them, the advantages of the FOC algorithm are: control at low speed, motor commutation, torque control and noise. The advantage of control at low speed is that the brushless ESC can only control the motor to work at high speed and cannot be controlled at low speed, while the FOC controller has no such limitation and can achieve precise control at any speed. The advantage of motor commutation is that the ESC cannot feedback the rotor position, and it is difficult to achieve forward and reverse commutation of the motor. The commutation performance of the FOC driver is extremely good, and the forward and reverse switching can be very smooth even at the highest speed. FOC can also perform braking control in the form of energy recovery. The advantage of torque control is that ordinary ESC can only control the motor speed, while FOC can perform three closed-loop controls of current (torque), speed and position. The advantage of noise is that ordinary ESCs use square wave drive, while FOC uses sine wave, so the noise of the FOC driver will be much smaller than that of the ESC.

[0056] Each propulsion assembly 2 is divided into a front propulsion assembly 2 and a rear propulsion assembly 2 in a full vector layout. The front propulsion assembly 2 is upright, and the rear propulsion assembly 2 is inverted. The motors 22 at the same vertical diagonal position of each propulsion assembly 2 have the same direction of rotation, and the motors 22 in the horizontal and vertical directions have opposite directions of rotation. This arrangement can offset the counter-torque generated by the rotation of the propeller 23 itself, and can also offset the water flow disturbance generated by each propulsion assembly 2. At the same time, the water inlet of the front propulsion assembly 2 group 2 is concentrated, and the drainage outlet is divergent outward, and the water inlet of the rear propulsion assembly 2 group 2 is divergent, and the drainage is concentrated inward, ensuring that the water flow generated by the front propulsion assembly 2 will not interfere with the rear propulsion assembly 2, so that the underwater vehicle can operate smoothly;

[0057] like Figure 6As shown, in order to describe the underwater motion posture of the underwater vehicle, the motion coordinate system and static coordinate system of the underwater vehicle are established. The static coordinate system selects any point on the water surface as the origin O, stipulates that the positive direction of OZ points to the center of the earth, OX, OY, and OZ are perpendicular to each other, and the moving coordinate system is the carrier coordinate system, which can reflect the current posture of the underwater vehicle. Usually, the origin of the coordinate system coincides with the center of gravity of the underwater vehicle. When the underwater vehicle is horizontally stationary, ox is in the same direction as the midline of the underwater vehicle, positive forward and negative backward. Oy is 90° with ox on the horizontal plane, positive to the right and negative to the left. Oz is perpendicular to the underwater vehicle and points to the bottom, positive downward and negative upward.

[0058] like Figure 5 As shown, the propulsion components 2 are arranged to form a 360-degree full vector angle. Each propulsion component 2 is on plane b, which is 45 degrees to the horizontal plane a, and 30 degrees to plane b. The thrust of each propulsion component 2 can be decomposed into three components. Assuming that each propulsion component 2 generates a thrust of F, it can be decomposed into backward thrust. The component of force perpendicular to plane b and the component of force F / 2 perpendicular to plane b can be decomposed into the component perpendicular to horizontal plane a. and the component parallel to the horizontal plane a When each group of propulsion components 2 propels in the positive direction at the same time, the thrusts in various directions cancel each other out and the resultant force is zero. By synergizing the component forces of the thrusts in various directions of the propulsion components 2, the attitude of the underwater vehicle is controlled. The underwater vehicle relies on eight independent propulsion components 2 to achieve six degrees of freedom of movement: forward and backward, left and right translation, left and right rotation, rolling, pitching, and floating and diving.

[0059] The underwater vehicle has six degrees of freedom in underwater motion: forward and backward, left and right translation, left and right rotation, roll, pitch, and float and dive. It can be represented by X, Y, Z, A, B, and C. The coordinate system is based on the Cartesian rectangular coordinate system. A is the rotation axis of the X axis, B is the rotation axis of the Y axis, and C is the rotation axis of the Z axis. The motion equation of the underwater vehicle is as follows:

[0060] Longitudinal force in X-axis direction:

[0061] Where: F is the thrust of propulsion assembly 2, a is the thrust coefficient of reverse thrust of propulsion assembly 2;

[0062] Lateral force in Y-axis direction:

[0063] Vertical force in Z-axis direction:

[0064] Torque around the X axis:

[0065] Where: L is the distance between the propulsion assembly 2 and the center of the underwater vehicle;

[0066] Moment around the Y axis:

[0067] Moment about the Z axis:

[0068] The vehicle's appearance and structure are designed by combining the main body with multiple peripheral structures. Compared with traditional slender underwater vehicles, the appearance and peripheral structure design are more complex. In order to maintain the maneuverability of the underwater vehicle, the system sacrifices part of the streamlined shape. Based on the design of existing underwater autonomous vehicles, the appearance of the vehicle is optimized and improved.

