Miniature underwater unmanned vehicle

Abstract

The invention discloses a miniature underwater unmanned vehicle, which relates to the technical field of underwater navigation equipment and comprises a shell, a sensing assembly, a communication assembly, a power assembly, a main control component and a power supply assembly, the shell is in a streamline closed shape, and a detection cabin, a control cabin, a power supply cabin and an equipment cabin are sequentially arranged in the shell from front to back. The sensing assembly is used for acquiring environment information and attitude information; the communication assembly is used for positioning and can be in communication connection with the outside; the power assembly is used for providing power and can perform attitude control; the main control component is arranged in the control cabin, and the main control component can receive the environment information and the attitude information; the main control component is also in communication connection with the communication component and can be in communication connection with the outside; the main control component can also control the action of the power assembly; and the power supply assembly can provide required electric energy. According to the miniature underwater unmanned vehicle provided by the invention, the task flexibility and the rationality of spatial arrangement are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater navigation equipment, and in particular to a micro underwater unmanned vehicle. Background Art

[0002] Unmanned underwater vehicles (UUVs), a key tool for ocean exploration and development, are capable of performing missions in hazardous environments beyond human intervention, demonstrating their significant application value. Over the past three decades, UUV technology, like unmanned aerial vehicles (UAVs), has experienced rapid development. Currently, hundreds of UUVs are playing a vital role in diverse fields, including marine science research, marine engineering construction, underwater security, and underwater combat. With increasing demand in areas such as ocean development, environmental monitoring, military reconnaissance, and underwater search and rescue, micro-UUVs, owing to their miniaturization, flexibility, and low cost, have become a research hotspot.

[0003] At the current stage, micro-UUV system design is usually optimized for a single scenario, such as rapid navigation, but it is difficult to adapt to the complex and changeable underwater environment and meet diverse mission requirements; and the internal electrical design of the vehicle is complex and centralized, which makes maintenance and repair complicated. Summary of the Invention

[0004] The purpose of the present invention is to provide a micro underwater unmanned vehicle to solve the problems existing in the above-mentioned prior art and to improve the flexibility of tasks and the rationality of space arrangement.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a micro underwater unmanned vehicle, comprising a shell, a sensing component, a communication component, a power component, a main control component and a power supply component; the shell is configured to be streamlined and closed, and a detection cabin, a control cabin, a power supply cabin and an equipment cabin are sequentially arranged inside the shell from front to back; the sensing component is arranged in the detection cabin and / or the equipment cabin, and is used to obtain environmental information and posture information; the communication component is arranged in the equipment cabin, is used for positioning and can communicate with the outside world; the power component is arranged at the rear end of the shell, is used to provide power and can perform posture control; the main control component is arranged in the control cabin, the main control component is communicated with the sensing component and can receive environmental information and posture information; the main control component is also communicated with the communication component and can communicate with the outside world; the main control component is also communicated with the power component and can control the action of the power component; the power supply component is arranged in the power supply cabin, is electrically connected to the sensing component, the communication component, the power component and the main control component, and can provide required electrical energy.

[0007] Preferably, the shell includes a bow section, a midsection and a stern section from front to back; the bow section includes the detection cabin and the control cabin, the midsection includes the power cabin and the equipment cabin, and the stern section is provided with the power assembly; the detection cabin, the control cabin, the power cabin, the equipment cabin and the stern section can be disassembled and connected in sequence, and the connections are circumferentially sealed.

[0008] Preferably, the detection cabin, the control cabin, the power cabin, the equipment cabin and the stern section are detachably connected in sequence through annular reinforcements, and the outer peripheral wall of each annular reinforcement is circumferentially sealed to the inner peripheral wall of the corresponding detection cabin, the control cabin, the power cabin, the equipment cabin and the stern section; a closed partition is provided in the middle of the annular reinforcement between the detection cabin and the control cabin and between the equipment cabin and the stern section, and a wire threading hole is provided on the closed partition; a hollow partition is provided in the middle of the annular reinforcement between the control cabin and the power cabin and between the power cabin and the equipment cabin.

[0009] Preferably, the perception component includes a first imaging component, an inertial measurement component, and a second imaging component, which are all communicatively connected to the main control component. The first imaging component and the inertial measurement component are arranged in the detection cabin, and the wall of the detection cabin is set to a transparent material; the second imaging component is arranged on the outer wall of the equipment cabin; the first imaging component and the second imaging component are both used to obtain environmental information, and the inertial measurement component is used to obtain attitude information.

