Antenna device with angle adjusting function, underwater vehicle and angle adjusting method

Abstract

The invention discloses an antenna device with an angle adjusting function, an underwater vehicle and an angle adjusting method, and belongs to the technical field of underwater vehicles, the antenna device comprises an antenna rotating shaft, an antenna body and a driving device, the antenna rotating shaft is installed at the end of the underwater vehicle, the axis of the antenna rotating shaft is perpendicular to the pitching section of the underwater vehicle, and the antenna body is installed on the antenna rotating shaft. The driving device is connected with the antenna rotating shaft and drives the antenna rotating shaft to rotate, the antenna body is in a straight rod shape, the end of the antenna body is connected with the antenna rotating shaft, and the antenna body is driven by the antenna rotating shaft to swing in a pitching section of the underwater vehicle so as to change the included angle between the antenna body and the axis of the underwater vehicle. The antenna angle is dynamically adjusted in real time, the communication performance of the underwater vehicle is optimized, the maneuverability is improved, the communication range is expanded, the stability and reliability of the system are improved, the energy consumption is reduced, the adaptability is enhanced, and the method is an innovative design for remarkably improving the overall performance of the underwater vehicle.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater vehicles, and in particular relates to an antenna device with an angle adjustment function, an underwater vehicle and an angle adjustment method. Background Art

[0002] Unmanned underwater vehicles (UUVs) are widely used in hydrographic surveys, marine scientific research, underwater surveillance, reconnaissance, relay communications, underwater security, and underwater combat. They are highly autonomous and flexible and can perform tasks in complex underwater environments. Antennas, as important communication equipment for UUVs, are responsible for signal transmission between the underwater vehicle and the outside world, ensuring real-time transmission of data and effective reception of commands. Due to the particularity of the underwater environment, antennas not only need to maintain stable communication signals underwater, but also have to cope with challenges brought about by changes in water pressure, flow rate, salinity, etc. Therefore, designing an efficient and reliable antenna system is crucial for UUVs, which directly affects the combat capability of the vehicle, the effectiveness of mission execution, and the remote control capability of the operation.

[0003] At present, the antenna design of unmanned underwater vehicles has many shortcomings and defects, which are mainly manifested in its fixed posture and lack of flexible adjustment capabilities. Traditional antennas are usually fixedly installed on the fuselage or stern of the vehicle, and their posture is fixed. This design cannot be dynamically adjusted as the posture of the underwater vehicle changes. During operation, underwater vehicles often undergo posture changes such as pitch, roll or yaw. Fixed antennas cannot always remain perpendicular to the water surface, which directly causes the angle between the antenna and the water surface to deviate, thereby affecting the reception and transmission of communication signals. Especially when the posture of the vehicle changes drastically, the performance of the fixed antenna is significantly limited, and the communication signal may be lost, attenuated or unstable, greatly reducing the reliability of communication.

[0004] In addition, fixed-position antennas cannot meet the communication needs of underwater vehicles in multi-directional missions. Underwater vehicles usually need to perform tasks in complex underwater environments, such as hydrological surveys, reconnaissance, relay communications, etc. This requires the antenna to be able to flexibly adjust its angle and direction according to different mission requirements to ensure the best signal reception and positioning accuracy. Fixed antennas can only meet the signal transmission in a single direction and are difficult to adapt to the needs of multi-directional communications. Especially when the vehicle needs to make rapid turns, go deeper, or perform other dynamic operations, the communication effect will be significantly affected, and even cause the mission to fail.

[0005] Fixed antennas also face poor adaptability and flexibility, especially when facing changes in the underwater environment. Factors such as water flow, temperature, pressure and salinity in the underwater environment will affect the operation of the antenna. The design of fixed antennas cannot be adjusted according to environmental changes, which can easily cause interference or attenuation of the signals received by the antenna. For example, under high-speed navigation or complex water flow conditions, fixed antennas are prone to generate large water resistance, affecting the dynamic performance of the aircraft. At the same time, due to changes in the underwater environment, the transmission effect of the signal will also be greatly reduced, affecting the communication quality.

[0006] Another disadvantage is that fixed antennas are often susceptible to underwater debris, marine organisms, and other factors, causing antenna performance degradation. Over time, the antennas of underwater vehicles may be attached to marine organisms or obstructed by underwater debris, which will affect the normal operation of the antenna. The fixed design makes the antenna more susceptible to these external environmental factors, and it is impossible to avoid these problems through dynamic adjustment.

