Multi-stage separable autonomous underwater vehicle and control method thereof

Abstract

The invention belongs to but not limited to the technical field of underwater navigation, and particularly relates to a multi-stage separable autonomous underwater vehicle and a control method thereof.The multi-stage separable autonomous underwater vehicle comprises propellers, a vehicle power module is composed of longitudinal propellers at the bottoms of all sections of power cabins, after all the sections of power cabins are separated, the next section of power cabin continues to run, and the propellers are started; when the aircraft body moves forwards, the continuous movement of the aircraft is ensured by the propellers; the power cabin is wrapped by a peripheral transparent fiber shell, and a power module, a battery pack and a control unit are arranged in the power cabin; a control core of the aircraft is arranged in a first section power cabin and comprises a lithium battery, a power supply module, a control board, a driving board and a communication board; in order to prevent seawater erosion, waterproof motors are adopted for executing mechanisms of the steering engines and the propellers, and control and driving signals are transmitted through watertight cables.

Description

Technical Field

[0001] The present invention belongs to, but is not limited to, the technical field of underwater navigation, and particularly relates to a multi-stage separable autonomous underwater vehicle and a control method thereof. Background Art

[0002] At present, autonomous underwater vehicles (AUVs) have become important platforms for ocean research, mainly applied to military coastal defense, oceanography research, mineral exploration, fishery acoustics, environmental monitoring, pipeline monitoring, deep-sea exploration, etc. However, traditional AUVs are functionally limited and cannot complete the deployment of payloads. Due to the complexity of the conditions in the open sea, if traditional payload deployment platforms (surface ships, submarines) are used, the capital consumption is huge, and the safety of the platforms is difficult to guarantee. Therefore, it is necessary to develop a new type of AUV delivery device to replace the traditional platforms to complete the payload deployment task.

[0003] Traditional AUVs are functionally limited and cannot complete the deployment of payloads. Due to the complexity of the conditions in the open sea, if traditional payload deployment platforms (surface ships, submarines) are used, the capital consumption is huge, and the safety of the platforms is difficult to guarantee.

[0004] The current prior art closest to the present invention is the General Dynamics Bluefin-21 modular autonomous underwater vehicle. This platform adopts a free-pouring modular structure, and the battery compartment and the payload compartment can be quickly interchanged between missions, and can carry multiple types of sensors to perform mapping, archaeological or mine-sweeping tasks as deep as 4500m. Its single-vessel energy reserve is about 13.5 kWh, and the endurance is 25h@3kn under standard conditions, and it relies on RF, Iridium and acoustic links to complete command and data exchange when floating or in shallow layers.

[0005] However, the "modularity" of Bluefin-21 only targets the quick replacement of cabins before and after missions on the deck, lacking the ability to detach step by step according to the power consumption sequence underwater and be propelled by the next stage; in the scenario of long-distance delivery, it is still limited by the single-cabin endurance and the overall mass, and cannot improve the range and energy utilization efficiency like the present invention through multi-stage separation. At the same time, this platform does not have a mother-child vehicle collaborative deployment mechanism, nor is it equipped with an active ballast-air valve fast floating and sinking system. The depth control mainly relies on fixed buoyancy and attitude adjustment, and it is difficult to maintain a safe track on the seabed complex terrain and achieve multi-AUV synchronous operation, which is exactly the technical pain point that the present invention focuses on solving. Summary of the Invention

[0006] Aiming at the problems existing in the prior art, the present invention provides a multi-stage separable autonomous underwater vehicle and a control method thereof.

[0007] The present invention is implemented as follows. A multi-stage separable autonomous underwater vehicle includes:

[0008] Thruster: The power module of the vehicle consists of longitudinal thrusters at the bottom of each section of the power cabin. After each section of the power cabin separates, the next section of the power cabin continues to operate. The thrusters start, and the main body of the vehicle moves forward. Each thruster ensures the maintenance of the motion posture of the main body of the vehicle and guarantees the continuous movement of the vehicle.

[0009] Power cabin: The power cabin is wrapped by a transparent fiber outer shell on the outside and contains a power module, a battery pack, and a control unit inside.

[0010] Manipulation and control module: The control core of the vehicle is set in the first section of the power cabin, which includes a lithium battery, a power module, a control board, a drive board, and a communication board to prevent seawater erosion. The actuators of the steering gear and thrusters use waterproof motors, and the control and drive signals are transmitted through watertight cables.

[0011] Furthermore, the vehicle is equipped with a water pressure sensor, which can provide the depth data of the vehicle underwater. The vehicle is also equipped with a gyroscope and Beidou and GPS positioning modules, which can calibrate the direction and position of the vehicle and then feedback to STM32 and be transmitted to the computer through WIFI signals.