[0010] Preferably, a depth sensor and a watertight inspection hole are provided on the outer wall of the control cabin. The depth sensor is communicatively connected with the main control component and is used to monitor depth information; and the depth sensor is electrically connected with the power supply assembly and can obtain the required electrical energy.

[0011] Preferably, the communication component includes a positioning and navigation module, a digital image transmission module, a remote transmission module and a signal adapter board, the remote transmission module is communicatively connected to the positioning and navigation module and the digital image transmission module, and the remote transmission module is used to communicate with the outside world; the main control component is communicatively connected to the positioning and navigation module and the digital image transmission module through the signal adapter board, and the signal adapter board is used to normalize internal communications to Ethernet and CAN bus; the main control component is communicatively connected to the second imaging component and the digital image transmission module through Ethernet, and the digital image transmission module is used to obtain imaging information of the second imaging component and transmit it to the main control component; the main control component is communicatively connected to the positioning and navigation module and the power component through the CAN bus.

[0012] Preferably, two first mounting plates are fixed vertically side by side in the equipment cabin, the positioning and navigation module includes an ultra-short baseline and a Beidou short message, the Beidou short message, the digital image transmission module, the circuit board of the second imaging component and the signal adapter board are arranged on the upper first mounting plate, and there is a heat dissipation gap between them and the upper first mounting plate; a power adapter board is provided on the lower first mounting plate, and there is a heat dissipation gap between the power adapter board and the lower first mounting plate; the power supply component provides different voltages through the power adapter board, and is electrically connected to the perception component, the communication component, the power component and the main control component to provide the required electrical energy; the remote transmission module and the ultra-short baseline are fixedly arranged on the outer wall of the equipment cabin, the remote transmission module has a drag reduction shell, and the ultra-short baseline is placed on the rear side of the remote transmission module.

[0013] Preferably, a second mounting plate is fixedly provided in the control cabin, and the main control component is provided on the second mounting plate with a heat dissipation gap between the main control component and the second mounting plate.

[0014] Preferably, the outside of the equipment cabin has an installation cavity, and at least one external interface is provided on the installation cavity; the installation cavity is detachably provided with a sealing cover, and the outer side surface of the sealing cover and the outer side surface of the equipment cabin form a streamlined closed shape.

[0015] Preferably, the shell adopts a torpedo-type structure; the control compartment, the power compartment, the equipment compartment and the stern section are made of hard-oxidized aluminum alloy.

[0016] Compared with the prior art, the present invention has achieved the following technical effects:

[0017] The micro underwater unmanned vehicle provided by the present invention obtains environmental information and attitude information through the perception component. The main control component can control the action of the power component according to the perception information of the perception component and the positioning information of the communication component, so as to be able to adjust the navigation attitude so that the whole is on the required navigation trajectory, thereby improving the mission flexibility; the power supply component provides the required electrical energy for the whole and is independently arranged in the power supply cabin. Compared with the existing highly integrated setting, it helps to improve the power supply capacity and improve the endurance; the shell is set to a streamlined closed shape, which significantly reduces the navigation resistance and facilitates the simultaneous improvement of the navigation stability and maneuverability of the appearance and power matching strategy; in addition, the shell is set to a multi-cabin setting, and the specific installation positions are reasonably arranged according to different functional components. The electrical components such as the main control component, perception component, power supply component and communication component are reasonably divided into cabins. The modular setting facilitates the independent maintenance and repair of each electrical component and can also reduce the interference between electrical components. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 A schematic structural diagram of a micro underwater unmanned vehicle provided in an embodiment of the present invention;

[0020] Figure 2 A schematic structural diagram of a micro underwater unmanned vehicle (without the sealing cover) provided in an embodiment of the present invention;

[0021] Figure 3 A schematic diagram of the interior of a control cabin provided by an embodiment of the present invention;

[0022] Figure 4 A schematic diagram of the interior of an equipment cabin provided by an embodiment of the present invention;

[0023] Figure 5 A schematic structural diagram of an annular connector provided in an embodiment of the present invention;

[0024] Figure 6 A schematic structural diagram of another annular connector provided in an embodiment of the present invention;

[0025] Figure 7 A schematic diagram of the communication connection of a micro underwater unmanned vehicle provided in an embodiment of the present invention.

