Localization aircraft capable of quickly discharging water

Abstract

The invention discloses a localized aircraft capable of quickly discharging water, which has two working modes of vertical sinking and floating operation and horizontal maneuvering operation, and can be automatically switched through a posture adjusting module. According to the invention, the buoyancy adjusting module, the propulsion driving module and the like are designed, so that the Argo buoy has the advantages of strong vertical section movement capability of the Argo buoy and high maneuverability and autonomy of an autonomous underwater vehicle, and can adapt to complex underwater working environments and various different operation tasks. In addition, a lightweight design and a structure multiplexing design are also adopted, so that the aircraft is small in overall size, light in weight and capable of having large battery capacity, and long-term autonomous operation can be achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater vehicles, and particularly relates to a localizer vehicle capable of quickly surfacing. Background Art

[0002] The ocean accounts for about 71% of the total area of the earth and is rich in mineral resources, biological resources and space resources. The exploration and utilization of marine resources are of great significance to the development of human civilization. With the exploration of the ocean by humans, how to efficiently and safely transmit the data obtained underwater to the shore base has become a current research problem. The traditional underwater data transmission methods mainly include buoy carriers and responsive communication through acoustic devices. The former has problems such as non-reusability, only one-way communication, and inability to resist ocean current interference, while the latter has problems such as low transmission efficiency and information security risks. In underwater data transmission, there are occasions where data packets need to be quickly surfaced and transmitted to the shore base at a fixed depth and in a fixed sea area. Therefore, the transmission carrier is required to have the ability to quickly shuttle in the vertical profile and the ability to fix depth and location. Autonomous underwater vehicles are widely used in ocean development due to their strong mobility, high autonomy, good concealment, etc. Based on the traditional autonomous underwater vehicle, the present invention provides a localizer vehicle capable of quickly surfacing.

[0003] The invention patent application with the publication number of CN111924044A discloses a maneuverable ocean observation platform capable of operating underwater for a long time. The platform consists of a payload compartment, a head balance compartment, an equipment compartment, a buoyancy adjustment compartment, a tail balance compartment and a propulsion compartment. Among them, the battery weight block and the gear mechanism form a radial center-of-gravity adjustment module, and the head, tail balance compartments and the buoyancy adjustment compartment form an axial center-of-gravity adjustment module. The switching between two working modes of vertical sinking and floating operation and horizontal maneuvering operation is realized through the center-of-gravity adjustment module. The platform can move vertically back and forth in the water and has the ability of horizontal correction, and can meet the underwater data transmission requirements to a certain extent. However, since the weight block cannot move axially, in order to ensure the smooth switching of the attitude, an additional axial center-of-gravity adjustment module needs to be added, which reduces the space utilization rate of the platform. At the same time, using the buoyancy adjustment compartment as the center-of-gravity adjustment module makes the sinking and floating of the platform only rely on the thrusters and cannot complete the task of fixed-depth hovering at different depths.

[0004] The invention patent application with the publication number CN108674617A discloses an underwater intelligent floating observation device, which is composed of a cover cabin mechanism, an adjustment mechanism, and a control and observation mechanism, and can complete various actions such as surfacing, diving, longitudinal section diving, and lateral section gliding. By adjusting the drainage volume of the observation device through an external oil bladder, the buoyancy is changed to achieve the surfacing and diving of the observation device. The mass block can rotate around the central axis, moving the center of gravity of the device to or out of the central axis, thereby changing the metacentric height and attitude of the device. At the same time, the mass block can move axially along the central axis, further changing the center of gravity of the device to achieve the change of the attitude angle. This device combines the vertical movement ability of Argo floats and the lateral movement ability of underwater gliders, and has good flexibility. However, its diving and surfacing can only be achieved by relying on net buoyancy and attitude angle adjustment, with poor maneuverability and anti-ocean current ability, and it cannot be applied to some occasions that require rapid data transmission. Summary of the Invention

[0005] The present invention provides a local navigation vehicle capable of quickly surfacing. This underwater vehicle can achieve autonomous navigation, and has the capabilities of rapid reciprocating shuttling in the underwater vertical section, variable-depth self-floating and sinking, fixed-depth hovering, autonomous attitude control for local deviation correction, satellite and underwater acoustic communication, etc. At the same time, lightweight design and structure reuse design are adopted, so that the overall size of the vehicle is small and the weight is light while having a large battery capacity, enabling long-term autonomous operation.