[0012] Furthermore, taking STM32 as the lower control core, it controls the thrusters of the power cabin to achieve motion control. The STM32 single-chip microcomputer collects data such as the depth, heading, longitudinal and lateral inclination, air pressure, and position of the vehicle, and then converts it into WIFI signals through a wireless transceiver module and transmits it to the shore-based wireless base station, and then transmits it to control terminals such as computers and mobile phones, so as to achieve remote monitoring; the STM32 single-chip microcomputer receives the control signals of the shore-based control terminal through the wireless transceiver module and drives the actuators to act, so as to achieve remote control.

[0013] Another object of the present invention is to provide a multi-stage separable autonomous underwater vehicle control method for applying the multi-stage separable autonomous underwater vehicle, including:

[0014] S1, the vehicle is powered by each self-contained power cabin to ensure operation, and STM32 is used as the main control board to realize its own data acquisition and maneuver control;

[0015] S2, the first-stage control module is wirelessly connected to the shore-based control terminal (computer, mobile phone) through the ESP32 wireless communication module and the shore-based WIFI base station, thus realizing the visualization of underwater navigation and docking operation control;

[0016] S3, using the shore-based control terminal to connect to WIFI to access the local area network control page can realize the status monitoring and operation control of the vehicle, and the remote control of the vehicle can also be realized by using a remote control handle through an alternative radio frequency communication method;

[0017] At S4, the vehicle is equipped with a depth gauge, a gyroscope, and a satellite positioning module. Through depth, attitude, heading, and position calibration, the vehicle's maneuvering control is achieved.

[0018] Another object of the present invention is to provide a computer device, which includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor performs the steps of the multi-stage separable autonomous underwater vehicle control method.

[0019] Another object of the present invention is to provide a computer-readable storage medium storing a computer program. When the computer program is executed by the processor, the processor performs the steps of the multi-stage separable autonomous underwater vehicle control method.

[0020] Another object of the present invention is to provide an information data processing terminal, which includes the multi-stage separable autonomous underwater vehicle.

[0021] Combined with the above technical solutions and the solved technical problems, the advantages and positive effects of the technical solutions to be protected by the present invention are as follows:

[0022] First, the present invention proposes and designs a multi-stage separable autonomous underwater vehicle (MS-AUV), which is in the form of simulating the rocket staging propulsion principle. It uses several power module cabins in combination, consuming and separating step by step. The number of power cabins is set according to the distance of the target sea area to complete the delivery. An AUV payload cabin is installed at the front end of the AUV body. Specific models of AUVs can be placed in the payload cabin. Compared with other existing AUVs, the MS-AUV can deploy multiple AUVs with different functions simultaneously, greatly improving the utilization rate, versatility, and economy of AUVs. The separation of each section of the power cabin of the vehicle body can be regarded as the coupled motion between two rigid bodies. During the separation process, the safety of the payload cabin separation may be affected by factors such as the initial speed of the AUV, hydrodynamic force, and the driving force of the separation mechanism. Therefore, the research on the payload separation mechanism and the separation motion process of the MS-AUV is crucial. The team members established the motion equation of the payload longitudinal separation in the gravity release and push separation modes and analyzed the safety of the payload longitudinal separation motion; adopted the scheme of arranging the payload at the front end of the AUV body and conducted experimental verification on it. The results show that the payload can be reliably separated. In response to the above problems, the present invention has improved the design of the separation mechanism and adopted a screw connection method, enabling the front end of the vehicle's bow to smoothly carry the payload cabin and improving its carrying capacity. When the functional payload cabin is separated, the AUV body still has a good streamlined shape, which can significantly reduce the navigation resistance.

[0023] Through it, the present invention breaks through the limitations of traditional delivery methods and achieves more flexible and intelligent operations. Its significance lies not only in improving work efficiency and mission success rate, but more importantly, it opens up a brand-new pattern of underwater exploration and application for the present invention, creating favorable conditions for the harmonious coexistence and collaborative development of humans and the ocean.

[0024] Multi-stage separable design, suitable for a wide range of tasks, and can simultaneously achieve the delivery of multiple AUVs

[0025] The multi-stage separable autonomous underwater vehicle adopts a multi-stage separable design, enabling it to carry various types and quantities of AUV payloads according to the needs of the mission. When the autonomous underwater vehicle sails to the designated sea area according to the preset route, it efficiently separates and delivers the payloads to the designated area one by one to perform tasks such as data collection and reconnaissance detection, thus greatly improving the utilization rate, versatility, and economy of AUVs, achieving the purpose of being able to execute multiple tasks and multiple tasks simultaneously.