[0026] In the figure: 1-shell; 11-detection cabin; 12-control cabin; 121-second mounting plate; 13-power cabin; 14-equipment cabin; 141-first mounting plate; 142-mounting cavity; 143-external interface; 144-sealing cover; 15-bow section; 16-midship section; 17-stern section; 18-annular reinforcement; 181-closed partition; 182-hollow partition; 183-threading hole; 19-depth sensor; 2-perception component; 21-first imaging component; 22-inertial measurement component; 23-second imaging component; 3-communication component; 31-positioning and navigation module; 311-ultra-short baseline; 312-Beidou short message; 32-digital image transmission module; 33-telemetry module; 34-signal adapter board; 35-power adapter board; 4-power component; 5-main control component; 6-power component. DETAILED DESCRIPTION

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0028] The purpose of the present invention is to provide a micro underwater unmanned vehicle to solve the problems existing in the above-mentioned prior art and to improve the flexibility of tasks and the rationality of space arrangement.

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] This embodiment provides a micro underwater unmanned vehicle. Figure 1-Figure 4, including a shell 1, a sensing component 2, a communication component 3, a power component 4, a main control component 5 and a power supply component 6; the shell 1 is configured to be streamlined and closed, and the inside of the shell 1 is sequentially provided with a detection cabin 11, a control cabin 12, a power supply cabin 13 and an equipment cabin 14 from front to back; the sensing component 2 is arranged in the detection cabin 11 and / or the equipment cabin 14, and is used to obtain environmental information and posture information; the communication component 3 is arranged in the equipment cabin 14, is used for positioning and can communicate with the outside world; the power component 4 is arranged at the rear end of the shell 1, is used to provide power and can perform posture control; the main control component 5 is arranged in the control cabin 12, the main control component 5 is communicated with the sensing component 2, and can receive environmental information and posture information; the main control component 5 is also communicated with the communication component 3 and can communicate with the outside world; the main control component 5 is also communicated with the power component 4 and can control the action of the power component 4; the power supply component 6 is arranged in the power supply cabin 13, is electrically connected to the sensing component 2, the communication component 3, the power component 4 and the main control component 5, and can provide the required electrical energy.

[0031] By acquiring environmental information and posture information through the perception component 2, the main control component 5 can control the action of the power component 4 according to the perception information of the perception component and the positioning information of the communication component 3, so as to be able to adjust the navigation posture so that the whole is on the required navigation trajectory, thereby improving the flexibility of the task; wherein the power supply component 6 provides the required electrical energy for the whole, and is independently arranged in the power supply compartment 13. Compared with the existing highly integrated setting, it helps to improve the power supply capacity and improve the endurance; the shell 1 is set to a streamlined closed shape, which significantly reduces the navigation resistance and facilitates the simultaneous improvement of the navigation stability and maneuverability of the appearance and power matching strategy; in addition, the shell 1 is set to a multi-compartment setting, and the specific installation positions are reasonably arranged according to different functional components. The electrical components such as the main control component 5, the perception component 2, the power supply component 6 and the communication component 3 are reasonably divided into compartments. The modular setting facilitates the independent maintenance and repair of each electrical component, and can also reduce the interference between electrical components.

[0032] In the optional scheme of this embodiment, it is more preferred that the shell 1 includes a bow section 15, a midsection 16 and a stern section 17 from front to back; the bow section 15 includes a detection cabin 11 and a control cabin 12, the midsection 16 includes a power cabin 13 and an equipment cabin 14, and the stern section 17 is provided with a power assembly 4; the detection cabin 11, the control cabin 12, the power cabin 13, the equipment cabin 14 and the stern section 17 can be disassembled and connected in sequence, and the connections are circumferentially sealed; by setting the multiple cabins to a detachable connection mode, installation, maintenance and disassembly are facilitated, and the circumferential seal ensures waterproof performance.

[0033] Further preferably, the power assembly 4 can adopt a conventional aircraft power system. Specifically, the power assembly 4 includes 4 high-precision servos and 1 propeller; the 4 servos are respectively connected to the four rudder plates, and the 4 servos are arranged inside the stern section 17 by bolt connection. The driven end of the rudder plate extends into the stern section 17 and is connected to the servo. Under the control of the main control component 5, the servo drives the corresponding rudder plate to rotate relative to the stern section 17, thereby adjusting the navigation attitude. The maximum rotation angle of the rudder plate is ±20°, and the accuracy is 0.1°; the propeller is arranged at the tail of the stern section 17 to provide power. The propeller adopts a propeller structure. The propeller directly contacts the water body and realizes contactless power transmission with the motor through magnetic coupling. The motor is fixedly connected to the stern section 17 by bolts or welding. Under the control of the main control component 5, the motor drives the propeller to rotate to provide propulsion. A fairing is provided outside the propeller to protect the propeller and divert the water.