[0007] Therefore, the traditional fixed antenna design faces many challenges in modern complex missions. In order to overcome these problems, a more flexible antenna system is urgently needed. Through the design of adjustable or variable-configuration antennas, the antenna can be adjusted in real time according to the changes in the attitude of the underwater vehicle and the changes in environmental conditions, thereby improving the stability of communication, the accuracy of positioning and the reliability of mission execution. Summary of the invention

[0008] In view of the problem in the prior art that the antenna of an unmanned underwater vehicle has a fixed posture and cannot be dynamically adjusted, resulting in unstable communication, signal attenuation, poor adaptability, and affecting the smooth execution of tasks under posture changes, complex underwater environments, and multi-directional communication requirements, the present invention proposes an antenna device with angle adjustment function, an underwater vehicle, and an angle adjustment method.

[0009] The present invention is implemented as follows: an angle-adjustable antenna device for an underwater vehicle, characterized in that it includes an antenna shaft, an antenna body and a driving device, wherein the antenna shaft is installed at the end of the underwater vehicle, the axis of the antenna shaft is perpendicular to the pitch profile of the underwater vehicle, the driving device is connected to the antenna shaft and drives the antenna shaft to rotate, the antenna body is in the shape of a straight rod, the end of the antenna body is connected to the antenna shaft, and the antenna body is driven by the antenna shaft to swing within the pitch profile of the underwater vehicle to change the angle between the antenna body and the axis of the underwater vehicle.

[0010] In the above technical solution, preferably, it includes a rotating shaft mounting assembly fixed to the front end of the underwater vehicle, and the antenna rotating shaft is installed on the rotating shaft mounting assembly in a manner of rotating around an axis.

[0011] In the above technical solution, preferably, the shaft mounting assembly includes a front fairing of the underwater vehicle and an axle seat component, the axle seat component is arranged on the inner side of the front fairing, the antenna shaft is installed on the axle seat component, the front fairing is provided with an opening, and the antenna body extends from the opening to the outside of the front fairing.

[0012] In the above technical solution, preferably, the antenna shaft is installed with an antenna turntable, and the antenna turntable is an annular component coaxial with the antenna shaft and driven to rotate by the antenna shaft, and the antenna turntable is provided with an outer annular surface, and the antenna turntable is arranged on the inner side of the front air guide cover, and the outer annular surface of the antenna body is embedded in the opening of the front air guide cover, and the outer annular surface of the antenna body forms the guide surface of the front air guide cover.

[0013] In the above technical solution, preferably, the front guide surface of the front air guide cover is spherical, the opening of the front air guide cover is a semicircular opening arranged at the front end, and the outer ring surface of the antenna turntable forms a guide surface that is embedded in the shape of the semicircular opening.

[0014] In the above technical solution, preferably, the shaft seat component is fixed to the inner side of the front fairing, and the driving device is a steering gear installed on the inner side of the front fairing for driving the antenna shaft to rotate.

[0015] In the above technical solution, preferably, the output shaft of the servo is connected to the antenna shaft via a coupling.

[0016] In the above technical solution, preferably, the inner ring portion of the antenna turntable is provided with a ring gear, and the output shaft of the servo gear is meshed with the ring gear for transmission through a gear.

[0017] Compared with traditional fixed antennas, antenna devices with angle adjustment functions provide significant advantages and effects in many aspects, especially playing an important role in improving the communication performance of underwater vehicles and optimizing their maneuverability.

[0018] First, by acquiring the underwater vehicle's attitude information in real time and controlling the steering gear's rotation angle, the antenna can always maintain the optimal upward attitude, thereby ensuring that the antenna remains vertical or nearly vertical to the water surface. This design can effectively avoid the impact of changes in the underwater vehicle's attitude on the antenna position, ensuring that the antenna is always in the best communication state under various navigation conditions, thereby improving communication stability and reliability. Regardless of whether the underwater vehicle is pitching, yawing, or other complex operations, the antenna can automatically adjust to ensure the best signal reception and transmission direction, greatly reducing the risk of signal attenuation or loss, and ensuring the efficiency and accuracy of mission execution.