[0026] The multi-stage separable autonomous underwater vehicle adopts route replanning design. During the autonomous navigation stage, it can obtain position information through interaction with satellites during surfacing, and autonomously correct and replan the route according to algorithms, thereby reducing the deviation of long-range autonomous navigation, improving the distance and accuracy of long-range delivery of AUVs, greatly enhancing the safety of the vehicle's long-range autonomous navigation, and also expanding the deployment range of AUV reconnaissance, monitoring, data collection, and information acquisition.

[0027] Design for controlling the navigation depth, capable of working in complex sea areas with good maneuverability;

[0028] The multi-stage separable autonomous underwater vehicle adopts a design for controlling the navigation depth. During autonomous navigation, it autonomously adjusts according to the data obtained from the navigation depth sensor and Doppler velocimeter and the navigation depth control strategy. It can autonomously calculate and adjust the vehicle to the safest depth according to the sea conditions and environmental depth, ensuring navigation safety, greatly enhancing the maneuverability and safety of the vehicle's long-range delivery, and achieving the vehicle's autonomous navigation, intelligent adjustment of navigation depth and attitude.

[0029] Utilizing the multi-stage separable design, the applicable range of tasks is improved, and the delivery of multiple AUVs can be achieved simultaneously;

[0030] Simulating the principle of rocket staging propulsion, using a combination of several power module cabins, consuming and separating step by step, and setting the number of power cabins according to the distance of the target sea area to complete the delivery. An AUV payload cabin is installed at the front end of the bow of the AUV body, and specific models of AUVs can be placed in the payload cabin. Compared with other existing AUVs, the MS-AUV can deploy multiple AUVs with different functions simultaneously, greatly improving the utilization rate, versatility, and economy of AUVs.

[0031] During the autonomous navigation phase, position information can be obtained based on the interaction with satellites during surfacing. The route can be re-planned through autonomous correction according to the algorithm, thereby reducing the deviation of long-range autonomous navigation, improving the distance and accuracy of long-range delivery of AUVs, greatly enhancing the safety of the vehicle's long-range autonomous navigation, and also expanding the deployment range of AUVs for reconnaissance, monitoring, data collection, and information acquisition.

[0032] 5.3 The use of the navigation depth control design improves the safety and maneuverability in complex sea areas

[0033] 5.4 By surfacing to deliver the AUV and interacting with satellites to obtain information, remote control can be achieved

[0034] With STM32 as the lower control core, the propulsion thrusters in the power cabin are controlled to achieve motion control. The STM32 single-chip microcomputer collects data such as the depth, heading, pitch and roll, air pressure, and position of the vehicle, and then converts it into a WIFI signal through a wireless transceiver module and transmits it to satellites and shore-based wireless base stations during surfacing delivery, and then transmits it to control terminals such as computers and mobile phones, so as to achieve remote monitoring; the STM32 single-chip microcomputer receives the control signal from the shore-based control terminal through the wireless transceiver module and drives the actuator to act, so as to achieve remote control.

[0035] Second, the expected benefits and commercial value after the transformation of the technical solution of the present invention are as follows: increasing the range of underwater unmanned vehicles and breaking through the blockade of the first island chain are of great benefit to ocean resource exploration and intelligence collection.

[0036] The technical solution of the present invention fills the technical gaps in the industry at home and abroad: increasing the range of underwater unmanned vehicles with the idea of separated propulsion fills the gap in the limited range of unmanned underwater vehicles at home and abroad.

[0037] The technical solution of the present invention solves the technical problems that people have always been eager to solve but have never succeeded in: solving the problem of limited range of underwater unmanned vehicles. Compared with gliders, the present invention does not need to dive up and down in the ocean back and forth, and can maintain a fixed depth and long-distance navigation, increasing the concealment and intelligence collection ability of the vehicle.

[0038] Third, the multi-stage separable autonomous underwater vehicle of the present invention mainly solves the following technical problems in the current underwater vehicle field in industrial applications and has made remarkable technical progress.

[0039] Technical problems to be solved:

[0040] 1. Insufficient long-term autonomous navigation ability: Existing underwater vehicles have limitations in endurance and continuous operation. Especially in deep water and complex environments, the equipment is prone to interrupt work due to insufficient power. Through the design of a multi-stage separated power cabin, each section of the power cabin can operate independently and continuously take over work, greatly improving the endurance of the vehicle, thus realizing underwater autonomous detection over a longer period and in a larger range.

[0041] 2. Signal interference and data loss: The signal propagation in the underwater environment is physically limited. Especially during deep-sea operations, the transmission of data is easily interfered by factors such as water pressure and air pressure. Existing technologies often cannot accurately obtain data at different depths. By combining the Beidou and GPS positioning systems with the STM32 control module and transmitting signals to the shore-based station through a wireless module, the present invention realizes stable data transmission, ensuring the accuracy and reliability of data in the deep-water environment.