[0034] In the optional scheme of this embodiment, it is more preferred that the detection cabin 11, the control cabin 12, the power cabin 13, the equipment cabin 14 and the stern section 17 are sequentially connected by annular reinforcement members 18 to achieve detachable connection, and the outer peripheral wall of each annular reinforcement member 18 is circumferentially sealed with the inner peripheral wall of the corresponding detection cabin 11, the control cabin 12, the power cabin 13, the equipment cabin 14 and the stern section 17; by providing the annular reinforcement member 18, while connecting the adjacent cabins, it can play a reinforcing role on the whole; specifically, the annular reinforcement member 18 is provided as a flange with annular reinforcement ribs, The flange parts on both sides of the axial direction of the annular reinforcing rib are respectively sleeved on the adjacent cabin body, and the outer surface of the annular reinforcing rib has the same shape as the outer surface of the adjacent cabin body, forming a streamlined closed shape; in order to improve the sealing of the sleeve, the flange parts on both sides of the axial direction of the annular reinforcing rib are provided with side-by-side double-layer rectangular grooves, and "O"-shaped sealing rings are installed in the grooves. The volume of the rectangular groove is greater than 15% of the O-ring to ensure the sealing, and screw holes are designed on both sides of the annular reinforcing rib to further improve the connection stability with the cabin body. At the same time, the screw holes are blind holes to prevent water from leaking from the threaded holes.

[0035] Further preferably, a closed partition 181 is provided in the middle of the annular reinforcement 18 between the detection cabin 11 and the control cabin 12 and between the equipment cabin 14 and the stern section 17, and a threading hole 183 is provided on the closed partition 181. Figure 5 As shown, by setting a closed partition 181, water is prevented from entering the midship section 16 after the bow section 15 and the stern section 17 are broken, and by setting a threading hole 183, the arrangement of the signal transmission line or the power line can be met, and the threading hole 183 can be provided with a watertight connector to achieve signal connection, and also prevent water from flowing between the cabins through the threading hole 183; a hollow partition 182 is provided in the middle of the annular reinforcement 18 between the control cabin 12 and the power cabin 13 and the power cabin 13 and the equipment cabin 14, as shown in FIG. Figure 6As shown, the connection strength is ensured while the weight is reduced as much as possible, and the remaining weight is used to install other functional components. At the same time, the hollow part can allow the power line and data line to pass through.

[0036] In the optional scheme of this embodiment, it is more preferred that the perception component 2 includes a first imaging component 21, an inertial measurement component 22 and a second imaging component 23, which are all communicatively connected to the main control component 5. The first imaging component 21 and the inertial measurement component 22 are arranged in the detection cabin 11, and the cabin wall of the detection cabin 11 is set to a transparent material; the second imaging component 23 is arranged on the outer cabin wall of the equipment cabin 14; the first imaging component 21 and the second imaging component 23 are both used to obtain environmental information, and the inertial measurement component 22 is used to obtain posture information.

[0037] Furthermore, the first imaging component 21 is configured as a binocular camera. The camera, as an eye-like object, should face forward and reverse directions without any obstruction, so it is installed in the bow section 15. The detection cabin 11 is made of transparent materials, such as high-strength acrylic or polycarbonate, to ensure a clear field of view. The camera is located away from high-current areas and adopts a stable USB2.0 communication protocol to support the transmission of binocular images with a resolution of 1920×1080 and a frame rate of 30. The signal is clear and noise-free. The inertial measurement component 22 can be set as a nine-axis IMU to provide its own position and acceleration information. In terms of spatial layout, the electromagnetic interference near the power cabin 13 when the system is working is fully considered, so that a safety distance of 30 cm is reserved between the inertial measurement component 22 and the power cabin 13. By welding and fixing a bracket in the detection cabin 11, the first imaging component 21 and the inertial measurement component 22 can be connected to the bracket by screws, wherein the bracket is made of aluminum, which provides a reliable installation surface while reducing additional weight.