[0006] The present invention provides a local navigation vehicle capable of quickly surfacing, including a communication module, a propulsion drive module, a head balance cabin section, a tail balance cabin section, and an electronic control module, an attitude adjustment module, and a buoyancy adjustment module located in the pressure-resistant cabin section. One end of the head balance cabin section is connected to the communication module, and the other end is connected to the top of the pressure-resistant cabin section. One end of the tail balance cabin section is connected to the propulsion drive module, and the other end is connected to the tail of the pressure-resistant cabin section:

[0007] The communication module is used to interact with other underwater devices, send the received underwater data to the shore base, and receive the command information from the shore base at the same time;

[0008] The electronic control module is located on top of the attitude adjustment module and is used to control each module based on the information collected by the sensors and the shore base commands;

[0009] The attitude adjustment module includes a stepper motor, a connecting piece, a guide rail, and a ring-shaped battery. One end of the connecting piece is connected to the stepper motor, and the other end is connected to the ring-shaped battery. The guide rail is installed on the side of the inner oil cylinder. The stepper motor drives the connecting piece to make the ring-shaped battery slide along the guide rail to change the center of gravity position of the underwater vehicle;

[0010] The buoyancy adjustment module includes an inner oil cylinder, a hydraulic system, and an outer oil bladder. The inner oil cylinder is installed on the inner circumference of the annular battery, between the stepping motor and the hydraulic system. One end of the hydraulic system is connected to the inner oil cylinder, and the other end is connected to the outer oil bladder, thereby realizing the oil injection and oil return processes, and further adjusting the oil volume in the outer oil bladder to control the buoyancy. The outer oil bladder is in contact with the external seawater;

[0011] The propulsion drive module is used to provide power and change the sailing direction.

[0012] Preferably, the communication module includes:

[0013] A satellite module, which includes an antenna cavity and an antenna support rod. One end of the antenna cavity is connected to the antenna support rod, and the antenna located inside the antenna cavity is used to receive control signals and underwater acoustic data;

[0014] An underwater communication module, one end of which is connected to the other end of the antenna support rod, and the other end is connected to the head balance cabin section. The underwater communication module is used to communicate with other underwater devices and send underwater data to the satellite module.

[0015] Preferably, the underwater communication module includes a vector hydrophone, a vector transducer, and an underwater communication cabin section;

[0016] The vector hydrophone and the vector transducer are located inside the underwater communication cabin section, and are used to receive information communication with other underwater devices and send underwater data to the satellite module.

[0017] Preferably, the pressure-resistant cabin section includes a head end cover, a pressure-resistant cavity, and a tail end cover;

[0018] One end of the head end cover is connected to the electronic control unit, and the other end is connected to the other end of the head balance cabin section;

[0019] The pressure-resistant cavity is fixed between the head end cover and the tail end cover by bolts;

[0020] One end of the tail end cover is connected to the hydraulic system, and the other end is connected to the outer oil bladder.

[0021] Preferably, the outer oil bladder is located inside the tail balance cabin section, and the tail balance cabin section is provided with through holes, which can enable the outer oil bladder to be in contact with the external seawater.

[0022] Preferably, the connecting piece includes a lead screw and a nut. The two ends of the lead screw are respectively connected to the stepping motor and the nut, and the other end of the nut is fixed on the annular battery. The stepping motor drives the lead screw to rotate, and pulls the annular battery to move along the guide rail direction through the nut.

[0023] Preferably, the attitude adjustment module further includes a slider, which is located on the upper and lower surfaces of the annular battery and is installed on the guide rail to guide the annular battery.