[0042] 3. Motion attitude control in complex environments: Existing underwater vehicles are difficult to maintain a stable motion attitude in complex environments (such as deep sea or waters with strong currents). Through the linkage of multi-stage thrusters and the maneuvering control module, the present invention can still maintain the attitude stability of the vehicle after separation, improving the adaptability of the vehicle in complex environments.

[0043] 4. Underwater equipment is vulnerable to corrosion and damage: The electronic equipment and drive components of ordinary underwater vehicles are easily eroded by seawater, affecting the equipment life and stability. The present invention adopts the design of waterproof motors and watertight cable connections, effectively isolating seawater erosion while ensuring signal transmission, and extending the service life of the equipment.

[0044] Technological progress:

[0045] 1. Realized a multi-section independent power system: Through the independent thrusters of each section of the power cabin, the vehicle can still move forward autonomously and maintain the navigation attitude after each section is separated. This multi-stage separated propulsion method greatly improves the endurance and stability of the vehicle, enabling it to operate stably and reliably during long-term navigation.

[0046] 2. Greatly improved underwater detection accuracy and data transmission stability: The vehicle integrates a water pressure sensor, a gyroscope, Beidou and GPS positioning modules, and integrates data through the STM32 control core. The depth, position, and attitude data provided by the sensors are not only used for attitude control during underwater operations but also transmitted to the shore-based control terminal in real time through a wireless module, avoiding problems such as severe signal interference and data loss in traditional vehicles and realizing the stability of remote monitoring and operation.

[0047] 3. Intelligent Remote Control: Through the multifunctional processing ability of the STM32 control core, the vehicle can receive remote instructions and adjust its own movement. This technological advancement is particularly important in remote operation environments, providing more flexible and precise control means for underwater monitoring, rescue, and exploration tasks.

[0048] 4. Enhancement of Equipment Protection and Durability: By using a transparent fiber shell, a sealed cabin design, and waterproof motors, the present invention greatly enhances the corrosion resistance and reliability of the vehicle in harsh environments. Compared with traditional vehicles, it has a longer lifespan and lower maintenance costs, thus improving the overall usage efficiency of the equipment.

[0049] In summary, the present invention has made significant technological advancements in aspects such as the endurance of autonomous vehicles, adaptability to complex environments, signal transmission, and equipment durability, meeting the high-precision and high-stability requirements of modern industrial underwater detection and remote operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is an exploded view of the structure of a multi-stage separable autonomous underwater vehicle provided by an embodiment of the present invention;

[0051] Figure 2 is a schematic diagram of a two-stage thruster provided by an embodiment of the present invention;

[0052] Figure 3 is a block diagram of the control system provided by an embodiment of the present invention;

[0053] Figure 4 is a simulation effect diagram of the hydrodynamic performance of the vehicle provided by an embodiment of the present invention;

[0054] In the figure: 1. Thruster; 2. Power cabin. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0055] In order to make the objectives, technical solutions, and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to 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.

[0056] The multi-stage separable autonomous underwater vehicle provided by an embodiment of the present invention realizes independent underwater navigation and remote monitoring through a multi-level module design, and the precise connection and data exchange between its various parts ensure the stable and efficient operation of the vehicle.

[0057] First, the thrusters of the vehicle are located at the bottom of each power module, providing independent propulsion for each section. After each power module separates from the main structure, the next power module automatically activates its thrusters to ensure that the vehicle can continue to move forward and maintain a stable navigation attitude. The serial activation of multiple thrusters enables continuous propulsion. Even after section separation, the power of the vehicle remains reliable, thus enabling long-term autonomous navigation in the underwater environment.

[0058] Second, the power module is physically protected by a transparent fiber shell and houses a power module, a battery pack, and a control unit inside. The transparent fiber shell not only provides physical protection but also effectively reduces the underwater resistance of the vehicle. The battery pack inside the power module provides continuous power support for the thrusters and other electronic modules, while the control unit is responsible for executing commands and collecting data. In this way, the power module becomes the core energy source and the main driving module of the vehicle.

[0059] Third, the control core of the vehicle is located in the operation control module of the first power module. This module mainly includes a lithium battery, a power module, a control board, a drive board, and a communication board, and has a waterproof design to prevent damage from seawater erosion. The waterproof motor in the operation control module drives the thrusters and the steering gear to ensure the stable navigation direction and attitude of the vehicle underwater. Watertight cables are used to transmit control signals from the control core to the thrusters and the steering gear to achieve precise motion control and response.

[0060] Fourth, the vehicle is equipped with a water pressure sensor, a gyroscope, Beidou, and a GPS positioning module, which can accurately collect data such as the depth, direction, and position of the underwater vehicle. The water pressure sensor provides the underwater depth data of the vehicle to ensure that the vehicle can adjust its own depth according to environmental requirements. The gyroscope, Beidou, and GPS positioning module work together to calibrate the heading and position data of the vehicle in real time, and integrate this information through STM32 and feedback it to the control center. The data from these sensors are not only used for underwater attitude adjustment but also provide an accurate positioning reference for remote monitoring.