[0038] Furthermore, the second imaging component 23 is configured as two side-scan sonar transducers, which are installed on the lower side of the equipment cabin 14 by screws and separated by 140° according to its working requirements. A watertight through hole is designed on the equipment cabin 14 for connecting the side-scan sonar transducer with the interior of the cabin by cable.

[0039] In the optional scheme of this embodiment, it is more preferred that a depth sensor 19 and a watertight inspection hole are provided on the outer wall of the control cabin 12, the depth sensor 19 is communicatively connected to the main control component 5, and is used to monitor the depth information; and the depth sensor 19 is electrically connected to the power supply assembly 6, and can obtain the required electrical energy; wherein, the depth sensor 19 is installed at the lower part of the control cabin 12, and is installed by reserving a through hole after locally thickening the inside of the control cabin 23, which not only ensures that the sensor can be used normally but also does not affect the bow strength and local watertightness; the outside of the sensor is a honeycomb hole cover plate, which is convenient for seawater penetration, and the corrugated surface of the sensor is in contact with the seawater, thereby obtaining absolute pressure information to infer the current depth; the watertight inspection hole is a standardized bolt set on the outer wall of the corresponding cabin body. Usually, before launching each experiment, an air compressor is used to pressurize the inside of the shell to check the watertight performance.

[0040] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 7 The communication component 3 includes a positioning and navigation module 31, a digital image transmission module 32, a remote transmission module 33 and a signal adapter board 34. The remote transmission module 33 is communicated with the positioning and navigation module 31 and the digital image transmission module 32, and the remote transmission module 33 is used to communicate with the outside world; the main control component 5 is communicated with the positioning and navigation module 31 and the digital image transmission module 32 through the signal adapter board 34, and the signal adapter board 34 is used to normalize the internal communication to Ethernet and CAN bus; the main control component 5 is communicated with the second imaging component 23 and the digital image transmission module 32 through Ethernet, and the digital image transmission module 32 is used to obtain the imaging information of the second imaging component 23 and transmit it to the main control component 5; the main control component 5 is communicated with the positioning and navigation module 31 and the power component 4 through the CAN bus. Among them, the signal adapter board 34 normalizes the internal communication of the system to Ethernet and CAN bus, and utilizes its parallel connection and the ability to meet the long-distance reliable communication characteristics to greatly improve the simplicity and scalability of the system, and provide a technical foundation for the iterative upgrade and functional expansion of subsequent spacecraft; the main control component 5 can adopt the NVIDIA TX2nx model.

[0041] Furthermore, the positioning and navigation module 31 includes an ultra-short baseline 311 and a Beidou short message 312. The signal conversion board 34 adopts a bidirectional signal conversion board for RS232 serial communication-CAN serial communication and adopts an RJ45-hub, i.e., an Ethernet hub, to realize the conversion of all information interfaces within the system into Ethernet and CAN buses. Specifically, the signal conversion board 34 is also designed with an RS232 signal transceiver, a CAN transceiver, and a signal bidirectional conversion chip, which are integrated into the serial port to CAN module. At the same time, a line interface for the electrical signal module connected to the CAN bus and an interface for transmitting control signals to the power assembly 4 of the stern section 17 are reserved. The other end of the signal conversion is the RS232 signal from the positioning and navigation module 31; see Figure 7The signals of the binocular camera and the IMU are connected to the main control component 5 through USB, the depth sensor is connected to the main control component 5 through I2C, the imaging information of the side scan sonar can be transmitted to the digital image transmission module 32 through the local area network, that is, Ethernet, and the imaging information of the side scan sonar can also be directly transmitted to the main control component 5 through the local area network, that is, Ethernet. The information of the digital image transmission module 32 can also be transmitted to the main control component 5 through the local area network, that is, Ethernet. The signals of the ultra-short baseline 311 and the Beidou short message 312 are connected to the main control component 5 through the serial port to CAN module on the signal adapter board 34 to realize data transmission. The power component 4 and the power supply component 6 are both connected to the main control component 5 through the CAN bus; the image information of the digital image transmission module 32 The positioning and navigation information of the Beidou short message 312 can be directly transmitted to the outside world through the remote transmission module 33; and the ultra-short baseline 311 can autonomously send position information to the outside world through its own integrated antenna and transmit simple control instructions from the outside world to the main control board through the signal adapter board 34; wherein the power supply component 6 is electrically connected to each component through the power adapter board 35, and the power conversion board 35 realizes that the voltage level is divided from the single voltage of the battery to multiple voltage levels to meet the needs of different electrical appliances. For example, the 48V voltage drawn from the power supply component 6 is converted into 12V and 5V outputs through the on-board voltage conversion chip to supply different electrical appliances respectively. According to the output power and the rated working power of each electrical appliance provided by the power conversion board 35, a reasonable power supply combination is arranged. When a new sensing device is added, it is only necessary to design a power supply cable according to its working voltage level, and then connect the communication of the sub-components to the system communication network to realize the addition of components, which provides great convenience for future upgrades, optimizations and function expansions of the system.