[0024] Preferably, the hydraulic system includes a two-way gear pump, a motor, a two-position two-way solenoid valve, and a pressure sensor;

[0025] The two-way gear pump is respectively connected to the inner oil cylinder and the outer oil bladder, and a two-position two-way solenoid valve is also provided between the two-way gear pump and the outer oil bladder;

[0026] The two-way gear pump is controlled by the motor, and at the same time, in cooperation with the two-position two-way solenoid valve, the process of pumping oil from the inner oil cylinder to the outer oil bladder and the process of returning oil from the outer oil bladder to the inner oil cylinder are realized.

[0027] Preferably, the propulsion drive module includes a rudder plate, a tail rudder adjustment section, and a thruster;

[0028] One end of the tail rudder adjustment section is connected to one end of the tail balance section, and the other end is connected to the thruster. A steering gear is provided inside the tail rudder adjustment section. The steering gear is connected to the rudder plate. By changing the angle of the rudder plate through the steering gear, the forward direction of the underwater vehicle is controlled. The thruster is used to provide driving force.

[0029] The thruster at the tail is the power source for the rapid vertical profile shuttle and horizontal attitude localization correction of the vehicle. The cross rudder can change its heading angle and pitch angle during the navigation of the vehicle. At the same time, the tail rudder is controlled in the form of a differential rudder, which can effectively suppress the rolling phenomenon of the vehicle during forward movement, enabling the vehicle to no longer require an additional metacentric height adjustment mechanism, and obtaining better motion performance while reducing the volume of the vehicle.

[0030] When the vehicle is in the vertical state, it can hover at a certain depth to wait for receiving data information. By adjusting the buoyancy, the hovering depth is changed. When receiving data that needs to be sent to the shore base, it realizes a rapid vertical profile shuttle through the propulsion drive module at the tail. After reaching the water surface, the data is forwarded to the shore base through the satellite module. When the vehicle is vertically suspended, it will be affected by factors such as ocean currents and drift out of the designated sea area range. At this time, it switches to the horizontal maneuvering operation mode through the attitude adjustment module and adjusts the forward direction through the tail rudder to return to the target sea area to achieve localization correction. Through the above working modes, the vehicle can perform underwater information transmission autonomously for a long time.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0032] 1. It has two modes: vertical sinking and floating operation and horizontal maneuvering operation. The mode is switched through the attitude adjustment module, and the attitude adjustment principle is simple, reducing the control difficulty.

[0033] 2. By cleverly combining traditional underwater vehicles and Argo buoys, the vehicle has the advantages of high autonomy, strong maneuverability, and good vertical movement ability, and can complete various different operation tasks such as variable-depth hovering and local deviation correction.

[0034] 3. The overall design is modular, and each part is an independent module, which can be applied to different underwater vehicles. At the same time, it has a compact structure, small volume, a large battery capacity, and can operate autonomously for a long time. Brief Description of the Drawings

[0035] Figure 1 Schematic diagram of the overall structure of the local navigation vehicle capable of quickly surfacing provided by a specific embodiment of the present invention;

[0036] Figure 2 Schematic diagram of the external structure of the local navigation vehicle capable of quickly surfacing provided by a specific embodiment of the present invention;

[0037] Figure 3 Schematic diagram of the internal structure of the local navigation vehicle capable of quickly surfacing provided by a specific embodiment of the present invention;

[0038] Figure 4 Hydraulic schematic diagram of the buoyancy adjustment system of the local navigation vehicle capable of quickly surfacing provided by a specific embodiment of the present invention;

[0039] Figure 5 Schematic diagram of the local navigation vehicle capable of quickly surfacing provided by a specific embodiment of the present invention;

[0040] Figure 6 Internal axonometric view of the local navigation vehicle capable of quickly surfacing provided by a specific embodiment of the present invention.