[0019] Secondly, the adjustable angle design of this antenna device enables it to be designed in the same shape as the shell of the underwater vehicle, optimizing the streamlined structure of the underwater vehicle. The perfect integration of the antenna and the shell of the vehicle reduces the interference and resistance of the antenna to the water flow, not only maintaining the hydrodynamic shape of the vehicle, but also effectively reducing the drag coefficient of the underwater vehicle, avoiding the additional resistance that may be caused by traditional fixed antennas. This optimized hydrodynamic design improves the speed and maneuverability of the vehicle, and enhances its maneuverability in complex underwater environments, especially when sailing at high speeds.

[0020] Furthermore, the antenna device can be adaptively adjusted according to real-time attitude changes, expanding the communication range and space of the underwater vehicle. This flexible adjustment function enables the antenna to continuously maintain good communication effects under working conditions of different depths, different speeds and different directions. Especially when the underwater vehicle performs long-term or high-precision tasks, the antenna can cope with complex underwater environmental changes, thereby ensuring real-time transmission of commands and data, avoiding the shortcomings of traditional antennas that cannot adapt to the changing underwater environment.

[0021] In addition, the angle adjustment function also significantly improves the reliability and stability of the antenna. The underwater environment is complex and changeable, and factors such as water flow, pressure and temperature often interfere with the communication system. By dynamically adjusting the angle of the antenna, the performance degradation of the antenna caused by attachments, marine life or water flow can be avoided, ensuring that the antenna always maintains the best working condition, thereby improving the durability and long-term stability of the system.

[0022] In terms of energy efficiency, the angle adjustment function allows the antenna to not only maintain the best communication state, but also effectively reduce the energy consumption of the system. By precisely controlling the rotation angle of the servo, the working state of the antenna can be adjusted according to actual needs, reducing unnecessary energy consumption and improving the endurance of the underwater vehicle. Especially when performing long-term tasks, improving energy efficiency is crucial to extending the operation time and mission completion.

[0023] Finally, the angle adjustment function of the antenna device also makes the underwater vehicle more adaptable in multiple tasks and scenarios. It can meet the needs of different tasks, such as hydrographic survey, reconnaissance, communication relay, etc., which have different requirements for the angle of the antenna. Through real-time adjustment, it can ensure the best performance under each mission condition. This flexibility allows underwater vehicles to perform multiple tasks in different environments, which not only improves work efficiency but also reduces the risk of mission execution.

[0024] In summary, the antenna device with angle adjustment function optimizes the communication performance of the underwater vehicle, improves maneuverability, expands the communication range, increases the stability and reliability of the system, reduces energy consumption and enhances adaptability by dynamically adjusting the antenna angle in real time. It is an innovative design that significantly improves the overall performance of the underwater vehicle.

[0025] The second objective of the present invention is to provide an underwater vehicle, characterized in that the underwater vehicle is equipped with the above-mentioned angle adjustment antenna device.

[0026] The third object of the present invention is a method for adjusting the angle of an underwater vehicle antenna, characterized in that it comprises the following steps:

[0027] Step S1: obtaining real-time pitch attitude information of the underwater vehicle and determining the output rotation angle of the steering gear;

[0028] Step S2: The pitch angle orientation of the underwater vehicle is defined as: the upward pitch angle is negative, the downward pitch angle is positive, and the maximum pitch angle is ±90°. When the pitch angle of the underwater vehicle is α, the transmission ratio of the steering gear output shaft to the antenna shaft is i, and the rotation angle of the steering gear output is β=(α+90°)i;

[0029] Step S3: Obtain the angle state of the servo and compare it with the real-time attitude information of the underwater vehicle. According to the difference obtained by the comparison, calculate the next adjustment angle of the servo to form a negative feedback adjustment until the axial direction of the antenna reaches a vertical direction pointing to the water surface and always maintains this state. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of the external structure of the unmanned underwater vehicle of the present invention;

[0031] Figure 2 It is a structural schematic diagram of the unmanned underwater vehicle shell of the present invention;

[0032] Figure 3 is an internal cross-sectional view of the angle-adjustable antenna device according to the first embodiment of the present invention;

[0033] Figure 4 is a side view of the angle-adjustable antenna device according to the first embodiment of the present invention;

[0034] Figure 5 is a three-dimensional diagram of the angle-adjustable antenna device according to the first embodiment of the present invention;

[0035] Figure 6 is a side view of the angle-adjustable antenna device according to the second embodiment of the present invention;

[0036] Figure 7 is a three-dimensional diagram of the angle-adjustable antenna device according to the second embodiment of the present invention;

[0037] Figure 8 This is a diagram of the unmanned underwater vehicle in the present invention in a supine floating state;

[0038] Fig. 9 This is a diagram of the unmanned underwater vehicle in the present invention in a prone diving state;

[0039] Fig.10 It is a vertical state diagram of the unmanned underwater vehicle in the present invention. DETAILED DESCRIPTION

[0040] 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.