[0069] like Figure 7 As shown, the aircraft adopts a design method of eight propulsion components 2 arranged at multiple angles, and each propulsion component 2 forms an angle of 30° with the horizontal and vertical axes of the fuselage. Under the coordinated action of the eight propulsion components 2, the fuselage can realize underwater full-attitude operation in six dimensions, namely, forward and backward, left and right translation, left and right rotation, roll, pitch, and floating and diving. During the cruise, the hydrofoil fins 14 on both sides of the underwater aircraft provide lift for the aircraft, the main control circuit and the battery power supply are placed in the equipment compartment 1, and the mounting seat 13 is located on the upper / lower sides of the middle of the underwater aircraft. It is easier to balance the torque near the middle, so that the center of gravity of the underwater aircraft coincides with the center of the underwater aircraft. Hollow designs are added to the fluid structure of the underwater aircraft in multiple places, which can not only reduce the resistance of water but also increase the contact area between the equipment compartment 1 and water, which is helpful for heat dissipation and can reduce the weight of the whole machine. Through testing, the main body and peripheral structures are reasonably designed, and a more compact appearance is obtained while reducing resistance. The bionic appearance has smaller resistance and is more stable, and the peripheral structure is rich and expandable.

[0070] like Figure 7 As shown, wherein: A1 is propulsion assembly 2T1; A2 is propulsion assembly 2T2; A3 is propulsion assembly 2T3; A4 is propulsion assembly 2T4; A5 is propulsion assembly 2T5; A6 is propulsion assembly 2T6; A7 is propulsion assembly 2T7; A8 is propulsion assembly 2T8;

[0071] like Figure 8 As shown, the underwater vehicle relies on the coordinated action of eight propulsion components 2, and the eight propulsion components 2 can be forward and reversed. The propulsion components 2 of the underwater vehicle are controlled by the attitude;

[0072] The hydrofoil fin 14 is set as a bionic fish pectoral fin fully immersed combined hydrofoil, the side length of the hydrofoil fin 14 is 0.18m, and the angle with the horizontal plane is 5 degrees. According to the Zhukovsky lift formula, since the fluid is viscous, the hydrofoil fin 14 will not only generate a lift L perpendicular to the direction of movement, but also generate a resistance D opposite to the direction of movement; the hydrofoil fin 14 is set as a bionic fish pectoral fin fully immersed combined hydrofoil, which is equivalent to idealizing the propeller 23. The propeller 23 actively cuts the water to provide lift, and the hydrofoil fin 14 passively hits the water to provide lift. The angles of attack of the hydrofoils on both sides to the water surface can enable the hull to obtain different lifts. With the help of the lift of the water, the aircraft obtains a certain lift to offset part of the aircraft's own weight. The depth-maintaining propulsion component 2 can be changed to forward propulsion, so that the cruising speed of the aircraft is improved. The hydrofoils on both sides enhance the stability and wave resistance of the aircraft.

[0073] The hydrofoil fin 14 can be regarded as a single-blade propeller 23, so the lift of the hydrofoil fin 14 can be calculated by the lift of the ideal propeller 23 and calculated by the Zhukovsky lift formula. Since the fluid is viscous, the hydrofoil fin 14 will not only generate a lift L perpendicular to the direction of motion, but also generate a resistance D opposite to the direction of motion.