[0041] Explanation of the figure labels: 1 - satellite module, 2 - underwater communication module, 3 - electronic control module, 4 - attitude adjustment module, 5 - buoyancy adjustment module, 6 - propulsion drive module, 7 - antenna cavity, 8 - antenna support rod, 9 - underwater communication cabin section, 10 - head balance cabin section, 11 - head end cover, 12 - carbon fiber pressure-resistant cavity, 13 - clamp, 14 - lifting ring, 15 - tail end cover, 16 - outer oil bladder, 17 - tail balance cabin section, 18 - rudder plate, 19 - tail rudder adjustment cabin section, 20 - thruster, 21 - communication electronic unit, 22 - main control circuit board, 23 - stepping motor, 24 - inner oil cylinder, 25 - lead screw, 26 - nut, 27 - slider, 28 - annular battery pack, 29 - guide rail, 30 - hydraulic system, 31 - two-position two-way solenoid valve, 32 - pressure sensor Detailed Embodiment

[0042] The present invention provides an autonomous underwater vehicle for cross-sectional communication, which has the capabilities of rapid reciprocating shuttling in the underwater vertical section, variable-depth self-floating and hovering at a fixed depth, autonomous attitude control for local deviation correction, satellite and underwater acoustic communication, etc. As Figure 1 shown, from front to back, it can be divided into a satellite module 1, an underwater communication module 2, a head balance cabin section 10, a tail balance cabin section 17, and an electronic control module 3, an attitude adjustment module 4, a buoyancy adjustment module 5, and a propulsion drive module 6 located inside the pressure-resistant cabin section. One end of the head balance cabin section 10 is connected to the communication module, and the other end is connected to the top of the pressure-resistant cabin section. One end of the tail balance cabin section 17 is connected to the propulsion drive module 6, and the other end is connected to the tail of the pressure-resistant cabin section. The following will be combined with Figures 1-6 for a detailed introduction.

[0043] The pressure-resistant cabin section provided by a specific embodiment of the present invention includes a head end cover 11, a pressure-resistant cavity 12, and a tail end cover 15. One end of the head end 11 is connected to the other end of the head balance cabin section 10, and the other end is connected to an electronic control unit located inside the pressure-resistant cavity 12. The pressure-resistant cavity 12 is located between the head end cover 11 and the tail end cover 15, and the attitude adjustment module 4, the inner oil cylinder 24, and the hydraulic system 30 are located inside the pressure-resistant cavity 12. A specific embodiment of the present invention also connects the lifting ring 14 to the pressure-resistant cavity 12 through a clamp 13; one end of the tail end cover 15 is connected to the hydraulic system 30, and the other end is connected to the other end of the tail balance cabin section 17. The outer oil bladder 16 is located inside the tail balance cabin section 17, and the tail balance cabin section 17 is provided with a through hole, which enables the outer oil bladder 16 to contact the external water.

[0044] As Figure 2 and Figure 3 shown, the communication module provided by a specific embodiment of the present invention includes a satellite module 1 and an underwater communication module 2. The satellite module 1 is composed of an antenna cavity 7 and an antenna support rod 8. A satellite communication module is placed in the antenna cavity 7. One end of the antenna support rod 8 is connected to the antenna cavity, and the other end is connected to the underwater communication cabin section 9. When the vehicle vertically emerges from the water surface, the buoyancy adjustment module 5 is used to make the buoyancy of the vehicle greater than the gravity, completing the lifting of the antenna. The satellite module 1 can communicate bidirectionally with the shore base. On the one hand, it can transmit underwater data to the shore base, and on the other hand, it can remotely control the vehicle through this module.

[0045] The underwater communication module 2 provided by the specific embodiment of the present invention is mainly used for underwater communication. It includes a vector hydrophone and a vector transducer, both of which are installed in an underwater communication cabin section 9 that can transmit sound waves. The underwater communication cabin section 9 is connected to the head end cover 11 through a head balance cabin section 10. The vector hydrophone and vector transducer of the underwater communication module 2 can receive data information collected by other underwater devices, and can also send data messages to other underwater devices. Therefore, system networking can be carried out with other underwater devices through this module, or joint operations of multiple vehicles can be achieved. Further, this module can be replaced with other underwater sensors to achieve various different tasks such as observation and cruising.

