Buoyancy adjusting type underwater vehicle

Abstract

The invention relates to the technical field of underwater vehicles, and provides a buoyancy adjusting type underwater vehicle which comprises a body, a propeller, a buoyancy cabin and a horizontal wing. The body is provided with a hollow cavity; the propeller is arranged on the body and used for driving the body to advance; and the buoyancy cabin is arranged in the cavity of the body. The horizontal wings are provided with inverted wing types, the two horizontal wings are symmetrically arranged on the two sides of the body, and each horizontal wing can be folded relative to the body so as to change the unfolding angle of the horizontal wings relative to the body. According to the buoyancy adjusting type underwater vehicle, the sinking force is adjusted, in the underwater diving process of the vehicle, the snorkeling depth of the vehicle is adjusted, and when the power of the propellers breaks down, the vehicle is prevented from being lost when the power breaks down.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicles, and particularly to a buoyancy-adjustable underwater vehicle. Background Art

[0002] Underwater unmanned vehicles (UUVs) carry various sensors, cameras, and tools to perform tasks such as ocean exploration, environmental monitoring, seabed resource investigation, infrastructure inspection, ocean scientific research, military reconnaissance, rescue and search, and ocean engineering maintenance, helping humans explore and utilize ocean resources more efficiently, while reducing personnel risks and costs.

[0003] Currently, underwater unmanned vehicles achieve surfacing and diving by adjusting their own weight and buoyancy. Underwater unmanned vehicles are usually equipped with an adjustable liquid injection / drainage system, which changes their own weight and volume by injecting / draining liquid. When the injection / drainage system injects water, the weight of the underwater unmanned vehicle increases, the density increases, exceeding the density of the surrounding water to achieve diving. On the contrary, when the injection / drainage system drains water, the weight decreases, the density decreases, and it is lower than the density of the surrounding water to achieve surfacing. The liquid injection / drainage tank of the injection / drainage system usually has a small volume, and the buoyancy is limited when fully emptied. Moreover, the liquid injection / drainage process of the injection / drainage system is driven by power. Once the injection / drainage driving component loses the power source or malfunctions such as jamming, it will cause the underwater unmanned vehicle to be unable to drain liquid normally to surface and thus lose contact. Summary of the Invention

[0004] The present invention provides a buoyancy-adjustable underwater vehicle to solve the problem that the existing underwater unmanned vehicle cannot surface and is lost when the driving power fails.

[0005] The present invention provides a buoyancy-adjustable underwater vehicle, including: a body having a hollow cavity; A thruster provided on the body for driving the body to travel; A buoyancy tank provided in the cavity of the body; Horizontal wings having an inverted airfoil shape, two of the horizontal wings are symmetrically arranged on both sides of the body, and each horizontal wing is foldable relative to the body to change the deployment angle of the horizontal wing relative to the body.

[0006] According to a buoyancy-adjustable underwater vehicle provided by the present invention, the horizontal wing includes: A main wing provided on the body; An auxiliary wing rotatably provided at one end of the main wing away from the body, and the rotation axis of the auxiliary wing is parallel to the length direction of the body.

[0007] According to a buoyancy-adjustable underwater vehicle provided by the present invention, the horizontal wing further includes: A rotating shaft, wherein the main wing and the auxiliary wing are connected by the rotating shaft; A driving member, which is arranged on the main wing and is in transmission connection with the auxiliary wing.

[0008] For a buoyancy-adjustable underwater vehicle provided by the present invention, the rotation angle range of the auxiliary wing relative to the main wing is 90° to 180°.

[0009] For a buoyancy-adjustable underwater vehicle provided by the present invention, the horizontal wing further includes an angle sensor; There are two angle sensors, and each angle sensor is used to collect the rotation angle of each auxiliary wing relative to the corresponding main wing; The buoyancy-adjustable underwater vehicle further includes a controller; The controller is electrically connected to the angle sensor and the driving member respectively. The controller is used to control the driving member to drive the auxiliary wing to rotate relative to the main wing according to the rotation angle collected by the angle sensor.

[0010] For a buoyancy-adjustable underwater vehicle provided by the present invention, the driving member is any one of a hydraulic motor or a servo motor.

[0011] For a buoyancy-adjustable underwater vehicle provided by the present invention, the horizontal wing is one of a NACA airfoil, a DVL airfoil, and a RAE airfoil.

