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

Abstract

The application 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, and 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 profile of the underwater vehicle, 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 the pitching profile of the underwater vehicle so as to change the included angle between the antenna body and the axis of the underwater vehicle. The application can dynamically adjust the angle of the antenna in real time, optimizes the communication performance of the underwater vehicle, improves the maneuverability, expands the communication range, increases the stability and reliability of the system, reduces the energy consumption and enhances the adaptability, and is an innovative design for significantly improving the overall performance of the underwater vehicle.

Description

Technical Field

[0001] This invention belongs to the field of underwater vehicle technology, and particularly relates to an antenna device with angle adjustment function, an underwater vehicle, and an angle adjustment method. Background Technology

[0002] Unmanned underwater vehicles (UUVs) are widely used in hydrological surveying, marine scientific research, underwater surveillance, reconnaissance, relay communication, underwater security, and underwater warfare. They possess high autonomy and flexibility, enabling them to perform missions in complex underwater environments. Antennas, as crucial communication devices for UUVs, are responsible for signal transmission between the UUV and the outside world, ensuring real-time data transmission and effective command reception. Due to the unique characteristics of the underwater environment, antennas must not only maintain stable communication signals but also cope with challenges posed by variations in water pressure, current velocity, and salinity. Therefore, designing efficient and reliable antenna systems is critical for UUVs, directly impacting their combat capabilities, mission performance, and remote control capabilities.

[0003] Current antenna designs for unmanned underwater vehicles (UUVs) suffer from several shortcomings and defects, primarily in their fixed attitude and lack of flexible adjustment capabilities. Traditional antennas are typically fixedly mounted on the fuselage or stern of the vehicle, and their attitude remains constant. This design cannot dynamically adjust to changes in the underwater vehicle's attitude. During operation, underwater vehicles frequently undergo attitude changes such as pitch, roll, or yaw. Fixed antennas cannot maintain a constant perpendicularity to the water surface, directly causing deviations in the angle between the antenna and the water, thus affecting the reception and transmission of communication signals. Especially when the vehicle's attitude changes drastically, the performance of fixed antennas is significantly limited, and communication signals may be lost, attenuated, or unstable, greatly reducing communication reliability.

[0004] Furthermore, fixed-attitude antennas cannot meet the communication needs of underwater vehicles in multi-directional missions. Underwater vehicles typically need to perform missions in complex underwater environments, such as hydrographic surveys, reconnaissance, and relay communications. This requires antennas to be able to flexibly adjust their angle and direction according to different mission requirements to ensure optimal signal reception and positioning accuracy. Fixed antennas can only meet the signal transmission needs in a single direction and are difficult to adapt to the needs of multi-directional communication. Especially when the vehicle needs to make rapid turns, change depth, or perform other dynamic operations, the communication effect will be significantly affected, and may even lead to mission failure.

[0005] Fixed antennas also suffer from poor adaptability and flexibility, especially when faced with changes in the underwater environment. Factors such as water flow, temperature, pressure, and salinity in the underwater environment all affect antenna operation. The design of fixed antennas cannot be adjusted according to environmental changes, making them susceptible to interference or signal attenuation. For example, under conditions of high-speed navigation or complex currents, fixed antennas tend to generate significant water resistance, affecting the vehicle's dynamic performance. Furthermore, changes in the underwater environment can significantly reduce signal transmission quality, impacting communication performance.

[0006] Another drawback is that fixed antennas are often susceptible to damage from underwater debris and marine organisms, leading to a decline in antenna performance. Over time, the antennas of underwater vehicles may become attached to marine life or obstructed by underwater debris, affecting their normal operation. The fixed design makes the antenna more vulnerable to these external environmental factors, and these problems cannot be avoided through dynamic adjustments.