[0061] Fifth, with the STM32 single-chip microcomputer as the lower control core, the motion control of the vehicle is achieved by controlling the thrusters. STM32 is also responsible for collecting multiple real-time data of the vehicle, including depth, heading, pitch, roll, air pressure, and position. The vehicle converts this data into WIFI signals through a wireless transceiver module, transmits them to the shore-based wireless base station, and then passes them to control terminals such as computers or mobile phones to achieve remote monitoring. In this way, operators can monitor the navigation status and environmental data of the vehicle in real time on the shore to ensure the smooth execution of the navigation mission.

[0062] Finally, the STM32 single-chip microcomputer receives the control signals from the shore-based control terminal through the wireless module, converts these signals into actual actions, and drives the actuators of the vehicle. The operator can remotely control the vehicle through signal instructions on the shore, thus realizing flexible remote control and mission planning. With the coordinated cooperation of position, connection relationship and function, the vehicle can autonomously complete detection tasks in different depths and complex waters, and make adjustments according to shore-based instructions to ensure the accuracy and stability of underwater operations.

[0063] I. Structure Introduction

[0064] 1.1 Overall Structure of the Vehicle

[0065] As Figure 1 shown is the structural explosion diagram provided by the embodiment of the present invention.

[0066] 1.2 Brief Introduction to the Structure of the Vehicle

[0067] 1.2.1 Thrusters

[0068] As Figure 2 shown, the power module of the vehicle consists of longitudinal thrusters 1 at the bottom of each section of the power cabin 2. After each section of the power cabin 2 is separated, the next section of the power cabin 2 continues to operate, the thruster 1 starts, and the main body of the vehicle moves forward. Each section of thruster 1 ensures the maintenance of the motion posture of the main body of the vehicle and ensures the continuous movement of the vehicle.

[0069] 1.2.2 Power Cabin

[0070] The power cabin 2 is wrapped by a transparent fiber outer shell on the outside and contains a power module, a battery pack, and a control unit inside.

[0071] 1.2.3 Manipulation and Control System

[0072] The control core of the vehicle is located in the first section of the power cabin 2 and includes core devices such as lithium batteries, power modules, control boards, drive boards, communication boards, etc. to prevent seawater erosion. Actuators such as servo motors and thrusters 1 use waterproof motors, and control and drive signals are transmitted through watertight cables.

[0073] II. Working Principle and Function Realization

[0074] The vehicle is powered by its own power compartments 2 to ensure operation. The STM32 is used as the main control board to achieve its own data collection and maneuver control. The first-stage control module is wirelessly connected to the shore-based control terminal (computer, mobile phone) through the ESP32 wireless communication module and the shore WIFI base station, thus realizing the visualization of underwater navigation and docking operation control. By using the shore-based control terminal to connect to the WIFI and access the local area network control page, the status monitoring and operation control of the vehicle can be realized. The vehicle can also be remotely controlled by using a remote control handle through the spare radio frequency communication method. The vehicle is equipped with a depth gauge, a gyroscope and a satellite positioning module. Through depth, attitude, heading and position calibration, the maneuver control of the vehicle is realized.

[0075] 2.1 Depth, attitude and position feedback

[0076] The vehicle is equipped with a water pressure sensor, which can provide the depth data of the vehicle underwater. The vehicle is also equipped with a gyroscope and Beidou and GPS positioning modules, which can calibrate the direction and position of the vehicle and then feedback to the STM32 and transmit it to the computer through the WIFI signal.

[0077] 2.2 Wireless communication equipment realizes remote control

[0078] Taking the STM32 as the lower control core, it controls the thruster 1 of the power compartment to achieve motion control. The STM32 single-chip microcomputer collects data such as the depth, heading, pitch, roll, air pressure and position of the vehicle, and then converts it into a WIFI signal through the wireless transceiver module and transmits it to the shore-based wireless base station, and then transmits it to control terminals such as computers and mobile phones, thus realizing remote monitoring; the STM32 single-chip microcomputer receives the control signal of the shore-based control terminal through the wireless transceiver module and drives the actuator to act, thus realizing remote control.

[0079] The hydrodynamic simulation effect of the vehicle is as Figure 4 .

[0080] III. Working characteristics

[0081] 3.1 Multi-stage separable design, wide range of applicable tasks, and can realize the delivery of multiple AUVs at the same time

[0082] The multi-stage separable autonomous underwater vehicle adopts a multi-stage separable design, enabling it to carry various types and quantities of AUV payloads according to the needs of the task. When the autonomous underwater vehicle sails to the designated sea area according to the preset route, it efficiently separates and delivers the payloads to the designated areas one by one to perform tasks such as data collection and reconnaissance detection, thus greatly improving the utilization rate, versatility and economy of the AUV, achieving the purpose of being able to perform multiple tasks and multiple tasks simultaneously.