[0012] For a buoyancy-adjustable underwater vehicle provided by the present invention, it further includes: A tail wing, along the length direction of the body, the tail wing is arranged at the rear end of the body. The tail wing has an inverted airfoil. There are two tail wings, and the two tail wings are symmetrically arranged on both sides of the body.

[0013] For a buoyancy-adjustable underwater vehicle provided by the present invention, the buoyancy chamber is a rigid pressure-bearing chamber, and the buoyancy of the rigid pressure-bearing chamber is constant.

[0014] For a buoyancy-adjustable underwater vehicle provided by the present invention, the thruster includes one of a propeller, a rim motor thruster, or a water jet thruster.

[0015] The buoyancy-adjustable underwater vehicle provided by the present invention has a horizontally wing configured as an inverted airfoil. During the navigation of the vehicle, the inverted airfoil of the horizontally wing can generate a downward force. Moreover, through the foldable arrangement of two horizontally wings symmetrically disposed on both sides of the main body, by adjusting the deployment angle of the horizontally wing relative to the main body, the length of the horizontally wing along the width direction of the main body can be adjusted, thereby adjusting the magnitude of the downward force. During the diving process of the vehicle, the diving depth of the vehicle can be adjusted. When a power failure occurs in the thruster, the downward force of the horizontally wing disappears, and under the buoyancy of the buoyancy tank, the vehicle can quickly float until it emerges from the water surface, avoiding the loss of the vehicle during a power failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 is a schematic diagram of the principle of water injection and sinking of a traditional underwater unmanned vehicle.

[0018] Figure 2 is a schematic diagram of the principle of water drainage and floating of a traditional underwater unmanned vehicle.

[0019] Figure 3 is a top view structural schematic diagram of the buoyancy-adjustable underwater vehicle provided by the present invention.

[0020] Figure 4 is a three-dimensional structural schematic diagram of the buoyancy-adjustable underwater vehicle provided by the present invention.

[0021] Figure 5 is a left view structural schematic diagram of the buoyancy-adjustable underwater vehicle provided by the present invention.

[0022] Figure 6 is a schematic diagram of the working principle of the buoyancy-adjustable underwater vehicle provided by the present invention.

[0023] Figure 7 is a logic control block diagram of the buoyancy-adjustable underwater vehicle provided by the present invention.

[0024] Reference Signs: 1, main body; 2, thruster; 3, buoyancy tank; 4, horizontally wing; 41, main wing; 42, auxiliary wing; 43, rotating shaft; 44, driving member; 45, angle sensor; 5, tail wing; 6, controller; 100, power liquid injection and drainage system. Detailed implementation manners

[0025] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of clarifying the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the embodiments of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0027] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0028] In the embodiments of the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower horizontal height than the second feature.

[0029] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0030] The following is combined with Figures 1 to 7 , and the buoyancy-adjustable underwater vehicle provided by the embodiments of the present invention is described in detail through specific embodiments and their application scenarios.

[0031] As Figure 3 , Figure 4 and Figure 5 shown, this embodiment provides a buoyancy-adjustable underwater vehicle, including: a main body 1, a thruster 2, a buoyancy chamber 3, and a horizontal wing 4.

[0032] The main body 1 has a hollow cavity; the thruster 2 is provided on the main body 1 for driving the main body 1 to travel; the buoyancy chamber 3 is provided in the cavity of the main body 1.

[0033] The horizontal wing 4 has an inverted airfoil shape, and two horizontal wings 4 are symmetrically arranged on both sides of the main body 1, and each horizontal wing 4 is foldable relative to the main body 1 to change the deployment angle of the horizontal wing 4 relative to the main body 1.

[0034] It can be understood that the airfoil is the cross-sectional shape of the wing. The upper surface of the conventional airfoil is curved and the lower surface is straight. The water flow has a faster velocity and lower pressure on the upper surface, thus generating an upward lift force. The inverted airfoil, that is, flipping the conventional airfoil 180°, makes the upper surface of the wing straight and the lower surface curved. The water flow has a faster velocity and lower pressure on the lower surface of the wing, forming a pressure difference between the upper surface and the lower surface, and generating a downward sinking force.