[0007] Therefore, traditional fixed antenna designs face numerous challenges in modern complex missions. To overcome these problems, there is an urgent need for more flexible antenna systems. Through the design of adjustable or variable-configuration antennas, antennas can be adjusted in real time according to changes in the attitude of underwater vehicles and environmental conditions, thereby improving communication stability, positioning accuracy, and mission reliability. Summary of the Invention

[0008] To address the problem that existing unmanned underwater vehicles (UUVs) suffer from unstable communication performance, signal attenuation, and poor adaptability due to their fixed attitude and inability to dynamically adjust antennas, which hinders mission execution under varying attitudes, complex underwater environments, and multi-directional communication requirements, this invention proposes an antenna device, an UUV, and an angle adjustment method with angle adjustment functionality.

[0009] The present invention is implemented as follows: an angle-adjusting antenna device for an underwater vehicle, characterized in that it includes an antenna shaft, an antenna body, and a driving device. The antenna shaft is mounted on the end of the underwater vehicle, and 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, and the end of the antenna body is connected to the antenna shaft. 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, a rotating shaft mounting assembly is fixed to the front end of the underwater vehicle, and the antenna rotating shaft is mounted on the rotating shaft mounting assembly in a manner that allows it to rotate around an axis.

[0011] In the above technical solution, preferably, the rotating shaft mounting assembly includes a front fairing of the underwater vehicle and a shaft seat component. The shaft seat component is disposed inside the front fairing, the antenna rotating shaft is mounted on the shaft seat component, the front fairing has an opening, and the antenna body extends out of the opening onto the outside of the front fairing.

[0012] In the above technical solution, preferably, the antenna rotating shaft is equipped with an antenna turntable, the antenna turntable is a ring-shaped component coaxial with the antenna rotating shaft and driven to rotate by the antenna rotating shaft, the antenna turntable has an outer ring surface, the antenna turntable is located inside the front fairing, and the outer ring surface of the antenna body is embedded in the opening of the front fairing, the outer ring surface of the antenna body forms the front fairing guide surface.

[0013] In the above technical solution, preferably, the front guide surface of the front fairing is spherical, the opening of the front fairing is a semi-circular arc opening at the front end, and the outer ring surface of the antenna turntable forms a guide surface that fits the shape of the semi-circular arc opening.

[0014] In the above technical solution, preferably, the bearing component is fixed to the inner side of the front fairing, and the driving device is a servo motor installed inside the front fairing that drives the antenna shaft to rotate.

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

[0016] In the above technical solution, preferably, the inner ring of the antenna turntable is provided with a gear ring, and the output shaft of the servo motor is driven by the gear meshing with the gear ring.

[0017] Compared to traditional fixed antennas, antenna devices with angle adjustment capabilities offer numerous significant advantages and benefits, playing a crucial role in enhancing the communication performance and optimizing the maneuverability of underwater vehicles.

[0018] First, by acquiring the underwater vehicle's attitude information in real time and controlling the servo motor's rotation angle, the antenna can always maintain an optimal upward orientation, ensuring it remains perpendicular or nearly perpendicular to the water surface. This design effectively avoids the impact of changes in the underwater vehicle's attitude on the antenna position, guaranteeing that the antenna is always in optimal communication condition under various navigation conditions, thereby improving communication stability and reliability. Regardless of whether the underwater vehicle is performing pitch, yaw, or other complex maneuvers, the antenna can automatically adjust to ensure optimal 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 allows for conformal design with the underwater vehicle's hull, optimizing the vehicle's streamlined structure. This seamless integration of the antenna and the vehicle's hull reduces interference and drag on water flow, maintaining the vehicle's hydrodynamic shape and effectively lowering its drag coefficient, avoiding the additional drag that might be introduced by traditional fixed antennas. This optimized hydrodynamic design enhances the vehicle's speed and maneuverability, improving its ability to navigate complex underwater environments, especially at high speeds.