[0083] 3.2 Route replanning design reduces the deviation of long-range autonomous navigation and improves the distance and accuracy of long-range delivery of AUVs.

[0084] The multi-stage separable autonomous underwater vehicle adopts route replanning design. During the autonomous navigation stage, it can obtain position information through interaction with satellites when surfacing, and autonomously correct and replan the route according to the algorithm, thus reducing the deviation of long-range autonomous navigation, improving the distance and accuracy of long-range delivery of AUVs, greatly enhancing the safety of the vehicle's long-range autonomous navigation, and also expanding the deployment scope of AUVs for reconnaissance, monitoring, data collection, and information acquisition.

[0085] 3.3 Navigation depth control design enables operation in complex sea areas with good maneuverability.

[0086] The multi-stage separable autonomous underwater vehicle adopts navigation depth control design. During autonomous navigation, it autonomously adjusts according to the data obtained from the navigation depth sensor and Doppler velocimeter and the navigation depth control strategy. It can autonomously calculate and adjust the vehicle to the safest depth according to the sea conditions and environmental depth, ensuring navigation safety, greatly enhancing the maneuverability and safety of the vehicle's long-range delivery, and realizing the vehicle's autonomous navigation, intelligent adjustment of navigation depth and attitude.

[0087] IV. Innovation Points

[0088] 4.1 Using the multi-stage separable design improves the task applicability range and enables the simultaneous delivery of multiple AUVs.

[0089] Simulating the principle of rocket staging propulsion, it adopts a combination of several power module cabins, consuming and separating step by step, and sets the number of two power cabins according to the distance of the target sea area to complete the delivery. An AUV payload cabin is installed at the front end of the AUV body. The payload cabin can hold specific models of AUVs. Compared with other existing AUVs, MS-AUV can deploy multiple AUVs with different functions simultaneously, greatly improving the utilization rate, versatility, and economy of AUVs.

[0090] 4.3 Using the navigation depth control design improves the safety and maneuverability in complex sea areas.

[0091] 4.4 By surfacing to deliver AUVs and interacting with satellites to obtain information, remote control can be achieved.

[0092] With the STM32 as the lower control core, it controls the thruster 1 in the power cabin to achieve motion control. The STM32 single-chip microcomputer collects data such as the depth, heading, pitch and roll, air pressure, and position of the vehicle, and then converts it into a WIFI signal through the wireless transceiver module and transmits it to satellites and shore-based wireless base stations during the floating and delivery process, and then transmits it to control terminals such as computers and mobile phones, thus realizing remote monitoring; the STM32 single-chip microcomputer receives the control signal from the shore-based control terminal through the wireless transceiver module and drives the actuator to act, thus realizing remote control.

[0093] This system adopts a "graded delivery" architecture similar to rocket propulsion, and designs the thruster and the power cabin as a multi-section combination that can be independently separated. Each section of the power cabin operates and separates step by step according to the preset program, and sequentially completes the propulsion and detachment of the task. This design breaks through the endurance limit of the traditional AUV's one-time thruster, can flexibly configure the number of power levels according to the mission distance, adapt to various target sea areas near and far, and enhances the modularity, expandability and mission adaptation breadth of the platform.

[0094] A special payload cabin structure is set at the head section of the vehicle, which can carry miniature AUVs with different operation functions, and realizes a one-to-many distribution mechanism during task deployment. Through the remote control of the power cabin at the head section, the payload cabin door can be opened as needed to release the internal AUV to the target sea area to perform tasks such as reconnaissance, sampling or strike. This collaborative deployment strategy of multiple sub-type AUVs significantly improves the mission cost-effectiveness ratio and tactical flexibility of the parent vehicle.

[0095] A longitudinal electric thruster is set at the bottom of the power cabin, and the propulsion and attitude joint control is realized in cooperation with the rudder surface control system of the tail fin group. The propulsion unit of each stage of the cabin adopts a constant thrust output mode to achieve smooth relay propulsion; while the rudder surface is driven by a servo motor, and the STM32 analyzes the attitude sensor information in real time to automatically adjust the heading and attitude, effectively avoiding the path deviation or roll caused by inertial offset during the multi-stage separation process.

[0096] The system integrates a solenoid valve and a compressed air tank structure to control the injection and discharge of air in the empty cabin to achieve floating and sinking adjustment. The STM32 receives the depth, attitude and air pressure data in real time, and drives the pump valve to charge and discharge air by controlling the opening sequence of the solenoid valve to achieve precise water depth control. Combined with the anchored attitude and GPS positioning information, it can also maintain navigation safety and operation stability in the environment with ocean current interference or underwater obstacles.