[0035] In this embodiment, the horizontal wing 4 is set to have an inverted airfoil shape, so that when the main body 1 travels under the thrust of the thruster 2, the water flow passes through the horizontal wing 4, and the inverted airfoil makes the horizontal wing 4 generate a sinking force, thereby realizing the diving of the buoyancy-adjustable underwater vehicle during the traveling in water. And, when the propulsion force of the buoyancy-adjustable underwater vehicle disappears, the inverted horizontal wing 4 no longer generates a sinking force, and under the buoyancy of the buoyancy chamber 3, the vehicle can automatically float until it emerges from the water surface and sends a signal, avoiding the loss of the vehicle.

[0036] AsFigure 1 and Figure 2 As shown in Figure 2 , compared with traditional underwater unmanned vehicles that achieve snorkeling by adjusting their own weight and buoyancy, after the vehicle loses power, the power injection and drainage system 100 cannot adjust the weight of the vehicle, making it impossible for the vehicle to increase buoyancy and reduce the sinking force to surface. The buoyancy-adjustable underwater vehicle of this embodiment can generate a sinking force with the inverted airfoil horizontal wing 4 when powered, for diving operations, and no longer generate a sinking force when losing power, enabling the vehicle to automatically surface. The buoyancy chamber 3 of this embodiment does not require power for adjustment, ensuring the safety of the vehicle in case of power failure.

[0037] To balance the forces on the body 1, two horizontal wings 4 are provided in this embodiment. The two horizontal wings 4 are symmetrically arranged on both sides of the body 1, and the two horizontal wings 4 can ensure the stability of the body 1.

[0038] Optionally, both of the two horizontal wings 4 are arranged in the middle of the body 1.

[0039] In the case of constant sailing speed, the sinking force generated by the horizontal wing 4 is approximately constant. Since the horizontal wing 4 is foldable relative to the body 1, the deployment angle of the horizontal wing 4 relative to the body 1 can be adjusted. Based on the symmetrical arrangement of the horizontal wing 4, during the process of gradually increasing the deployment angle of the horizontal wing 4, the forces on the horizontal wing 4 in the width direction of the body 1 balance and cancel each other out, while the length of the horizontal wing 4 in the width direction of the body 1 increases, causing the sinking force received by the horizontal wing 4 to increase. During the process of gradually decreasing the deployment angle of the horizontal wing 4, the forces on the horizontal wing 4 in the width direction of the body 1 balance and cancel each other out, while the length of the horizontal wing 4 in the width direction of the body 1 decreases, causing the sinking force received by the horizontal wing 4 to decrease.

[0040] The foldable setting of the horizontal wing 4 can timely adjust the sinking force during the underwater navigation of the vehicle, realizing convenient adjustment of the sinking force of the vehicle. Since the sinking force of the vehicle can be adjusted and the buoyancy chamber 3 does not require power for adjustment, it can be considered that the buoyancy of the vehicle can be adjusted by adjusting the sinking force.

[0041] Specifically, the foldable setting of the horizontal wing 4 can be achieved either by the relative sliding of two wing bodies or by the relative rotation of two wing bodies.

[0042] The buoyancy-adjustable underwater vehicle provided by the present invention has the horizontal wing 4 set as an inverted airfoil, so that during the navigation of the vehicle, the inverted airfoil of the horizontal wing 4 can generate a sinking force. Moreover, through the foldable arrangement of the two horizontal wings 4 symmetrically disposed on both sides of the body 1, by adjusting the deployment angle of the horizontal wing 4 relative to the body 1, the length of the horizontal wing 4 along the width direction of the body 1 is adjusted, thereby adjusting the magnitude of the sinking force. During the diving process of the vehicle, the diving depth of the vehicle is adjusted. When a power failure occurs in the thruster 2, the sinking force of the horizontal wing 4 disappears, and the vehicle can quickly float up until it surfaces under the buoyancy of the buoyancy tank 3, avoiding the loss of the vehicle during a power failure.

[0043] As Figure 3 , Figure 4 and Figure 5 shown, the horizontal wing 4 of this embodiment includes: a main wing 41 and a sub-wing 42.

[0044] The main wing 41 is provided on the body 1; the sub-wing 42 is rotatably provided at one end of the main wing 41 away from the body 1, and the rotation axis of the sub-wing 42 is arranged parallel to the length direction of the body 1.

[0045] It can be understood that the main wing 41 is fixedly connected to the body 1, and the sub-wing 42 is rotatably arranged on the main wing 41. By rotating the sub-wing 42 around the main wing 41, the folding state of the horizontal wing 4 is adjusted.