[0041] In order to solve the problem that the antenna of the unmanned underwater vehicle cannot be dynamically adjusted due to its fixed posture, resulting in unstable communication effect, signal attenuation, poor adaptability, and affecting the smooth execution of the task under the conditions of posture changes, complex underwater environment and multi-directional communication requirements, the present invention provides an antenna device with angle adjustment function, an underwater vehicle and an angle adjustment method. In order to further illustrate the structure of the present invention, the detailed description is as follows in conjunction with the accompanying drawings:

[0042] Embodiment 1

[0043] See also Figure 1-Figure 5 , an angle-adjustable antenna device for an underwater vehicle, comprising an antenna shaft 1, an antenna body 2 and a driving device.

[0044] The antenna shaft is installed at the end of the underwater vehicle, and the axis of the antenna shaft is perpendicular to the pitch profile of the underwater vehicle. The pitch profile of the underwater vehicle refers to a vertical plane cut along the longitudinal centerline of the vehicle, which reflects the pitch motion state of the vehicle in the front and rear directions. The antenna shaft is installed at the end of the underwater vehicle, and its axis is perpendicular to the pitch profile, that is, the direction of the antenna shaft is orthogonal to the plane where the underwater vehicle pitches forward and backward, thereby ensuring that the antenna can be rotated and adjusted around an axis perpendicular to the pitch profile.

[0045] The driving device is connected to the antenna shaft and drives the antenna shaft to rotate. That is, the driving device is connected to the antenna shaft through a mechanical connection, and can provide power to the antenna shaft to rotate around its own axis, thereby adjusting the antenna angle. Specifically, the driving device can be an electric servo, a direct drive motor or a gear transmission system, etc., which cooperates with the antenna shaft through output power to drive the antenna shaft to rotate according to the set angle, so that the antenna posture can be accurately adjusted as needed, ensuring that the antenna always remains in the target direction or angle, meeting the functional requirements of antenna positioning and communication.

[0046] The antenna body is in the shape of a straight rod. The straight rod-shaped antenna body is an existing antenna structure. It is in the shape of a slender straight rod as a whole and has the characteristics of simple structure, light weight, and easy installation and adjustment. The antenna body is usually made of conductive materials to ensure good signal transmission performance. At the same time, its straight rod design can reduce air or water flow resistance and is suitable for communication needs in various environments. In addition, in actual applications, this antenna structure can rotate or adjust its installation angle to keep the axial direction of the antenna body consistent with the target communication direction, thereby improving the stability and efficiency of signal transmission.

[0047] The end of the antenna body is connected to the antenna shaft, and the antenna body is driven by the antenna shaft to swing within the pitch profile of the underwater vehicle to change the angle between the antenna body and the axis of the underwater vehicle. The end of the antenna body is connected to the antenna shaft through a mechanical connection. The antenna shaft serves as the rotation fulcrum of the antenna body and can provide power under the action of the driving device to make the antenna body rotate or swing around the antenna shaft. The swing direction of the antenna body is located within the pitch profile of the underwater vehicle, that is, it is adjusted within the vertical plane where the lateral axis of the vehicle is located, thereby changing the posture of the antenna body and changing the angle between it and the axis of the underwater vehicle. This design enables the antenna body to adjust its angle according to the real-time posture of the vehicle, ensuring that the axis of the antenna body is always facing a specific target direction (such as perpendicular to the water surface), thereby optimizing the communication performance of the antenna and improving the stability and accuracy of signal transmission.