[0042] In the optional scheme of this embodiment, it is more preferred that two first mounting plates 141 are fixedly arranged vertically side by side in the equipment cabin 14, and the Beidou short message 312, the digital image transmission module 32, the circuit board of the second imaging component 23 and the signal adapter board 34 are arranged on the upper first mounting plate 141, and there is a heat dissipation gap between them and the upper first mounting plate 141; a power adapter board 35 and a corresponding power line are provided on the lower first mounting plate 141, and there is a heat dissipation gap between the power adapter board 35 and the lower first mounting plate 141; the power supply component 6 is connected to the power adapter board 312 through the power adapter board 312. 5 provides different voltages and is electrically connected to the sensing component 2, the communication component 3, the power component 4 and the main control component 5 to provide the required electrical energy; the setting of the double-layer first mounting plate 141 minimizes the interference effect of electromagnetic interference on various functional components by isolating the power supply and the signal in layers, and the two layers of the first mounting plates 141 are bolted together using an "I"-shaped structure; the first mounting plate 141 can be welded or bolted in the equipment compartment 14; at the same time, the first mounting plate 141 is reserved with multiple tie holes to organize the cables, thereby improving the simplicity and reliability of the overall system.

[0043] Furthermore, the remote transmission module 33 and the ultra-short baseline 311 are both fixedly mounted on the outer bulkhead of the equipment cabin 14. The remote transmission module 33 has a drag-reducing shell, and the ultra-short baseline 311 is placed on the rear side of the remote transmission module 33. The disc-shaped antennas of the remote transmission module 33 and the ultra-short baseline 311 need to be installed horizontally. The drag-reducing shell adopts a teardrop-shaped shape to reduce the resistance of water during navigation. Secondly, the shell is made of ABS plastic, and its ductility prevents it from breaking directly when it is slightly collided, causing external water to flow into the cabin. Taking into account the function of the drag-reducing shell to reduce resistance and its anti-collision properties to a certain extent, it is installed in front of the ultra-short baseline 311 to protect the ultra-short baseline 311.

[0044] In the optional scheme of this embodiment, it is more preferred that a second mounting plate 121 is fixedly provided in the control cabin 12, the main control component 5 is provided on the second mounting plate 121, and there is a heat dissipation gap between the second mounting plate 121; correspondingly, the second mounting plate 141 can be welded or bolted to the control cabin 12.

[0045] Furthermore, the heat dissipation gaps mentioned above are all realized by copper pillars, that is, each component is spaced from the corresponding first mounting plate 141 or the second mounting plate 121 by multiple copper pillars, and the copper pillars can be threaded or clamped to the mounting plate and the corresponding component; the heat dissipation efficiency is improved by setting the heat dissipation gaps.

[0046] Among the optional schemes of this embodiment, it is more preferred that, considering the need for data collection and program update after salvage, if the cabin is opened, the sealing effect will be reduced. In order to reduce the number of times the cabin is opened, an installation cavity 142 is provided on the outside of the equipment cabin 14, and at least one external interface 143 is provided on the installation cavity 142; the installation cavity 142 is detachably provided with a sealing cover 144, and the outer side surface of the sealing cover 144 and the outer side surface of the equipment cabin 14 form a streamlined closed shape; sealing based on the arc surface is relatively difficult, so it is considered to add a sealing cover 144 to the plane inside the external interface installation cavity 142 to ensure the consistency of the appearance. Specifically, three external interfaces can be configured on the plane inside the installation cavity 142, and the interface arrangement and installation position are, from left to right, a charging socket to realize charging and discharging of the power supply component 6, a waterproof knob switch, and a waterproof plug to realize data collection and program update; wherein, the waterproof knob switch is used to control whether the power supply component 6 discharges to the outside, and turns off the switch when not in use to reduce power loss and prevent non-ideal startup of various electrical appliances.