[0020] Furthermore, the antenna device can adaptively adjust according to real-time attitude changes, expanding the communication range and space of the underwater vehicle. This flexible adjustment function enables the antenna to maintain good communication performance under different operating conditions at different depths, speeds, and directions. Especially when the underwater vehicle is performing long-duration or high-precision missions, the antenna can cope with complex underwater environmental changes, thereby ensuring the real-time transmission of commands and data and avoiding the shortcomings of traditional antennas that cannot adapt to the changing underwater environment.

[0021] Furthermore, the angle adjustment function significantly improves the reliability and stability of the antenna. The underwater environment is complex and variable; factors such as water flow, pressure, and temperature often interfere with communication systems. By dynamically adjusting the antenna angle, performance degradation caused by attachments, marine life, or water flow can be avoided, ensuring the antenna always maintains optimal operating conditions, thereby improving the system's durability and long-term stability.

[0022] In terms of energy efficiency, the angle adjustment function not only allows the antenna to maintain optimal communication performance but also effectively reduces system energy consumption. By precisely controlling the rotation angle of the servo motor, the antenna's operating state can be adjusted according to actual needs, reducing unnecessary energy consumption and improving the underwater vehicle's endurance. Especially during long-duration missions, improved energy efficiency is crucial for extending operation time and mission completion.

[0023] Finally, the antenna's angle adjustment capability enhances the underwater vehicle's adaptability to various missions and scenarios. It can meet the diverse needs of different missions, such as hydrographic surveying, reconnaissance, and communication relay, each with varying antenna angle requirements. Real-time adjustments ensure optimal performance under each mission condition. This flexibility allows the underwater vehicle to perform multiple tasks in different environments, improving efficiency and reducing mission risks.

[0024] In summary, antenna devices with angle adjustment capabilities optimize the communication performance of underwater vehicles, improve maneuverability, expand communication range, increase system stability and reliability, reduce energy consumption, and enhance adaptability by dynamically adjusting the antenna angle in real time. This represents an innovative design that significantly improves the overall performance of underwater vehicles.

[0025] A second objective of this invention is to provide an underwater vehicle, characterized in that the underwater vehicle is equipped with the aforementioned angle-adjusting antenna device.

[0026] A third objective of this invention is a method for adjusting the antenna angle of an underwater vehicle, characterized by comprising the following steps:

[0027] Step S1: Obtain the real-time pitch attitude information of the underwater vehicle and determine the output rotation angle of the servo motor;

[0028] Step S2: Define the pitch angle orientation of the underwater vehicle as follows: the pitch angle of raising is negative, the pitch angle of lowering is positive, the maximum pitch angle is ±90°, when the pitch angle of the underwater vehicle is α, the transmission ratio between the servo output shaft and the antenna rotation shaft is i, and the rotation angle of the servo output is β=(α+90°)i;

[0029] Step S3: Obtain the angle state of the servo motor and compare it with the real-time attitude information of the underwater vehicle. Based on the difference obtained from the comparison, calculate the next adjustment angle of the servo motor to form negative feedback adjustment until the axis of the antenna reaches a vertical position pointing towards the water surface and maintains this state. Attached Figure Description

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

[0031] Figure 2 This is a schematic diagram of the structure of the hull of the unmanned underwater vehicle of the present invention;

[0032] Figure 3 This is an internal cross-sectional view of the angle-adjustable antenna device described in Embodiment 1 of the present invention;

[0033] Figure 4 This is a side view of the angle-adjustable antenna device described in Embodiment 1 of the present invention;

[0034] Figure 5 This is a perspective view of the angle-adjustable antenna device described in Embodiment 1 of the present invention;

[0035] Figure 6 This is a side view of the angle-adjustable antenna device described in Embodiment 2 of the present invention;

[0036] Figure 7 This is a perspective view of the angle-adjustable antenna device described in Embodiment 2 of the present invention;

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

[0038] Figure 9 This is a diagram of the unmanned underwater vehicle in a prone diving state in this invention;