[0048] In this embodiment, specifically, it includes a shaft mounting assembly fixed to the front end of the underwater vehicle, and the antenna shaft is installed on the shaft mounting assembly in a manner of rotating around the axis. The shaft mounting assembly includes a front fairing 3 of the underwater vehicle and a shaft seat component, the shaft seat component is arranged on the inner side of the front fairing, the antenna shaft is installed on the shaft seat component, the front fairing is provided with an opening, and the antenna body extends out of the outer side of the front fairing from the opening. Specifically, the antenna shaft is installed with an antenna turntable 4, which is an annular component coaxial with the antenna shaft and driven to rotate by the antenna shaft, and the antenna turntable is provided with an outer ring surface, the antenna turntable is arranged on the inner side of the front fairing, and the outer ring surface of the antenna body is embedded in the opening of the front fairing, and the outer ring surface of the antenna body forms the front fairing guide surface. The front guide surface of the front fairing is spherical, and the opening of the front fairing is a semicircular opening arranged at the front end, and the outer ring surface of the antenna turntable forms a guide surface that fits in the shape of the semicircular opening. The shaft seat component is fixed to the inner side of the front fairing, and the driving device is a steering gear 5 installed on the inner side of the front fairing to drive the antenna shaft to rotate. In this embodiment, the output shaft of the steering gear is connected to the antenna shaft through a coupling. The steering gear is connected to the underwater vehicle through a watertight cable and a watertight penetration. The design of the front fairing has a spherical front guide surface, which is combined with the guide surface of the outer ring surface of the antenna turntable and the shape of the semicircular opening, which can effectively guide the water flow and reduce the resistance of the water flow to the vehicle. This streamlined design not only helps to improve the stability of the vehicle in the water, but also reduces the water flow disturbance that may be generated during high-speed navigation, thereby improving the navigation efficiency and control performance of the vehicle. The front fairing not only plays the role of streamlined diversion, but also protects the antenna turntable and the antenna shaft from damage by the external environment (such as water flow impact, marine garbage, etc.). The antenna body is embedded in the opening of the front fairing, which reduces the exposed area, improves the protection and durability of the antenna, and extends the service life. Since the antenna shaft and drive device (servo) are centrally arranged in the front fairing, the structure is more compact, which is convenient for manufacturing, assembly and later maintenance. The overall design of the underwater vehicle is more concise, reducing the installation complexity caused by redundant structures and helping to reduce the difficulty of maintenance.

[0049] In addition to the above, the antenna turntable is a disc-shaped component between the antenna body and the shaft. In addition to optimizing fluid dynamics, improving protection and maintenance convenience, the antenna turntable is coaxially connected to the antenna shaft, which can effectively amplify the tiny rotation of the shaft to the antenna body. Since the design of the turntable can provide a larger contact surface and rotation amplitude, the precise adjustment of the turntable can achieve higher-precision angle control. This allows the antenna to adjust its orientation very accurately to ensure that it always maintains the best alignment with the target direction. Especially in underwater environments, it can effectively overcome the errors caused by water flow or external disturbances and enhance the stability of communication signals. The setting of the antenna turntable allows smaller input rotations to be amplified, thereby driving the antenna body to adjust a larger angle. Through the amplification effect of the antenna turntable, the rotation amplitude of the drive device (such as a steering gear) can be reduced, so that the load of the steering gear is reduced, and the efficiency and reliability of the system are improved. This amplification effect can also enable a smaller steering gear to effectively control a wide range of antenna angle adjustments, which is conducive to the use of a lighter drive device. The function of the antenna turntable is similar to a lever system, which can convert a smaller torque into a larger antenna body angle adjustment through the rotation of the turntable. This can reduce the driving force that needs to be transmitted to the antenna shaft, thereby reducing the power consumption required by the driving device such as the servo. This design helps to improve the energy efficiency of the overall system, especially in underwater vehicle applications with high energy consumption requirements, it can extend the working time of the vehicle or increase its endurance. Since the antenna turntable can enlarge the rotation angle and reduce the need for the servo to rotate, the size and weight of the drive device can be reduced accordingly. This is a significant advantage for the design of underwater vehicles. A lighter drive device can effectively reduce the total weight of the vehicle, reduce energy consumption, and improve the performance of the vehicle. The use of the antenna turntable can evenly distribute the burden of the antenna shaft and avoid excessive pressure or wear caused by the direct drive of the antenna body by the servo. Through the intermediary role of the antenna turntable, the friction and wear between the components can be effectively reduced, the service life of the antenna adjustment system can be extended, and the overall reliability of the system can be improved. The antenna turntable can provide a smoother rotation effect, making the antenna adjustment process softer and more responsive, especially when facing external disturbances or when the angle needs to be adjusted quickly, it can improve the adaptability of the antenna. The turntable transmits the balancing force, making the adjustment process more precise and responsive, thereby improving the operating performance of the entire system.