[0047] Among the optional solutions of this embodiment, it is more preferred that the power supply assembly 6 includes a battery pack, which is densely and symmetrically arranged, effectively improving space utilization. At the same time, fixed brackets are designed at its left and right ends to ensure the stability of the installation of the heavy battery pack during navigation; the fixed brackets can be welded or bolted to the power supply compartment 13.

[0048] Among the optional schemes of this embodiment, it is more preferred that the shell 1 adopts a torpedo-shaped structure; the control cabin 12, the power cabin 13, the equipment cabin 14 and the stern section 17 are made of hard-oxidized aluminum alloy material, and 6061T4 aluminum alloy can be used. The main alloying elements are magnesium and silicon, and it has medium strength, good corrosion resistance, weldability, and good oxidation effect. In addition, after the anodic hard oxidation process, the whole is black, and the hardness and oxide film thickness are further improved; by adopting the integrated design of the torpedo-shaped streamlined shape and the aluminum alloy material, the structural strength is improved while the navigation resistance is reduced, and a dynamic balance of speed, controllability and stability is achieved.

[0049] In addition, when corresponding components are set on the outer wall of the cabin, they are all set to be watertight connections to ensure watertight performance, such as welding or bolts with sealing rings.

[0050] After confirming the type of equipment carried, the overall layout of the micro underwater unmanned vehicle provided in this embodiment needs to meet the requirements of the center of mass and buoyancy position and positive buoyancy. The power supply compartment 13 has the largest mass, and its position determines the position of the center of gravity of the whole. Therefore, two types of situations are discussed, namely, the battery is in the front or the back. Assuming it is in a negative buoyancy state, it will continue to sink without external force, which is not conducive to salvage and attitude adjustment. Therefore, by calculating the displacement volume of the shell 1 and the total weight of the internal equipment, it is ensured that it is in a positive buoyancy state. If the power supply compartment 13 is in the back half of the UUV, the whole head is light and the feet are heavy. The propeller provides upward thrust by default, and the upward posture of the bow section 15 is not conducive to observing the seabed conditions. Therefore, by moving the power supply compartment 13 forward, the center of gravity is moved forward, the mass of the propeller of the stern section 17 is balanced, and the torque is balanced. It should be noted that in the actual process involved, the overall center of gravity is specifically adjusted according to the specific application situation to meet the required buoyancy requirements of the whole.

[0051] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A micro underwater unmanned vehicle, characterized by: include: The housing (1) is configured to be streamlined and closed, and a detection cabin (11), a control cabin (12), a power cabin (13), and an equipment cabin (14) are sequentially provided inside the housing (1) from front to back; A sensing component (2) is provided in the detection cabin (11) and / or the equipment cabin (14) and is used to obtain environmental information and posture information; A communication component (3) is arranged in the equipment compartment (14) and is used for positioning and enabling communication with the outside world; A power assembly (4) is arranged at the rear end of the housing (1) and is used to provide power and enable posture control; A main control component (5) is arranged in the control cabin (12), the main control component (5) is connected to the sensing component (2) in communication, and is capable of receiving environmental information and posture information; the main control component (5) is also connected to the communication component (3) in communication, and is capable of communicating with the outside world; the main control component (5) is also connected to the power component (4) in communication, and is capable of controlling the action of the power component (4); and A power supply component (6) is disposed in the power supply compartment (13), is electrically connected to the sensing component (2), the communication component (3), the power component (4) and the main control component (5), and is capable of providing required electrical energy.

2. The micro underwater unmanned vehicle according to claim 1, characterized in that: The shell (1) comprises a bow section (15), a midship section (16) and a stern section (17) in sequence from front to back; the bow section (15) comprises the detection cabin (11) and the control cabin (12), the midship section (16) comprises the power cabin (13) and the equipment cabin (14), and the stern section (17) is provided with the power assembly (4); the detection cabin (11), the control cabin (12), the power cabin (13), the equipment cabin (14) and the stern section (17) are sequentially detachably connected, and the connection points are circumferentially sealed.