[0074] L=ρVΓ

[0075]

[0076] Γ=∫ C Vcosθds=∫2πrcosθdr

[0077] Wherein: L is the lift of the hydrofoil fin 14; ρ is the density of the liquid; V is the speed of the water flow (i.e., the forward speed); Γ is the circulation; CL is the lift coefficient; CD is the drag coefficient; S is the area of ​​the hydrofoil fin 14; θ is the angle between the hydrofoil fin 14 and the horizontal plane; r is the side length of the hydrofoil fin 14;

[0078] The buoyancy of an underwater vehicle under ideal conditions is: The volume of the device is about 0.06m 3 , the dry weight is about 98N, the cruising speed of the hydrofoil fin 14 is 1m / s, if the lift provided by the hydrofoil fin 14 when the underwater vehicle is cruising is approximately equal to the gravity of the underwater vehicle in the water, then the Zhukovsky lift formula and the circulation calculation formula can be used to calculate that the side length of the hydrofoil fin 14 is 0.16m, which meets the design requirements.

[0079] The overall length of propulsion assembly 2 is 120 mm, the propeller diameter is 55 mm, and the designed maximum power is 400 W. The thrust coefficient, torque coefficient of propulsion assembly 2 and efficiency of propeller 23 are calculated as follows:

[0080]

[0081] If the thrust of the propulsion assembly 2 reaches more than 20N, it is calculated from the Zhukovsky lift formula and the circulation calculation formula that the diameter of the propeller 23 of the propulsion assembly 2 is at least 0.05m, which meets the design requirements.

[0082] A plurality of slide grooves 131 are provided on the side of the mounting seat 13 away from the equipment compartment 1 for installing water quality monitoring equipment, professional photographic equipment, laser calipers and various sensors. The plane of the mounting seat 13 has an array of M3 10mm×10mm screw holes, and the mounting seat 13 is composed of an aluminum profile frame.

[0083] The original intention of underwater vehicle design is to replace divers in highly dangerous environments, polluted environments and dangerous waters with zero visibility. Different carrying equipment such as water quality monitoring equipment, professional photography equipment, laser calipers and various sensors need to be replaced according to the specific use environment, which requires a larger mounting seat13.

[0084] The mounting seat 13 is designed to have an array of M3 10mm×10mm screw holes on a plane to accommodate different mounted equipment. In addition, many factors need to be considered when designing an underwater vehicle, such as the impact of water flow, accidental collision, and the maneuverability of the underwater vehicle. Therefore, it is necessary to achieve the highest structural strength at the lightest weight to increase the anti-collision strength.

[0085] The mounting seat 13 is composed of an aluminum profile frame. The density of aluminum alloy is low, only one-third of that of steel. It has very strong corrosion resistance and good ductility. It is an excellent material for the aircraft frame and also provides a guarantee for the stability of the aircraft.

[0086] like Figure 9-11 As shown, connecting plates 211 are symmetrically arranged in an upper and lower manner at the front and rear ends of the equipment cabin 1, and mounting frames 212 are installed on the left and right ends of the connecting plates 211. The mounting frame 212 is provided with an inclined surface 213 on the side away from the central axis of the equipment cabin 1, and a disassembly plate 214 is symmetrically installed on the fairing 21, one of the disassembly plates 214 is fixedly connected on the inclined surface 213 by bolts, and a first limit block 215 is installed on the side of the mounting frames 212 located at the front and rear away from the equipment cabin 1 by bolts, and a horizontally symmetrical second limit block 2151 is installed on the mounting seat 13 located at the upper and lower ends. The hydrofoil fins 14 located at the left and right ends are fixedly connected to the limit blocks 25 located at the upper and lower ends by bolts, and a protective cover 216 is installed on the side of one of the disassembly plates 214 away from the equipment cabin 1. The middle part of the protective cover 216 is an arc-shaped structure, and the left and right ends of the protective cover 216 are fixedly connected to the first limit block 215 and the second limit block 2151 by bolts.

[0087] The connecting plates 211 at the front and rear ends of the equipment cabin 1 are used to install and fix the mounting frame 212. The inclined surface 213 on the mounting frame 212 provides an installation position for one of the disassembly plates 214. The disassembly plate 214 is fixedly connected to the inclined surface 213 by bolts. The first limit block 215 installed on the side of the front and rear mounting frames 212 away from the central axis of the equipment cabin 1, and the horizontally symmetrical second limit blocks 2151 installed on the upper and lower mounting seats 13 are used to limit and fix other components. The hydrofoil fins 14 at the left and right ends are fixed to the limit blocks 25 at the upper and lower ends by bolts. The protective cover 216 installed on one side of the disassembly plate 214 has an arc-shaped structure in the middle part, and its left and right ends are fixedly connected to the first limit block 215 and the second limit block 2151 by bolts, which plays a protective and certain rectification role, so as to facilitate installation and disassembly and ensure structural stability. The connecting plate 211, the mounting frame 212 and the limit block and other structures provide stable support and fixation for the propulsion assembly 2 to ensure that it will not loosen or move during operation.