[0046] To further ensure the balanced force of the symmetrically arranged horizontal wings 4, the rotation axis of the sub-wing 42 of this embodiment is parallel to the length direction of the body 1, so that the rotation of the sub-wing 42 around the main wing 41 is always completed in a plane perpendicular to the length direction of the body 1, which is beneficial to the cancellation of the forces generated by the symmetrically arranged sub-wings 42 on both sides along the width direction of the body 1, ensuring the balance of the forces on the body 1 in the width direction of the body 1, and being beneficial to the stability and reliability of the navigation of the vehicle.

[0047] As Figure 4 , Figure 5 and Figure 7 shown, the horizontal wing 4 of this embodiment further includes: a rotating shaft 43 and a driving member 44.

[0048] The main wing 41 and the sub-wing 42 are connected by the rotating shaft 43; the driving member 44 is provided on the main wing 41 and is in transmission connection with the sub-wing 42.

[0049] It can be understood that the rotating shaft 43 of this embodiment is arranged along the length direction of the body 1, the rotating shaft 43 is connected to the main wing 41, and the sub-wing 42 is rotatably connected to the rotating shaft 43. The rotating shaft 43 can be directly provided at the connection between the main wing 41 and the sub-wing 42, without adding extra installation volume, realizing the compact arrangement of the horizontal wing 4.

[0050] The driving member 44 is used to drive the aileron 42 to rotate along the main wing 41 and precisely control the rotation angle to accurately adjust the sinking force received by the vehicle, thereby achieving control of the diving depth of the vehicle.

[0051] As Figure 4 shown, the rotation angle range of the aileron 42 relative to the main wing 41 in this embodiment is 90° to 180°.

[0052] It can be understood that when the rotation angle of the aileron 42 and the main wing 41 in this embodiment is α and α is 90°, the aileron 42 and the main wing 41 are perpendicularly arranged. At this time, the deployment angles of the aileron 42 and the main wing 41 are the smallest, and the sinking force received by the vehicle is the smallest; when α is 180°, the aileron 42 and the main wing 41 are parallelly arranged. At this time, the deployment angles of the aileron 42 and the main wing 41 are the largest, and the sinking force received by the vehicle is the largest. Adjusting α between 90° and 180° can adjust the sinking force received by the vehicle between the minimum value and the maximum value, achieving a reasonable configuration of the adjustment range of the sinking force of the vehicle.

[0053] Specifically, α can be any angle between 90° and 180°.

[0054] As Figure 7 shown, the horizontal wing 4 in this embodiment further includes an angle sensor 45.

[0055] There are two angle sensors 45, and each angle sensor 45 is used to collect the rotation angle of each aileron 42 relative to the corresponding main wing 41.

[0056] The buoyancy-adjustable underwater vehicle further includes a controller 6; the controller 6 is electrically connected to the angle sensor 45 and the driving member 44 respectively. The controller 6 is used to control the driving member 44 to drive the aileron 42 to rotate relative to the main wing 41 according to the rotation angle collected by the angle sensor 45.

[0057] It can be understood that in order to accurately control the rotation angle of the aileron 42, this embodiment uses the angle sensor 45 to collect the rotation angle of the aileron 42 in real time and feedback it to the controller 6. The controller 6 compares the rotation angle collected by the angle sensor 45 with the preset rotation angle and further controls the driving member 44 to drive the aileron 42 to rotate so that the rotation angle of the aileron 42 is consistent with the preset angle.

[0058] To achieve separate control of the two ailerons 42, two angle sensors 45 are provided in this embodiment. Correspondingly, two driving members 44 are also provided, and the driving members 44 are arranged corresponding to the angle sensors 45. During the stable navigation of the vehicle, the controller 6 controls each driving member 44 to drive the corresponding aileron 42 to rotate by the same angle to achieve the stable diving of the vehicle. When the vehicle needs to adjust its attitude or direction, the two driving members 44 can be controlled separately to drive the ailerons 42 to rotate by different angles, so that the forces on both sides of the body 1 are unbalanced, thereby achieving flexible control of the navigation attitude or direction of the vehicle.

[0059] Specifically, as Figure 7 shown, the controller 6 controls the thruster 2 to push the vehicle to navigate. During the navigation of the vehicle, the controller 6 controls the driving member 44 to drive the aileron 42 to rotate according to the deployment angle collected by the angle sensor 45 to adjust the sinking force of the vehicle.