3. The micro underwater unmanned vehicle according to claim 2, characterized in that: The detection cabin (11), the control cabin (12), the power cabin (13), the equipment cabin (14) and the stern section (17) are sequentially connected in a detachable manner via annular reinforcements (18), and the outer peripheral wall of each annular reinforcement (18) is circumferentially sealed from the inner peripheral wall of the corresponding detection cabin (11), the control cabin (12), the power cabin (13), the equipment cabin (14) and the stern section (17); A closed partition (181) is provided in the middle of the annular reinforcement (18) between the detection cabin (11) and the control cabin (12) and between the equipment cabin (14) and the stern section (17), and a threading hole (183) is provided on the closed partition (181); a hollow partition (182) is provided in the middle of the annular reinforcement (18) between the control cabin (12) and the power cabin (13) and between the power cabin (13) and the equipment cabin (14).

4. The micro underwater unmanned vehicle according to claim 1, characterized in that: The sensing component (2) comprises a first imaging component (21), an inertial measurement component (22), and a second imaging component (23) which are all communicatively connected to the main control component (5); the first imaging component (21) and the inertial measurement component (22) are arranged in the detection cabin (11), and the cabin wall of the detection cabin (11) is set to a transparent material; the second imaging component (23) is arranged on the outer cabin wall of the equipment cabin (14); the first imaging component (21) and the second imaging component (23) are both used to obtain environmental information, and the inertial measurement component (22) is used to obtain attitude information.

5. The micro underwater unmanned vehicle according to claim 1, characterized in that: A depth sensor (19) and a watertight inspection hole are provided on the outer wall of the control cabin (12); the depth sensor (19) is communicatively connected with the main control component (5) and is used to monitor depth information; and the depth sensor (19) is electrically connected with the power supply component (6) and is capable of obtaining required electrical energy.

6. The micro underwater unmanned vehicle according to claim 4, characterized in that: The communication component (3) comprises a positioning and navigation module (31), a digital image transmission module (32), a remote transmission module (33) and a signal adapter board (34); the remote transmission module (33) is communicatively connected to the positioning and navigation module (31) and the digital image transmission module (32); the remote transmission module (33) is used for communicating with the outside world; the main control component (5) is communicatively connected to the positioning and navigation module (31) and the digital image transmission module (32) via the signal adapter board (34); the signal adapter board (34) is used for normalizing internal communications to Ethernet and CAN bus; the main control component (5) is communicatively connected to the second imaging component (23) and the digital image transmission module (32) via Ethernet; the digital image transmission module (32) is used for acquiring imaging information of the second imaging component (23) and transmitting it to the main control component (5); the main control component (5) is communicatively connected to the positioning and navigation module (31) and the power component (4) via the CAN bus.

7. The micro underwater unmanned vehicle according to claim 6, characterized in that: Two first mounting plates (141) are fixedly arranged side by side vertically in the equipment cabin (14); the positioning and navigation module (31) includes an ultra-short baseline (311) and a Beidou short message (312); the Beidou short message (312), the digital image transmission module (32), the circuit board of the second imaging component (23), and the signal adapter plate (34) are arranged on the upper first mounting plate (141), and a heat dissipation gap is formed between the upper first mounting plate (141); a power adapter plate (35) is provided on the lower first mounting plate (141), and a heat dissipation gap is formed between the power adapter plate (35) and the lower first mounting plate (141); the power supply component (6) provides different voltages through the power adapter plate (35), and is electrically connected to the sensing component (2), the communication component (3), the power component (4), and the main control component (5) to provide required electrical energy; The remote transmission module (33) and the ultra-short baseline (311) are both fixedly arranged on the outer wall of the equipment cabin (14); the remote transmission module (33) has a drag reduction shell, and the ultra-short baseline (311) is placed on the rear side of the remote transmission module (33).

8. The micro underwater unmanned vehicle according to claim 1, characterized in that: A second mounting plate (121) is fixedly provided in the control cabin (12); the main control component (5) is provided on the second mounting plate (121), and a heat dissipation gap is provided between the main control component (5) and the second mounting plate (121).

9. The micro underwater unmanned vehicle according to claim 1, characterized in that: The outside of the equipment compartment (14) is provided with an installation cavity (142), and at least one external interface (143) is provided on the installation cavity (142); the installation cavity (142) is detachably provided with a sealing cover (144), and the outer side surface of the sealing cover (144) and the outer side surface of the equipment compartment (14) form a streamlined closed shape.

10. The micro underwater unmanned vehicle according to claim 2, characterized in that: The shell (1) adopts a torpedo-type structure; the control cabin (12), the power cabin (13), the equipment cabin (14) and the stern section (17) are made of hard-oxidized aluminum alloy.

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