[0088] The protective cover 216 can protect the internal equipment from collision and damage by external objects, and its arc-shaped structure may help reduce water flow resistance.

[0089] like Figure 11-Figure 12 As shown, the battery compartment 11 includes a plug-in socket 111 installed on the side of the equipment compartment 1 close to the gimbal compartment 12. A sliding seat 112 is slidably connected inside the equipment compartment 1, and a battery body 113 is plugged into the sliding seat 112. The equipment compartment 1 and the battery compartment 11 are designed as drawer-type plug-in sockets. The battery body 113 is connected to the equipment compartment 1 through an XT90 terminal. The battery size is designed to be 80mm×60mm×160mm.

[0090] The equipment compartment 1 is made of acrylic material, with a diameter of 115mm, a wall thickness of 5mm and a length of 350mm. The battery compartment 11, the gimbal compartment 12 and all the electronic control equipment of the underwater vehicle are stored inside the equipment compartment. The outer shape is cylindrical so that it is evenly pressurized in the water. The front end uses a semicircular ball head cover to increase the pressure resistance and reduce the resistance during navigation.

[0091] The battery compartment 11, as a part of the equipment compartment 1, is used to store the battery body 113 to provide power for the entire vehicle. The battery adopts a 16.8V polymer lithium battery. The lithium-ion battery has the characteristics of high energy density, small internal resistance, large discharge current, and long life. It is a very excellent clean energy. The lithium-ion battery has the characteristics of high storage energy density and high discharge rate. The service life is 6 to 7 times higher than that of traditional lead batteries. Moreover, the lithium-ion battery has strong adaptability to high and low temperatures and can be used at -20℃ ~ 60℃, so that the underwater vehicle can be used in various complex environments.

[0092] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A multi-thruster cooperative underwater vehicle, characterized in that: include: An equipment cabin (1) and a battery cabin (11) arranged inside the equipment cabin (1), a pan / tilt cabin (12) being installed at the front end of the equipment cabin (1), mounting seats (13) being installed at the upper and lower ends of the equipment cabin (1), and hydrofoil fins (14) being installed at the left and right ends of the equipment cabin (1); The propulsion assembly (2) is eight in number, and the propulsion assembly (2) comprises a fairing (21), a motor seat (22), a propeller (23) and a shroud (24). The fairing (21) is a hollow cylindrical structure. A motor (22) is mounted in the middle of the fairing (21) through the motor seat. A propeller (23) is mounted at the output end of the motor (22). A three-blade propeller in a circular array is mounted on the outer side of the propeller (23). The shroud (24) is mounted at the front and rear ends of the fairing (21) through bolts. The shroud (24) has a wing-shaped or angled linear planing surface.

2. A multi-thruster cooperative underwater vehicle according to claim 1, characterized in that; The full vector layout of each group of the propulsion components (2) is divided into a front propulsion component (2) and a rear propulsion component (2). The front propulsion component (2) is upright and the rear propulsion component (2) is inverted. The motors (22) at the same vertical diagonal position of each group of propulsion components (2) have the same rotation direction, and the motors (22) in the horizontal and vertical directions have opposite rotation directions. The propulsion components (2) are arranged to form a (360) angle full vector angle. Each propulsion component (2) is on a plane b that is at an angle of (45) to the horizontal plane a, and at an angle of (30) to the plane b. The thrust of each propulsion component (2) can be decomposed into (3) components. Assuming that each propulsion component (2) generates a thrust of F, it can be decomposed into the backward thrust component (2). The component of force perpendicular to plane b and the component of force F / 2 perpendicular to plane b can be decomposed into the component perpendicular to horizontal plane a. and the component parallel to the horizontal plane a When each group of the propulsion components (2) propels forward in the positive direction at the same time, the thrusts in each direction cancel each other out and the resultant force is zero; The underwater vehicle has six degrees of freedom in underwater motion: forward and backward, left and right translation, left and right rotation, roll, pitch, and float and dive. It can be represented by X, Y, Z, A, B, and C. The coordinate system is based on the Cartesian rectangular coordinate system. A is the rotation axis of the X axis, B is the rotation axis of the Y axis, and C is the rotation axis of the Z axis. The motion equation of the underwater vehicle is as follows: Longitudinal force in X-axis direction: Lateral force in Y-axis direction: Vertical force in Z-axis direction: Torque around the X axis: Moment around the Y axis: Moment about the Z axis:

3. A multi-thruster cooperative underwater vehicle according to claim 1, characterized in that; The hydrofoil fin (14) is configured as a bionic fish pectoral fin fully immersed combined hydrofoil.