[0050] Two rotating shaft support plates are arranged on the inner side of the front air deflector, and the rotating shaft support plates are fixed on the inner side of the front air deflector by bolts, and the rotating shaft support plates form an axis hole. The rotating shaft mounting assembly includes a spindle, a turntable shaft, a turntable sleeve, a bearing, and a bearing end cover. The turntable shaft is fixed to the antenna turntable by bolts. The turntable sleeve serves as the antenna rotating shaft, is coaxial with the turntable shaft, and is adjacent to the turntable shaft. The turntable sleeve is fixed to the antenna turntable by bolts. The bearing is located inside the turntable sleeve and is coaxial with the turntable sleeve. The spindle is fixed to the rotating shaft support plate by bolts, and the two ends of the spindle are respectively nested in the inner holes of the bearings. The bearing end cover is located in the middle of the rotating shaft support plate and is fixed to the rotating shaft support plate by bolts. The bearing is located inside the bearing end cover and is coaxial with the bearing end cover, and its inner hole is nested with the turntable shaft.

[0051] The servo installation structure includes a coupling, a servo support pad, and a servo support plate; the output end of the coupling is fastened to the turntable shaft by screws, the servo support pad is fixed to the shaft support plate by bolts, the servo support pad is located between the shaft support plate and the servo support plate, the servo support plate and the servo support pad share a mounting hole, and are fixed to the shaft support plate by bolts; the servo is fixed to the servo support plate by bolts, and the servo output shaft is fixedly connected to the input end of the coupling by a set screw.

[0052] In this embodiment, the axis of the antenna body is tangent to the outer annular surface of the antenna turntable. By rotating the antenna turntable, the antenna body can be completely axially fitted to the outer wall of the shell of the underwater vehicle. When the antenna body is tightly fitted to the outer wall of the shell of the underwater vehicle, the friction and resistance between the antenna body and the surrounding water flow can be significantly reduced. Through this design, the antenna and the shell form a streamlined shape, which helps to reduce the impact of the water flow on the vehicle, reduce the disturbance of the water flow, and improve the efficiency of the vehicle in the water. In particular, it can better reduce energy loss when moving at high speed. When the antenna body is in contact with the outer wall of the shell, the water flow can bypass the surface of the vehicle more smoothly, avoiding eddy currents or local resistance that may be generated by the protruding part of the antenna. Through this optimized design, the fluid dynamic performance of the vehicle in the water is improved, the overall stability of the vehicle is enhanced, and the navigation process is smoother. This design allows the antenna body to be stored parallel to the outer wall of the shell when not in use, reducing the area of ​​the antenna component exposed to the external water flow. This advantage can reduce the risk of wear of the antenna body in harsh water flow environments, prevent the antenna from being damaged by water flow impact, marine debris or other external objects, and improve the protection and durability of the antenna. After fully fitting the outer wall of the shell, physical interference between devices caused by uneven structure can be avoided. The close fit between the antenna body and the shell can reduce structural losses caused by external vibration or water flow disturbance, and improve the stability and reliability of the system.

[0053] Embodiment 2

[0054] See also Figure 6and Figure 7 This embodiment is a gear ring type variable configuration antenna device for underwater vehicles, that is, the inner ring of the antenna turntable is provided with a gear ring 6, and the output shaft of the steering gear is meshed with the gear ring through the gear 7 for transmission, and the steering gear indirectly drives the antenna shaft to rotate, and directly drives the antenna turntable to rotate. Specifically, the output gear of the steering gear meshes with the gear ring fixed on the antenna turntable, and the antenna turntable is driven by the gear to adjust the angle.

[0055] Two rotating shaft support plates are arranged on the inner side of the front air guide cover; the rotating shaft support plates are fixed on the front air guide cover by bolts.

[0056] The shaft mounting assembly includes a bearing end cover, a bearing, and a turntable shaft. The bearing end cover is fixed to the shaft support plate of the antenna mounting platform by bolts, the bearing is installed inside the bearing end cover, the turntable shaft is fixed to the antenna turntable by bolts, and both ends of the turntable shaft are respectively embedded in the inner holes of the bearings.