[0046] The electronic control module 3 provided by the specific embodiment of the present invention is the main control part of the vehicle. It consists of various control units such as a communication electronic unit 21 and a main control circuit board 22, and is connected to the inner oil cylinder 24 through metal studs. It can be moved out of the pressure-resistant cavity 12 together with the inner oil cylinder 24. The material of the pressure-resistant cavity 12 is carbon fiber.

[0047] The attitude adjustment module 4 provided by the specific embodiment of the present invention consists of a stepper motor 23, a lead screw 25, a nut 26, a slider 27, a ring-shaped battery pack 28, a guide rail 29, and a sensor for detecting the attitude information of the vehicle. The stepper motor 23 and the lead screw 25 are integrally designed. The nut 26 is connected to the ring-shaped battery pack 28. Eight evenly distributed sliders 27 are also installed on the upper and lower surfaces of the ring-shaped battery pack 28. Four guide rails 29 are evenly installed on the outer periphery of the inner oil cylinder 24. The stepper motor 23 drives the lead screw 25 to rotate, and pulls the ring-shaped battery pack 28 to move along the direction of the guide rail 29 through the nut 26, so that the center of gravity of the vehicle can move along its central axis. Based on the obtained attitude information, it is judged whether the attitude adjustment is completed, so as to realize the switching between the horizontal attitude and the vertical attitude. Using the battery pack as a mass block to change the center of gravity position of the vehicle can effectively increase the space utilization rate of the carbon fiber pressure-resistant cavity 12. Different from an underwater glider, the vehicle provided by the present invention does not need to change the roll angle to control the forward direction. Therefore, designing the battery pack as a ring rather than a sector can obtain more battery capacity, and at the same time greatly simplifies the attitude adjustment mechanism. Only a single stepper motor 23 can realize the switching of the vehicle attitude, making the control simpler.

[0048] The buoyancy adjustment module 5 provided by the specific embodiment of the present invention consists of a hydraulic system 30, an inner oil cylinder 24, an outer oil bladder 16, and connected pipelines. As Figure 4 shown, the inner oil cylinder 24 contains hydraulic oil. The motor M drives a two-way gear pump, and cooperates with a two-position two-way solenoid valve 31 to realize the oil pumping process from the inner oil cylinder 24 to the outer oil bladder 16 and the oil return process from the outer oil bladder 16 to the inner oil cylinder 24.

[0049] In the specific embodiment of the present invention, the outer oil bladder 16 is in contact with the external seawater and is connected to the hydraulic system 30 through the tail end cover 15 and the oil pipe. By changing the volume of the oil in the outer oil bladder 16, the buoyancy of the vehicle can be changed. When pumping oil outwards, that is, when the amount of oil in the outer oil bladder 16 increases, the buoyancy of the vehicle increases. When the buoyancy is greater than the gravity of the vehicle, the vehicle floats upwards. When pumping oil inwards, the buoyancy of the vehicle decreases. When the buoyancy is less than the gravity of the vehicle, the vehicle sinks. The parameters such as the density and salinity of seawater in different sea areas and at different sea depths are different. By adjusting the volume of the oil in the outer oil bladder 16, the gravity and buoyancy of the vehicle are made equal at a certain depth, that is, the net buoyancy is 0, so that the vehicle can hover at a certain depth. Further, by adjusting the volume of the oil in the outer oil bladder 16 at different depths to make the net buoyancy of the vehicle 0, hovering at variable depths can be achieved. Between the oil circuit of the outer oil bladder 16 and the two-position two-way solenoid valve 31, a pressure sensor 32 is also installed to measure the depth information of the vehicle.

[0050] The buoyancy adjustment module 5 provided by the specific embodiment of the present invention has a simple structure and occupies a small space. The inner oil cylinder 24 serves both as an oil storage unit for buoyancy adjustment and as a mass block guiding unit for attitude adjustment, greatly reducing the redundancy of the system and increasing the space utilization rate inside the cavity, enabling the vehicle to have a smaller volume and weight. One end of the buoyancy adjustment module 5 is connected to the attitude adjustment module 4 and the electronic control module 3 through the inner oil cylinder 24, and the other end is connected to the tail end cover 15 through the support plate. All the internal systems are mechanically connected into a whole, reducing the difficulty of disassembling the cavity for replacement.