[0039] Figure 10 This is a vertical view of the unmanned underwater vehicle in this invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0041] To address the problem that the fixed attitude of antennas in unmanned underwater vehicles (UUVs) prevents dynamic adjustment, leading to unstable communication, signal attenuation, and poor adaptability under varying attitudes, complex underwater environments, and multi-directional communication requirements, thus hindering mission execution, this invention provides an antenna device, an UUV, and an angle adjustment method with angle adjustment functionality. To further illustrate the structure of this invention, a detailed description is provided below in conjunction with the accompanying drawings:

[0042] Example 1

[0043] Please see Figures 1-5 An angle-adjusting antenna device for underwater vehicles includes an antenna shaft 1, an antenna body 2, and a driving device.

[0044] The antenna shaft is mounted at the end of the underwater vehicle, and its axis is perpendicular to the vehicle's pitch profile. The pitch profile of an underwater vehicle is a vertical plane cut along its longitudinal centerline, reflecting its pitch motion in the forward and backward directions. The antenna shaft is mounted at the end of the underwater vehicle with its axis perpendicular to this pitch profile; that is, the direction of the antenna shaft is orthogonal to the plane of the underwater vehicle's forward and backward pitch motion, thus ensuring that the antenna can rotate and adjust around an axis perpendicular to the pitch profile.

[0045] The drive unit is connected to the antenna shaft and drives its rotation. Specifically, the drive unit is mechanically connected to the antenna shaft, providing power to rotate it around its own axis, thereby adjusting the antenna angle. The drive unit can be an electric servo motor, a direct-drive motor, or a gear transmission system, etc., which outputs power to the antenna shaft, driving it to rotate at a set angle. This allows for precise adjustment of the antenna's attitude as needed, ensuring the antenna remains in the target direction or angle, thus meeting the functional requirements of antenna positioning and communication.

[0046] The antenna body is shaped like a straight rod. This straight-rod antenna body is an existing antenna structure, characterized by its slender, straight rod shape, simplicity, light weight, and ease of installation and adjustment. The antenna body is typically made of conductive materials to ensure good signal transmission performance, while its straight-rod design reduces air or water resistance, making it suitable for communication needs in various environments. Furthermore, in practical applications, this antenna structure allows for rotation or adjustment of its mounting angle to align the antenna body's axis with the target communication direction, thereby improving signal transmission stability and efficiency.

[0047] The antenna body is connected to an antenna shaft at its end. Driven by this shaft, the antenna body oscillates within the underwater vehicle's pitch profile to change the angle between the antenna body and the vehicle's axis. The antenna shaft, acting as a fulcrum for rotation, provides power to the antenna body, causing it to rotate or oscillate around the shaft. The oscillation direction of the antenna body lies within the underwater vehicle's pitch profile, specifically in the vertical plane containing the vehicle's lateral axis, thus altering the antenna body's attitude and changing the angle between it and the underwater vehicle's axis. This design allows the antenna body to adjust its angle according to the vehicle's real-time attitude, ensuring that the antenna's axis always faces a specific target direction (e.g., perpendicular to the water surface), thereby optimizing communication performance and improving signal transmission stability and accuracy.