[0060] As Figure 7 shown, the driving member 44 in this embodiment is either a hydraulic motor or a servo motor.

[0061] It can be understood that the hydraulic system of the hydraulic motor transmits energy through fluid pressure, can output extremely high torque in a small volume, can better control the rotation of the aileron 42, and moreover, the hydraulic system is a closed loop and is relatively reliable under high water pressure.

[0062] The servo motor achieves millimeter-level positioning accuracy through a closed-loop feedback system, can perform precise rotation control on the aileron 42, and the servo motor has a short start-stop time and high acceleration, and can quickly adjust the output state, which is beneficial to the precise adjustment of the rotation angle of the aileron 42.

[0063] As Figure 3 shown, the horizontal wing 4 in this embodiment is one of the NACA airfoil, DVL airfoil, and RAE airfoil.

[0064] It can be understood that in order to select a better-performing inverted airfoil for the horizontal wing 4, this embodiment adopts the NACA airfoil, DVL airfoil, or RAE airfoil. These airfoils have a rich selection series, including geometric characteristics and aerodynamic characteristics, and can select a suitable airfoil from different series as the airfoil of the horizontal wing 4 of the vehicle.

[0065] As Figure 3 、 Figure 4 and Figure 5 shown, the buoyancy-adjustable underwater vehicle in this embodiment further includes: a tail fin 5. The tail fin 5 is arranged along the length direction of the body 1. The tail fin 5 is arranged at the rear end of the body 1. The tail fin 5 has an inverted airfoil. Two tail fins 5 are provided, and the two tail fins 5 are symmetrically arranged on both sides of the body 1.

[0066] It is understandable that the tail fin 5 is generally used for adjusting the pitch angle of the vehicle. The tail fin 5 in this embodiment also adopts an inverted airfoil, which can increase the sinking force of the vehicle at the same time. The sinking force of the tail fin 5 supplements the sinking force of the horizontal fin 4, which can further increase the sinking force of the vehicle, making the diving speed of the vehicle faster and the control effect on the vehicle better.

[0067] In order to balance the force on the main body 1, two tail fins 5 are provided in this embodiment, and the two tail fins 5 are symmetrically distributed on both sides of the main body 1 to ensure the stability of the main body 1 when snorkeling in water.

[0068] As Figure 3 shown, the buoyancy chamber 3 in this embodiment is a rigid pressure-bearing chamber, and the buoyancy of the rigid pressure-bearing chamber is constant.

[0069] It is understandable that the hull of the rigid pressure-bearing chamber can maintain the stability of its shape when the water pressure changes, so that the buoyancy of the rigid pressure-bearing chamber is constant. At different depths and speeds underwater, the buoyancy of the vehicle can be kept consistent. This enables the buoyancy of the vehicle to remain constant without the need for power adjustment, which is beneficial for the vehicle to have sufficient buoyancy to surface in case of a power failure.

[0070] Furthermore, when adjusting the sinking force, only the increase and decrease of the sinking force need to be adjusted relative to the constant buoyancy. The adjustment parameters are fewer, the variables are less, and the adjustment effect is more intuitive.

[0071] As Figure 3 shown, the thruster 2 in this embodiment includes one of a propeller, a rim motor thruster or a water jet thruster.

[0072] It is understandable that the propeller is composed of a hub and several blades radially fixed to the hub. Its structure is relatively simple, the technology is mature, it is easy to manufacture and repair, and it has high efficiency and large thrust. The rim motor thruster has a compact structure and high efficiency, and can achieve multi-directional propulsion, improving the mobility and controllability of the vehicle. The water jet thruster has high propulsion efficiency at high speeds and can adapt to waters in different environments. Since there are no traditional propeller blades, the mechanical wear is less, which is more conducive to daily maintenance and upkeep.

[0073] Figure 6 Schematically shows a complete diving process of the buoyancy-adjustable underwater vehicle. The figure shows the relationship between the diving depth H, the sinking force and the net buoyancy of the vehicle during diving as the time t changes. Since the rigid pressure-bearing chamber is adopted in this embodiment, the net buoyancy of the vehicle is constant.