[0097] The system is equipped with an NRF24L01 wireless transceiver module and a GPS module. Combining the information of cameras and sensors, it is converted into a high-frequency data signal through the summary and processing of the STM32 to realize the air transmission of information. When the vehicle floats to the set depth, it automatically completes data interaction with satellites or shore-based receiving stations and accepts task instructions from remote terminals. This remotely controllable interaction mechanism breaks through the technical bottleneck of poor underwater communication.

[0098] The overall vehicle takes STM32 as the embedded control core, integrating thrusters, servos, air valves, sensors, image and positioning modules to form a compact multi-module control system. Combined with the energy management module composed of solar panels and battery packs, it not only supports charging scheduling but also has an emergency power supply function, ensuring the smooth execution of long-term underwater autonomous operations and hierarchical tasks. The overall system has high energy efficiency control and anti-interference capabilities.

[0099] V. Application Prospects

[0100] 5.1 "Street Lamp" Application

[0101] The multi-stage separable autonomous underwater vehicle can carry payloads with navigation and signal release functions, autonomously navigate between two places where route planning is required, re-plan the route autonomously according to the environment, and gradually deliver and release navigation payloads along the way, and can autonomously plan a safe and efficient route for civilian ships to pass through.

[0102] 5.2 Systematically deploy to ensure the construction of the underwater unmanned offensive and defensive force system and build a situation awareness network in the mission sea area.

[0103] Through the "one belt, multiple" systematic deployment in the affiliated sea area, the multi-stage separable autonomous underwater vehicle can carry multiple AUVs at one time. The ultra-long-range chain deployment helps to solve problems such as insufficient power and blocked communication faced by various underwater unmanned vehicles in long-distance delivery, providing a feasible idea and solution for the construction of the underwater unmanned offensive and defensive force system. In the future, it can achieve one voyage of the vehicle and multiple deliveries of AUV submersibles along the way, realize information sharing among submersibles, form an underwater unmanned offensive and defensive force system, and achieve the ability of situation awareness in the regional sea area.

[0104] 5.3 Install other modules to be responsible for perception monitoring, early warning and strike, and relay communication in important waterway sea areas

[0105] By installing mission payloads on itself and deploying in important waterway sea areas, it has functions such as regional marine hydrometeorological environment monitoring, reconnaissance and early warning, trigger self-destruction strike, and data relay communication. It can also be equipped with warheads and reconnaissance units according to military application scenarios, cooperate with other equipment such as unmanned aerial vehicles and ground radars to jointly complete military tasks, realize integration of reconnaissance, detection and strike, form a cluster saturation attack, promote the generation of new quality combat effectiveness, and has good military application prospects.

[0106] The underwater hierarchical vehicle is a hierarchical delivery vehicle with characteristics such as modularization, long-distance delivery, strong concealment, and integration of reconnaissance and attack. It overcomes problems such as the long deployment cycle of conventional vehicles, short reconnaissance distance, high technical difficulty of reliable network topology, and being easily detected and damaged. It helps to solve problems faced by various underwater unmanned vehicles during long-term and large-scale underwater operations, such as insufficient power, difficult charging, and blocked communication, providing a feasible idea and solution for the construction of an underwater unmanned offensive and defensive force system. Compared with the previous method of using aircraft to deliver submersibles for water area reconnaissance, the underwater hierarchical vehicle can depart from the port by itself, reach the designated water area, and then gradually separate and deliver AUVs for reconnaissance. It searches for and connects nearby friendly submersibles to complete information sharing and transmission. It obtains the position of the UUV through a device that detaches and floats upward, and sets the UUV to float upward when detaching at the designated level. At this time, it can receive signals and adjust the direction if it is incorrect. After remotely adjusting the direction, it continues to dive and move forward, thus greatly improving work efficiency. At the same time, the AUV carried by the underwater hierarchical vehicle further improves the reconnaissance ability of our friendly submersibles, effectively reducing the number of submersible launches and the consumption of manpower, material resources, and financial resources. In addition, the underwater hierarchical vehicle can lurk and monitor the designated sea area for a long time. Placing it at key straits can increase the probability of detecting enemy submersibles and submarines, providing favorable assistance for the anti-submarine work of our navy. The underwater hierarchical vehicle uses a rocket-like segmented power system to achieve continuous power generation and rapid charging in the near-surface state all-weather, greatly increasing the endurance time and operating radius of various underwater unmanned vehicles. The main body of the vehicle can be equipped with multiple power modules according to mission requirements. The AUV device that detaches and floats upward during hierarchical separation can obtain the position of the UUV to remotely correct the course and can also reconnaissance the sea area near the delivered AUV. In summary, the underwater hierarchical vehicle designed in this invention can be widely used in the delivery of underwater unmanned vehicles in remote target sea areas, military reconnaissance and surveillance between key straits, and long-duration all-weather civilian ocean surveys and other fields.