[0048] In this embodiment, specifically, a rotating mounting assembly is fixed to the front end of the underwater vehicle. The antenna rotating shaft is mounted on the rotating mounting assembly in a manner that allows it to rotate around an axis. The rotating mounting assembly includes a front fairing 3 of the underwater vehicle and a bearing component. The bearing component is located inside the front fairing, and the antenna rotating shaft is mounted on the bearing component. The front fairing has an opening, and the antenna body extends out of the opening onto the outside of the front fairing. Specifically, an antenna rotating disk 4 is mounted on the antenna rotating shaft. The antenna rotating disk is a ring-shaped component coaxial with the antenna rotating shaft and driven to rotate by the antenna rotating shaft. The antenna rotating disk has an outer ring surface. The antenna rotating disk is located inside the front fairing, and the outer ring surface of the antenna body is embedded in the opening of the front fairing, forming a flow-guiding surface of the front fairing. The front flow-guiding surface of the front fairing is spherical, and the opening of the front fairing is a semi-circular arc-shaped opening located at the front end. The outer ring surface of the antenna rotating disk forms a flow-guiding surface that fits into the shape of the semi-circular arc-shaped opening. The bearing assembly is fixed to the inside of the front fairing, and the drive device is a servo motor 5 installed inside the front fairing, which drives the antenna shaft to rotate. In this embodiment, the output shaft of the servo motor is connected to the antenna shaft via a coupling. The servo motor is connected to the underwater vehicle via a watertight cable and a watertight through-cabin component. The front fairing is designed with a spherical front guide surface, which, combined with the guide surface of the outer ring of the antenna turntable and the shape of the semi-circular opening, effectively guides the water flow and reduces the water resistance to the vehicle. This streamlined design not only helps improve the stability of the vehicle in water but also reduces water flow disturbances that may occur during high-speed navigation, thereby improving the vehicle's navigation efficiency and handling performance. The front fairing not only serves as a streamlined guide but also protects the antenna turntable and antenna shaft from damage caused by the external environment (such as water flow impact and marine debris). The antenna body is embedded in the opening of the front fairing, reducing the exposed area, improving the antenna's protection and durability, and extending its service life. Because the antenna shaft and drive mechanism (servo motor) are centrally located within the front fairing, the structure is more compact, facilitating manufacturing, assembly, and subsequent maintenance. The overall design of the underwater vehicle is simpler, reducing installation complexity caused by redundant structures and helping to lower maintenance difficulty.

[0049] In addition to the above, the antenna turntable, as a disc-shaped component between the antenna body and the rotating shaft, not only optimizes hydrodynamics and improves protection and ease of maintenance, but also, due to its coaxial connection with the antenna shaft, effectively amplifies the minute rotations of the shaft to the antenna body. Because the turntable's design provides a large contact surface and rotation range, precise adjustment of the turntable enables higher-precision angle control. This allows the antenna to be precisely adjusted in orientation, ensuring optimal alignment with the target direction, especially in underwater environments, effectively overcoming errors caused by water flow or external disturbances and enhancing the stability of communication signals. The antenna turntable amplifies small input rotations, thereby driving the antenna body to make larger angle adjustments. Through the amplification effect of the antenna turntable, the rotation range of the drive device (such as a servo motor) can be reduced, thus reducing the load on the servo motor and improving system efficiency and reliability. This amplification effect also allows smaller servos to effectively control a wide range of antenna angle adjustments, facilitating the use of lighter drive devices. The antenna turntable functions similarly to a lever system, converting small torques into large antenna body angle adjustments through turntable rotation. This reduces the driving force required to be transmitted to the antenna shaft, thereby reducing the power consumption of drive devices such as servos. This design helps improve the overall system's energy efficiency, especially in energy-intensive underwater applications, extending the vehicle's operating time or increasing its endurance. Because the antenna turret can amplify the rotation angle, reducing the required servo rotation amplitude, the size and weight of the drive unit can be correspondingly reduced. This is a significant advantage for underwater vehicle design. A lighter drive unit effectively reduces the vehicle's overall weight, lowers energy consumption, and improves performance. The use of an antenna turret allows for a more even distribution of the load on the antenna shaft, avoiding excessive pressure or wear caused by direct servo drive of the antenna body. The mediating effect of the antenna turret effectively reduces friction and wear between components, extending the lifespan of the antenna adjustment system and improving overall system reliability. The antenna turret provides a smoother rotation, making antenna adjustment gentler and more responsive, especially when facing external disturbances or requiring rapid angle adjustments, thus improving the antenna's adaptability. The turntable, through the transmission of balancing forces, makes the adjustment process more precise and responsive, thereby improving the overall operational performance of the system.