[0057] The steering gear is connected to the underwater vehicle through a watertight cable and a watertight penetration. The steering gear installation structure includes a steering gear support plate and a gear. The steering gear support plate is bolted to the shaft support plate; the steering gear is bolted to the steering gear support plate. The gear is bolted to the steering disc at the output end of the steering gear. The gear ring meshes with the gear and is bolted to the antenna turntable.

[0058] In this embodiment, the meshing transmission mode of the gear and the ring gear has a high transmission accuracy, which can ensure that the steering gear can control the rotation of the antenna turntable more accurately, and is conducive to the precise adjustment of the antenna angle. This high-precision transmission design is particularly suitable for scenarios where underwater vehicles need to perform precise signal positioning or aim at targets. Through the transmission ratio between the gear and the ring gear, the small angle rotation output by the steering gear can be amplified to the larger angle rotation of the antenna turntable through the ring gear transmission. This angle amplification function makes full use of the output power of the steering gear, so that a large range of angle adjustment of the antenna can be achieved without using a larger size or higher power steering gear, thereby optimizing the energy efficiency of the device. The ring gear transmission structure has a high load-bearing capacity and can withstand the inertial force and load force generated by the antenna body and the antenna turntable during rotation. This design effectively improves the mechanical stability of the system, so that the antenna can still remain stable during underwater dynamic operation, and is not prone to shaking or angle deviation. Through the transmission ratio of the gear and the ring gear, the steering gear can drive the antenna turntable to rotate without directly outputting a large torque, which effectively reduces the power demand and energy consumption of the steering gear. This is especially important for battery-powered underwater vehicles, as it can extend the vehicle's flight time and improve the equipment's work efficiency. Through the transmission of the ring gear and the servo, the servo can be arranged at other positions outside the central axis of the antenna turntable as needed, which is conducive to optimizing the center of gravity distribution of the underwater vehicle, minimizing the impact of the antenna system on the overall center of gravity of the vehicle, and improving the vehicle's control performance and stability. The antenna turntable and the ring gear are designed as a whole, making the antenna system modular and easy to assemble and disassemble. In addition, by adjusting the transmission ratio of the gear and the ring gear, antenna systems of different sizes and functions can be flexibly adapted, with good scalability and adaptability.

[0059] The schematic diagram of the underwater vehicle antenna angle adjustment process using the present invention is as follows: Figure 8 , Fig. 9 and Fig.10 . The process and principle are as follows.

[0060] Step S1: According to the transmission data of the underwater vehicle during the communication on the water surface, the real-time attitude information of the underwater vehicle is obtained to determine the rotation angle of the steering gear.

[0061] Step S2: The pitch angle of the underwater vehicle is negative when it is tilted up, positive when it is tilted down, and the maximum pitch angle is ±90°. For the direct drive unit described in the first embodiment, the rotation angle ratio of the steering gear and the antenna turntable is 1. When the pitch angle of the underwater vehicle is α, the steering gear rotation angle is β=α+90°, and the antenna (301) is always kept perpendicular to the water surface; for the ring gear drive unit in the second embodiment, when the pitch angle of the underwater vehicle is α and the transmission ratio of the output gear and the ring gear is i, the steering gear rotation angle is β=(α+90°)×i.

[0062] Step S3: Obtain the angle state of the servo, compare it with the real-time attitude of the underwater vehicle, and use the difference to calculate the angle of the servo for the next adjustment, forming a negative feedback adjustment until the direction of the antenna axis reaches vertically pointing to the water surface and always maintains this state.

[0063] The servo angle state mentioned here refers to the current rotation angle information of the servo, that is, the position state of the servo.

[0064] The servo is an actuator that adjusts the angle by receiving control signals. Its angle state represents the actual angle value of the servo, which is usually measured in real time by a sensor (such as an angle encoder) or a feedback device.

[0065] Get the current angle state of the servo (actual rotation angle). Compare the current angle of the servo with the real-time attitude information of the underwater vehicle (such as the difference between the current pitch angle α of the underwater vehicle and the target angle β). Based on the angle difference, calculate the angle that the servo needs to adjust next, so as to further correct the axial direction of the antenna body to the target position (perpendicular to the water surface).

[0066] Negative feedback regulation is formed: by constantly comparing the difference between the target angle and the actual angle, the angle of the servo is gradually adjusted until the direction of the antenna reaches and remains perpendicular to the water surface. Negative feedback regulation is a control method. Its core idea is to monitor the output result (the angle state of the servo) in real time, compare the output with the target value (the antenna is perpendicular to the water surface), and use the difference to continuously correct the input signal (the servo control angle), so as to achieve stable control of the system.