[0074] When the vehicle is about to dive at time t0, first rotate the aileron 42 around the rotating shaft 43 to increase the deployment angle, so that the sinking force gradually becomes greater than the net buoyancy force. Then keep the deployment angle unchanged and let the vehicle gradually dive. When approaching the target depth at time t'0, weaken the sinking force by reducing the deployment angle of the horizontal wing 4 until the sinking force generated by the horizontal wing 4 is equal to the net buoyancy force at time t1. At this time, the vehicle reaches the first depth H1.

[0075] The process of the vehicle adjusting the diving depth is similar to the process of preparing to dive. Taking the example of increasing the diving depth at time t2: First rotate the horizontal wing 4 around the rotating shaft 43 to increase the deployment angle, so that the sinking force of the vehicle gradually becomes greater than the net buoyancy force. Then keep the deployment angle of the horizontal wing 4 unchanged and let the vehicle gradually dive. When approaching the target depth at time t'2, weaken the sinking force by reducing the deployment angle of the horizontal wing 4 until the sinking force of the vehicle is equal to the net buoyancy force at time t3. At this time, the vehicle reaches the second depth H2.

[0076] When a power failure occurs at time t4, since the vehicle cannot navigate, the sinking force generated by the horizontal wing 4 rapidly decreases and is much smaller than the net buoyancy force generated by the buoyancy tank. The vehicle quickly floats up under the action of the net buoyancy force until it reaches the sea surface at time t5.

[0077] It can be seen from time t0 to t1 and from time t2 to t3 that as the deployment angle of the horizontal wing 4 first increases and then decreases, the sinking force of the vehicle first increases and then decreases, so as to facilitate adjusting the diving depth of the vehicle. Until reaching times t1 and t3, the sinking force and the net buoyancy force are equal, realizing the constant-depth diving navigation of the vehicle.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A buoyancy-adjustable underwater vehicle, characterized in that, Comprising: A body having a hollow cavity; A thruster provided on the body for driving the body to travel; A buoyancy chamber provided in the cavity of the body; Horizontal wings having an inverted airfoil shape, two of the horizontal wings symmetrically disposed on both sides of the body, each of the horizontal wings being foldable relative to the body to change the deployment angle of the horizontal wing relative to the body.

2. The buoyancy-adjustable underwater vehicle according to claim 1, wherein The horizontal wing includes: A main wing provided on the body; An auxiliary wing rotatably provided at one end of the main wing away from the body, the rotation axis of the auxiliary wing being parallel to the length direction of the body.

3. The buoyancy-adjustable underwater vehicle according to claim 2, characterized in that, The horizontal wing further includes: A rotating shaft, the main wing and the auxiliary wing being connected by the rotating shaft; A driving member provided on the main wing and drivingly connected to the auxiliary wing.

4. The buoyancy-adjustable underwater vehicle according to claim 3, wherein, The rotation angle range of the auxiliary wing relative to the main wing is 90° to 180°.

5. The buoyancy-adjustable underwater vehicle according to claim 3, wherein, The horizontal wing further includes an angle sensor; There are two of the angle sensors, each angle sensor being used to collect the rotation angle of each auxiliary wing relative to the corresponding main wing; The buoyancy-adjustable underwater vehicle further includes a controller; The controller is electrically connected to the angle sensor and the driving member respectively, and the controller is used to control the driving member to drive the auxiliary wing to rotate relative to the main wing according to the rotation angle collected by the angle sensor.

6. The buoyancy-adjustable underwater vehicle according to claim 3, characterized in that, The driving member is any one of a hydraulic motor or a servo motor.

7. The buoyancy-adjustable underwater vehicle according to claim 1, wherein The horizontal wing is one of a NACA airfoil, a DVL airfoil, and a RAE airfoil.

8. The buoyancy-adjustable underwater vehicle according to claim 1, wherein Further comprising: A tail wing, along the length direction of the body, the tail wing being provided at the rear end of the body, the tail wing having an inverted airfoil shape, there being two of the tail wings symmetrically disposed on both sides of the body.

9. The buoyancy-adjustable underwater vehicle according to any one of claims 1 to 8, characterized in that, The buoyancy chamber is a rigid pressure-bearing chamber, and the buoyancy of the rigid pressure-bearing chamber is constant.

10. The buoyancy-adjustable underwater vehicle according to any one of claims 1 to 8, characterized in that, The thruster includes one of a propeller, a rim motor thruster, or a water jet thruster.

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