[0050] Two pivot support plates are installed inside the front fairing, both bolted to the inside of the fairing, forming shaft holes. The pivot mounting assembly includes a spindle, a turntable shaft, a turntable sleeve, a bearing, and a bearing end cap. The turntable shaft is bolted to the antenna turntable. The turntable sleeve, serving as the antenna pivot, is coaxial with and adjacent to the turntable shaft, and bolted to the antenna turntable. The bearing is located inside the turntable sleeve, coaxial with it. The spindle is bolted to the pivot support plate, with both ends nested within the bearing's inner hole. The bearing end cap is located in the middle of the pivot support plate and bolted to it. The bearing is located inside the bearing end cap, coaxial with it, and its inner hole is nested with the turntable shaft.

[0051] The servo motor mounting structure includes a coupling, a servo motor support pad, and a servo motor support plate. The output end of the coupling is fastened to the turntable shaft with screws. The servo motor support pad is fixed to the turntable support plate with bolts. The servo motor support pad is located between the turntable support plate and the servo motor support plate. The servo motor support plate and the servo motor support pad share a common mounting hole and are fixed to the turntable support plate with bolts. The servo motor is fixed to the servo motor support plate with bolts, and the servo motor output shaft is fixed to the input end of the coupling with set screws.

[0052] In this embodiment, the axis of the antenna body is tangent to the outer annular surface of the antenna turntable. Rotation of the antenna turntable allows the antenna body to be fully axially fitted against the outer wall of the underwater vehicle's hull. When the antenna body is tightly fitted against the outer wall of the underwater vehicle's hull, friction and resistance between the antenna body and the surrounding water flow are significantly reduced. This design creates a streamlined shape between the antenna and the hull, helping to reduce the impact of water flow on the vehicle, minimize water flow disturbance, and improve the vehicle's efficiency in water, especially at high speeds, where energy loss is reduced. With the antenna body fitted against the outer wall of the hull, water flow can more smoothly bypass the surface of the vehicle, avoiding eddies or localized resistance that may be generated by protruding antenna parts. This optimized design improves the hydrodynamic performance of the vehicle in water, enhances its overall stability, and makes navigation smoother. This design also allows the antenna body to be stored parallel to the outer wall of the hull when not in use, reducing the area of ​​the antenna components exposed to external water flow. This advantage reduces the risk of antenna wear in harsh water environments, preventing damage from water impacts, marine debris, or other external objects, thus improving the antenna's protection and durability. A full fit with the outer shell avoids physical interference between devices caused by structural irregularities. The tight fit between the antenna and the shell reduces structural losses caused by external vibrations or water disturbances, enhancing system stability and reliability.

[0053] Example 2

[0054] Please see Figure 6and Figure 7 This embodiment describes a geared variable-configuration antenna device for an underwater vehicle. Specifically, the inner ring of the antenna turntable is equipped with a geared ring 6. The output shaft of the servo motor meshes with the geared ring via a gear 7, indirectly driving the antenna shaft to rotate and directly driving the antenna turntable to rotate. In detail, the output gear of the servo motor meshes with the geared ring fixed to the antenna turntable, and the angle adjustment action of the antenna turntable is achieved through gear transmission.

[0055] Two pivot support plates are installed inside the front fairing; the pivot support plates are fixed to the front fairing with bolts.

[0056] The rotating shaft mounting assembly includes a bearing end cover, a bearing, and a turntable shaft. The bearing end cover is fixed to the rotating 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 nested in the inner holes of the bearings.

[0057] The servo motor is connected to the underwater vehicle via a watertight cable and a watertight penetration component. The servo motor mounting structure includes a servo motor support plate and a gear. The servo motor support plate is bolted to the pivot support plate; the servo motor is bolted to the servo motor support plate. The gear is bolted to the servo disc at the servo motor output end. The gear ring meshes with the gear and is bolted to the antenna turntable.