[0067] The angle state of the servo is the actual current rotation angle of the servo. Step S3 compares the current angle of the servo with the real-time attitude information of the underwater vehicle, calculates the adjustment amount based on the angle difference, and forms a negative feedback adjustment, thereby ensuring that the axis direction of the antenna is always perpendicular to the water surface.

[0068] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention, for example, the transmission method between the drive device and the antenna shaft, in addition to the two types of coupling direct drive and internal gear drive mentioned above, other drive methods such as transmission belts can also be used, should all be included in the protection scope of the present invention.

Claims

1. An angle-adjustable antenna device for an underwater vehicle, characterized in that: The invention comprises an antenna shaft, an antenna body and a driving device, wherein the antenna shaft is installed at the end of an underwater vehicle, the axis of the antenna shaft is perpendicular to the pitch profile of the underwater vehicle, the driving device is connected to the antenna shaft and drives the antenna shaft to rotate, the antenna body is in the shape of a straight rod, the end of the antenna body is connected to the antenna shaft, and the antenna body is driven by the antenna shaft to swing within the pitch profile of the underwater vehicle to change the angle between the antenna body and the axis of the underwater vehicle.

2. The angle-adjustable antenna device for an underwater vehicle according to claim 1, characterized in that: It comprises a rotating shaft mounting assembly fixed to the front end of the underwater vehicle, and the antenna rotating shaft is installed on the rotating shaft mounting assembly in a manner of rotating around an axis.

3. The angle-adjustable antenna device for an underwater vehicle according to claim 2, characterized in that: The shaft mounting assembly includes a front fairing of the underwater vehicle and an axle seat component, wherein the axle seat component is arranged on the inner side of the front fairing, the antenna shaft is installed on the axle seat component, the front fairing is provided with an opening, and the antenna body extends out of the outer side of the front fairing from the opening.

4. The angle-adjustable antenna device for an underwater vehicle according to claim 3, characterized in that: The antenna shaft is installed with an antenna turntable, which is an annular component coaxial with the antenna shaft and driven to rotate by the antenna shaft. The antenna turntable is provided with an outer annular surface. The antenna turntable is arranged on the inner side of the front air guide cover, and the outer annular surface of the antenna body is embedded in the opening of the front air guide cover. The outer annular surface of the antenna body forms the guide surface of the front air guide cover.

5. The angle-adjustable antenna device for an underwater vehicle according to claim 4, characterized in that: The front guide surface of the front guide cover is spherical, the opening of the front guide cover is a semicircular opening arranged at the front end, and the outer ring surface of the antenna rotating disk forms a guide surface that is embedded in the shape of the semicircular opening.

6. The angle-adjustable antenna device for an underwater vehicle according to claim 5, characterized in that: The shaft seat component is fixed to the inner side of the front fairing, and the driving device is a steering gear installed on the inner side of the front fairing for driving the antenna shaft to rotate.

7. The angle-adjustable antenna device for an underwater vehicle according to claim 6, characterized in that: The output shaft of the steering gear is connected to the antenna shaft through a coupling.

8. The angle-adjustable antenna device for an underwater vehicle according to claim 6, characterized in that: The inner ring of the antenna turntable is provided with a gear ring, and the output shaft of the steering gear is meshed with the gear ring for transmission through a gear.

9. An underwater vehicle, characterized in that: The underwater vehicle is equipped with the angle-adjustable antenna device described in any one of claims 1-8.

10. A method for adjusting the angle of an underwater vehicle antenna, characterized in that: The following steps are involved: Step S1: obtaining real-time pitch attitude information of the underwater vehicle and determining the output rotation angle of the steering gear; Step S2: The pitch angle orientation of the underwater vehicle is defined as: the upward pitch angle is negative, the downward pitch angle is positive, and the maximum pitch angle is ±90°. When the pitch angle of the underwater vehicle is α, the transmission ratio of the steering gear output shaft to the antenna shaft is i, and the rotation angle of the steering gear output is β=(α+90°)i; Step S3: Obtain the angle state of the servo and compare it with the real-time attitude information of the underwater vehicle. According to the difference obtained by the comparison, calculate the next adjustment angle of the servo to form a negative feedback adjustment until the axial direction of the antenna reaches a vertical direction pointing to the water surface and always maintains this state.

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