[0107] For the delivery of underwater unmanned vehicles in remote target sea areas, military reconnaissance and surveillance between key straits, and long-duration all-weather civilian ocean surveys and other fields.

[0108] It should be noted that the embodiments of the present invention can be implemented by hardware, software, or a combination of software and hardware. The hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated designed hardware. Those of ordinary skill in the art can understand that the above-mentioned devices and methods can be implemented using computer-executable instructions and / or included in processor control code, such as provided on a carrier medium such as a disk, CD, or DVD-ROM, a programmable memory such as read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The devices and their modules of the present invention can be implemented by hardware circuits of programmable hardware devices such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or field programmable gate arrays, programmable logic devices, etc., can also be implemented by software executed by various types of processors, or can be implemented by a combination of the above hardware circuits and software such as firmware.

[0109] As described above, the above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. A multi-stage separable autonomous underwater vehicle, characterized in that it is composed of a number of power cabins, a front control cabin and a tail rudder surface that are sequentially connected longitudinally; each power cabin is provided with a longitudinal electric thruster at the bottom, and a battery pack and an in-cabin microcontroller are arranged inside; the power cabins can be unlocked and separated through watertight electrical connectors and mechanical latches, and the next stage immediately enters the working state after the previous stage is separated; the front control cabin is internally provided with a main control board, a communication board, a power management board and a servo driver board, and sends control signals to the rudder surface and the thruster through a watertight cable to maintain the course and attitude stability.

2. The underwater vehicle according to claim 1, characterized in that, An openable payload cabin is arranged at the front end of the front control cabin, and a plurality of installation positions are arranged in the payload cabin, and multiple micro autonomous underwater vehicles can be sequentially released.

3. The underwater vehicle according to claim 1, characterized in that, Each power cabin uses a transparent fiber composite material as the shell, and streamline water guiding wing plates are arranged on the outer surface of the shell to reduce the additional resistance during separation.

4. The underwater vehicle according to claim 1, characterized in that, The mechanical latch between the power cabins is driven by a built-in tripping device, and the tripping device is composed of an explosive bolt and an electric trigger module. After the main control board sends an instruction to the electric trigger module, the separation is completed.

5. A navigation depth control system for an underwater vehicle, characterized in that it includes a depth sensor, an attitude sensor, an attitude algorithm module, a ballast adjustment unit and an STM32 controller; the controller predicts hnext and lnext based on the detected values of the real-time depth h and the bottom detection height l, performs optimization calculations using the objective function "the sum of the absolute value of hnext minus h and the absolute value of lnext minus l is the smallest", and outputs a control instruction to the ballast adjustment unit.

6. The navigation depth control system according to claim 5, wherein, The ballast adjustment unit includes a solenoid valve, an air pump and a metal air tank, and the controller adjusts the floating and sinking by adjusting the pressure difference inside and outside the air tank so that the navigation depth meets the safety threshold hsafe and the bottom detection distance threshold lsafe.

7. A wireless communication and remote control system for an underwater vehicle, characterized in that it includes an STM32 controller, a camera module, a GPS module, an ESP32 WiFi module, an NRF24L01 radio frequency module and a shore-based control terminal; when the vehicle floats to the preset communication depth, the controller encapsulates the sensor and image data and sends it to the shore-based terminal through the ESP32, and at the same time receives the terminal control instruction and drives the servo and the thruster to execute.

8. The communication and remote control system according to claim 7, characterized in that, When the signal quality of the WiFi link is lower than the threshold, the controller automatically switches to the NRF24L01 radio frequency link and keeps the data link continuous without interruption.

9. A multi-stage underwater propulsion assembly, characterized in that it is composed of at least two independently powered propulsion modules connected in series; each propulsion module includes a motor, a propeller, a lithium battery pack and a local control unit, and is connected to the adjacent module through a quick-release watertight connector; the local control unit monitors the remaining power of this module, and when the power is lower than the set threshold, it sends an activation instruction to the next module and at the same time triggers the detachment of this module.

10. A control method for a multi-stage separable autonomous underwater vehicle, characterized in that, It includes the following steps: S1 The main control board powers each power cabin and starts the sensor to collect depth, attitude and position data; S2 The controller adjusts the ballast adjustment unit according to the optimization result of the depth control system to achieve precise floating and sinking; S3 The controller sends the status data to the shore-based terminal through the communication system and receives the control instruction; S4 triggers the separation of the latching device and starts the next power cabin when the power of the first power cabin is lower than the threshold, and repeats S1 to S3 until the task is completed.

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