[0058] In this embodiment, the meshing transmission between the gear and the ring gear offers high transmission precision, ensuring more accurate control of the antenna turntable's rotation by the servo motor, which is beneficial for precise antenna angle adjustment. This high-precision transmission design is particularly suitable for underwater vehicles requiring precise signal positioning or target alignment. Through the transmission ratio between the gear and the ring gear, the small-angle rotation output by the servo motor can be amplified to a larger angle rotation of the antenna turntable via the ring gear transmission. This angle amplification function fully utilizes the servo motor's output power, enabling a wide range of antenna angle adjustments without the need for larger or higher-power servos, thus optimizing the device's energy efficiency. The ring gear transmission structure has high load-bearing capacity, capable of withstanding the inertial forces and loads generated during the rotation of the antenna body and the antenna turntable. This design effectively improves the system's mechanical stability, ensuring the antenna remains stable during underwater dynamic operation, reducing the likelihood of vibration or angular deviation. Through the transmission ratio between the gear and the ring gear, the servo motor does not need to directly output large torque to drive the antenna turntable, effectively reducing the servo motor's power requirements and energy consumption. This is particularly important for battery-powered underwater vehicles, as it extends their endurance and improves equipment efficiency. Through the transmission between the gear ring and the servo motor, the servo motor can be positioned outside the central axis of the antenna turntable as needed. This optimizes the underwater vehicle's center of gravity distribution, minimizing the antenna system's impact on the overall center of gravity and improving the vehicle's handling and stability. The antenna turntable and gear ring are designed as a single unit, giving the antenna system a modular design that facilitates assembly and disassembly. Furthermore, by adjusting the transmission ratio between the gear and the gear ring, different sizes and functions of antenna systems can be flexibly adapted, providing excellent expandability and adaptability.

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

[0060] Step S1: Based on the data transmitted by the underwater vehicle during communication on the water surface, obtain the real-time attitude information of the underwater vehicle and determine the rotation angle of the servo motor.

[0061] Step S2: The pitch angle of the underwater vehicle is negative when it looks up and positive when it looks down, with a maximum pitch angle of ±90°. For the direct-drive unit described in Embodiment 1, the rotation ratio between the servo and the antenna turntable is 1. When the pitch angle of the underwater vehicle is α, the rotation angle of the servo is β = α + 90°, keeping the antenna (301) perpendicular to the water surface. For the gear ring drive unit in Embodiment 2, when the pitch angle of the underwater vehicle is α and the transmission ratio between the output gear and the gear ring is i, the rotation angle of the servo is β = (α + 90°) × i.

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

[0063] The servo's angle status mentioned refers to the current rotation angle information of the servo, that is, the position status of the servo.

[0064] A servo motor is an actuator that adjusts its angle by receiving control signals. Its angle state indicates the actual angle value that the servo motor has rotated to, which is usually measured in real time by a sensor (such as an angle encoder) or a feedback device.

[0065] Obtain the current angle state of the servo motor (actual rotation angle). Compare the current angle of the servo motor with the real-time attitude information of the underwater vehicle (e.g., the difference between the current pitch angle α of the underwater vehicle and the target angle β). Based on this angle difference, calculate the angle that the servo motor 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 control is achieved by continuously comparing the difference between the target angle and the actual angle, gradually adjusting the servo's angle until the antenna direction reaches and remains perpendicular to the water surface. Negative feedback control is a control method whose core idea is to monitor the output result (servo's angle state) in real time, compare the output with the target value (antenna perpendicular to the water surface), and continuously correct the input signal (servo control angle) using the difference, thereby achieving stable system control.

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

[0068] The above are merely 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, such as the transmission method between the drive device and the antenna shaft, in addition to the two coupling direct drive and internal gear transmission drive mentioned above, can also be driven by a transmission belt or other methods, and should all be included within the protection scope of the present invention.