[0051] The propulsion drive module 6 provided by the specific embodiment of the present invention is connected to the tail end cover 15 through the tail balance cabin section 17 and includes a tail rudder adjustment mechanism 19 and a thruster 20. A steering gear is installed in the tail rudder adjustment cabin section 19. The steering gear is connected to the rudder plate 18, and the direction of the vehicle's forward movement is controlled by changing the angle of the rudder plate. The thruster 20 is connected in the tail rudder adjustment cabin section 19, so that the entire propulsion drive module 6 can be disassembled separately. Similar to the head balance cabin section 10, the tail balance cabin section 17 has space for installing buoyancy blocks and counterweights, facilitating the trimming of the vehicle.

[0052] To ensure the water outflow speed of the information message, the vehicle remains in a vertical state for a long time. At this time, the annular battery pack 28 is moved to the bottom of the inner oil cylinder 24 through the attitude adjustment module 4, so that the center of gravity of the vehicle is below the center of buoyancy. The buoyancy adjustment module 5 adjusts the volume of the oil in the outer oil bladder 16 to change the buoyancy of the vehicle, realizing self-submergence and fixed-depth hovering at different depths. When receiving an underwater acoustic message that needs to be transmitted, the vehicle is propelled vertically upward by the thruster 20 to quickly emerge from the water, and at the same time, the buoyancy adjustment module 5 pumps oil into the outer oil bladder 16. After reaching the water surface, the buoyancy of the vehicle reaches the maximum at this time, and the antenna is lifted out of the water. Since the annular battery pack 28 accounts for a relatively large proportion of the weight of the vehicle, the center of gravity of the vehicle is relatively low at this moment, and it can have good water surface stability to complete the data transmission. After completing the message transmission, the buoyancy adjustment module 5 returns the oil to the inner oil cylinder 24, and the vehicle will sink to the specified depth and continue to hover waiting to receive message data, thus completing a working profile cycle.

[0053] Since the vehicle operates in the shallow sea layer for a long time, it will be interfered by external environments such as ocean currents and surges and drift out of the target sea area. To ensure the vehicle has long-term operation ability, the vehicle also needs to have the ability to correct horizontal displacement. In the horizontal maneuvering operation mode, the attitude of the vehicle is changed to horizontal by moving the annular battery pack 28 through the attitude adjustment module 4, the vehicle is propelled by the thruster 20, and the course is adjusted by the rudder plate 18. When returning to the target range, it is switched to the vertical mode through the attitude adjustment module 4 to continue fixed-depth hovering.

[0054] In particular, since the underwater vehicle provided by the present invention has good self-submergence and maneuverability, and at the same time has the advantages of small size, light weight, and large battery capacity, the vehicle can also be applied to other underwater operation scenarios besides communication.

[0055] For those skilled in the art, without departing from the principle of the present invention, the present invention can be modified, or some of its technical features can be equivalently replaced, and these modifications and replacements should be within the protection scope of the claims of the present invention.