4. A multi-thruster cooperative underwater vehicle according to claim 3, characterized in that: The side length of the hydrofoil fin (14) is 0.18 m, and the angle between the hydrofoil fin (14) and the horizontal plane is 5 degrees. According to the Zhukovsky lift formula, since the fluid is viscous, the hydrofoil fin (14) generates a lift L perpendicular to the direction of motion and also generates a resistance D opposite to the direction of motion. L=ρVΓ Γ=∫ C Vcosθds=∫2πrcosθdr The buoyancy of an underwater vehicle under ideal conditions is: The volume of the device is about 0.06m 3 , the dry weight is about 98N, the cruising speed of the hydrofoil fin (14) is 1m / s, if the lift provided by the hydrofoil fin (14) when the underwater vehicle is cruising is approximately equal to the weight of the underwater vehicle in the water, then the side length of the hydrofoil fin (14) can be calculated to be 0.16m using the Zhukovsky lift formula and the circulation calculation formula.

5. A multi-thruster cooperative underwater vehicle according to claim 2, characterized in that: The overall length of the propulsion assembly (2) is 120 mm, the diameter of the propeller (23) is 55 mm, and the designed maximum power is 400 W. The thrust coefficient, torque coefficient of the propulsion assembly (2) and the efficiency of the propeller (23) are calculated as follows: If the thrust of the propulsion assembly (2) reaches more than 20N, it is calculated from the Zhukovsky lift formula and the circulation calculation formula that the diameter of the propeller (23) of the propulsion assembly (2) is at least 0.05m.

6. A multi-thruster cooperative underwater vehicle according to claim 1, characterized in that; A plurality of slide grooves (131) are provided on a side of the mounting seat (13) away from the equipment cabin (1) for mounting water quality monitoring equipment, professional photographic equipment, laser calipers and various sensors. An array of M3 10 mm×10 mm screw holes is provided on the plane of the mounting seat (13). The mounting seat (13) is composed of an aluminum profile frame.

7. A multi-thruster cooperative underwater vehicle according to claim 6, characterized in that; The front and rear ends of the equipment cabin (1) are provided with connecting plates (211) arranged symmetrically in the upper and lower directions, the left and right ends of the connecting plates (211) are provided with mounting frames (212), a slope (213) is provided on the side of the mounting frame (212) away from the central axis of the equipment cabin (1), a disassembly plate (214) is symmetrically provided on the upper side of the fairing (21), one of the disassembly plates (214) is fixedly connected to the slope (213) by bolts, and a first limit block is provided on the side of the mounting frame (212) away from the equipment cabin (1) by bolts. (215), a second horizontally symmetrical limit block (2151) is installed on the mounting seat (13) at the upper and lower ends, and the hydrofoil fins (14) at the left and right ends are fixedly connected to the limit blocks (25) at the upper and lower ends by bolts, and a protective cover (216) is installed on the side of one of the disassembly plates (214) away from the equipment cabin (1), and the middle part of the protective cover (216) is an arc-shaped structure, and the left and right ends of the protective cover (216) are fixedly connected to the first limit block (215) and the second limit block (2151) by bolts.

8. A multi-thruster cooperative underwater vehicle according to claim 1, characterized in that; The battery compartment (11) comprises a plug-in seat (111) installed on a side of the equipment compartment (1) close to the gimbal compartment (12); a sliding seat (112) is slidably connected inside the equipment compartment (1); a battery body (113) is plugged into the sliding seat (112); the equipment compartment (1) and the battery compartment (11) are designed as drawer-type plug-in and pull-out devices; the battery body (113) is connected to the equipment compartment (1) via an XT90 terminal; and the battery body (113) is designed to have dimensions of 80 mm×60 mm×160 mm.

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