Claims

1. An angularly adjustable antenna device for an underwater vehicle, characterized by: The antenna swivel shaft is installed at the end of the underwater vehicle, the axis of the antenna swivel shaft is perpendicular to the pitch profile of the underwater vehicle, the driving device is connected with the antenna swivel shaft and drives the antenna swivel shaft to rotate, the antenna body is in the shape of a straight rod, the end of the antenna body is connected with the antenna swivel shaft, and the antenna body is driven by the antenna swivel shaft to swing in the pitch profile of the underwater vehicle to change the included angle between the antenna body and the axis of the underwater vehicle. The antenna swivel shaft is installed at the end of the underwater vehicle, the axis of the antenna swivel shaft is perpendicular to the pitch profile of the underwater vehicle, the driving device is connected with the antenna swivel shaft and drives the antenna swivel shaft to rotate, the antenna body is in the shape of a straight rod, the end of the antenna body is connected with the antenna swivel shaft, and the antenna body is driven by the antenna swivel shaft to swing in the pitch profile of the underwater vehicle to change the included angle between the antenna body and the axis of the underwater vehicle. The swivel shaft mounting assembly is fixed to the front fairing of the underwater vehicle, the antenna swivel shaft is installed on the swivel shaft mounting assembly in a manner of rotating around the axis, the swivel shaft mounting assembly comprises a front fairing 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 swivel shaft is installed on the shaft seat component, and the front fairing is provided with an opening, the antenna body extends out of the outer side of the front fairing from the opening. The shaft seat component is fixed to the inner side of the front fairing, and the driving device is a rudder installed on the inner side of the front fairing and driving the antenna swivel shaft to rotate.

2. The angularly adjustable antenna apparatus for an underwater vehicle of claim 1, wherein: The antenna swivel shaft is installed with an antenna swivel disc, the antenna swivel disc is a ring-shaped component coaxial with the antenna swivel shaft and driven by the antenna swivel shaft to rotate, the antenna swivel disc is provided with an outer ring surface, the antenna swivel disc is arranged on the inner side of the front fairing, 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 fairing surface of the front fairing.

3. The angularly adjustable antenna apparatus for an underwater vehicle of claim 2, wherein: The front fairing surface of the front fairing is spherical, the opening of the front fairing is a semicircular arc-shaped opening arranged at the front end, and the outer ring surface of the antenna swivel disc forms a fairing surface fitting the shape of the semicircular arc-shaped opening.

4. The angularly adjustable antenna apparatus for an underwater vehicle of claim 1, wherein: The output shaft of the rudder is connected with the antenna swivel shaft through a shaft coupling.

5. The angularly adjustable antenna apparatus for an underwater vehicle of claim 2, wherein: The inner ring part of the antenna swivel disc is provided with a gear ring, and the output shaft of the rudder is driven in transmission through gear engagement with the gear ring.

6. An underwater vehicle, characterized by: The underwater vehicle is equipped with the angle-adjusting antenna device as claimed in any one of claims 1-5.

7. An underwater vehicle antenna angle-adjusting method, the underwater vehicle being as claimed in claim 6, the method comprising the following steps: Step S1: acquiring real-time pitch attitude information of the underwater vehicle to determine the output rotation angle of the rudder; Step S2: defining the pitch angle orientation of the underwater vehicle as follows: the head-up pitch angle is negative, the downward pitch angle is positive, the maximum pitch angle is ±90°, when the pitch angle of the underwater vehicle is α, the transmission ratio of the rudder output shaft and the antenna swivel shaft is i, and the rotation angle output by the rudder is β=(α+90°)i; Step S3: acquiring the angle state of the rudder and comparing it with the real-time attitude information of the underwater vehicle, calculating the next adjustment angle of the rudder according to the difference obtained through comparison to form a negative feedback adjustment, until the axis direction of the antenna is vertically directed to the water surface and always keeps this state.

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