Claims

1. A localized vehicle capable of rapid water exit, characterized in that: It includes a communication module, a propulsion drive module, a head balance cabin section, a tail balance cabin section, and an electronic control module, an attitude adjustment module, and a buoyancy adjustment module located in the pressure cabin section. One end of the head balance cabin section is connected to the communication module, and the other end is connected to the top of the pressure cabin section. One end of the tail balance cabin section is connected to the propulsion drive module, and the other end is connected to the tail of the pressure cabin section: The communication module is used to interact with other underwater devices and send the received underwater data to the shore base, while receiving the command information from the shore base; The electronic control module is located on top of the attitude adjustment module and is used to control each module based on information collected by sensors and shore-based instructions; The attitude adjustment module includes a stepper motor, a connector, a guide rail and an annular battery. One end of the connector is connected to the stepper motor, and the other end is connected to the annular battery. The guide rail is installed on the side of the inner cylinder. The stepper motor drives the connector to make the annular battery slide along the guide rail to change the center of gravity of the underwater vehicle. The buoyancy adjustment module includes an inner oil cylinder, a hydraulic system and an outer oil bag. The inner oil cylinder is installed on the inner periphery of the annular battery and is located between the stepper motor and the hydraulic system. One end of the hydraulic system is connected to the inner oil cylinder, and the other end is connected to the outer oil bag, so as to realize the oil pumping and oil return process, and then adjust the oil volume in the outer oil bag to control the buoyancy. The outer oil bag is in contact with the external seawater. The propulsion drive module is used to provide power and change the navigation direction.

2. The localized vehicle capable of rapid water exit according to claim 1, characterized in that: The communication module comprises: A satellite module, wherein the satellite module comprises an antenna cavity and an antenna support rod, wherein the antenna cavity is connected to one end of the antenna support rod, and the antenna in the antenna cavity is used to receive control signals and underwater hydroacoustic data; An underwater communication module, one end of which is connected to the other end of the antenna support rod, and the other end is connected to the head balance compartment. The underwater communication module is used to communicate and interact with other underwater equipment and send underwater data to the satellite module.

3. The localized vehicle capable of rapid water exit according to claim 2, characterized in that: The underwater communication module includes a vector hydrophone, a vector transducer and an underwater communication compartment; The vector hydrophone and vector transducer are located inside the underwater communication compartment and are used to receive information communication with other underwater equipment and send underwater data to the satellite module.

4. The localized vehicle capable of rapid water exit according to claim 1, characterized in that: The pressure-resistant cabin section includes a head end cover, a pressure-resistant cavity and a tail end cover; One end of the head end cover is connected to the electronic control unit, and the other end is connected to the other end of the head balance compartment; The pressure-resistant cavity is fixed between the head end cover and the tail end cover by bolts; One end of the tail end cover is connected to the hydraulic system, and the other end is connected to the external oil bag.

5. The localized vehicle capable of rapid water exit according to claim 1, characterized in that: The outer oil bag is located inside the tail balance compartment section, and the tail balance compartment section is provided with a through hole, which enables the outer oil bag to contact with external seawater.

6. The localized vehicle capable of rapid water exit according to claim 1, characterized in that: The connecting member includes a lead screw and a nut, the two ends of the lead screw are respectively connected to the stepper motor and the nut, the other end of the nut is fixed on the annular battery, the stepper motor drives the lead screw to rotate, and pulls the annular battery to move along the guide rail through the nut.

7. The localized vehicle capable of rapid water exit according to claim 1, characterized in that: The posture adjustment module also includes a slider, which is located on the upper and lower surfaces of the annular battery and is installed on the guide rail to guide the annular battery.

8. The localized vehicle capable of rapid water exit according to claim 1, characterized in that: The hydraulic system includes a bidirectional gear pump, a motor, a two-position two-way solenoid valve and a pressure sensor; The bidirectional gear pump is connected to the inner oil cylinder and the outer oil bag respectively, and a two-position two-way solenoid valve is provided between the bidirectional gear pump and the outer oil bag; The bidirectional gear pump is controlled by an electric motor and cooperated with a two-position two-way solenoid valve to realize the oil pumping process from the inner cylinder to the outer oil bag and the oil return process from the outer oil bag to the inner cylinder.

9. The localized vehicle capable of rapid water exit according to claim 1, characterized in that: The propulsion drive module includes a rudder plate, a tail rudder adjustment compartment and a thruster; One end of the tail rudder adjustment compartment is connected to one end of the tail balance compartment, and the other end is connected to the propeller. A steering gear is provided inside the tail rudder adjustment compartment, and the steering gear is connected to the rudder plate. The steering gear changes the turning angle of the rudder plate to control the forward direction of the underwater vehicle, and the propeller is used to provide propulsion.

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