Small autonomous underwater vehicle

Abstract

The invention belongs to the technical field of underwater robots, and particularly relates to a small autonomous underwater vehicle, which comprises a fully-sealed shell, the power steering structure is connected to the tail end of the full-sealed shell in the advancing direction; the power steering structure is used for driving the full-sealed shell to steer, float and dive; an equipment cavity is formed in the fully-sealed shell, a power supply assembly, a control assembly and a visual assembly are installed in the equipment cavity, and the visual assembly is located at the front end of the advancing direction of the fully-sealed shell; air is sealed in the equipment cavity to provide buoyancy, and the fully-sealed shell is of a streamline structure. An air inlet and outlet structure is omitted, residual air in the cabin is also used as a buoyancy cabin, and balancing is remarkably simplified; the shell is of a torpedo-like streamline structure, vector control can be achieved on the three degrees of freedom of yawing, pitching and rolling, and the requirement for rapid steering of a narrow channel is met. The device has the remarkable advantages of being compact in structure, high in maneuverability, low in energy consumption and convenient to deploy.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater robots, and in particular relates to a small autonomous underwater vehicle. Background Art

[0002] Autonomous underwater vehicles are widely used in underwater exploration, environmental monitoring, scientific research, and underwater search and rescue. Currently, conventional medium and large AUVs are usually designed for vast waters such as the deep sea and the open ocean. They are large in size, complex in structure, and have a wide turning radius, making them difficult to adapt to small inland waters with limited space, such as lakes and rivers. In addition, the environment of small waters is complex, with problems such as shallows, narrow channels, and many underwater obstacles, making it impossible for traditional medium and large AUVs to complete their tasks effectively. Therefore, the development of a small autonomous underwater vehicle suitable for small waters such as lakes and rivers, with a compact structure, strong maneuverability, and precise heading control, has become a technical problem that needs to be urgently solved in this field. Summary of the Invention

[0003] The purpose of the present invention is to provide a small autonomous underwater vehicle to solve the above problems.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] A small autonomous underwater vehicle comprising:

[0006] Fully sealed housing;

[0007] A power steering structure is connected to the tail end of the fully sealed housing in the direction of travel; the power steering structure is used to drive the fully sealed housing to turn, float and dive;

[0008] An equipment cavity is provided in the fully sealed shell, in which a power supply component, a control component and a visual component are installed. The visual component is located at the front end of the moving direction of the fully sealed shell; air is sealed in the equipment cavity to provide buoyancy, and the fully sealed shell has a streamlined structure.

[0009] Optionally, the fully sealed housing includes:

[0010] an aluminum tube, wherein the power supply component and the control component are installed in the aluminum tube;

[0011] A visual part housing is sealed and fixedly connected to the front end of the aluminum tube in the direction of travel, and the visual component is installed in the visual part housing;

[0012] The end of the aluminum tube away from the vision part housing is sealed, and the end of the aluminum tube away from the vision part housing is connected to the power steering structure.

[0013] Optionally, the visual unit housing includes:

[0014] A visual segment protection cover, one end of which is sealed and fixed to the aluminum tube via a front waterproof flange, and the other end of which is sealed and fixed to a transparent hemispherical visual segment protection shell;

[0015] The visual segment protection cover is threadedly fixed to the front waterproof flange by a plurality of bolts. The front waterproof flange and the aluminum tube are interference fit. An O-ring is provided at the connection between the front waterproof flange and the aluminum tube.

[0016] The transparent hemispherical visual segment protection shell and the visual segment protection cover are fixedly connected by waterproof sealant and buckle sealing;

[0017] The end of the aluminum tube away from the visual segment protective cover is interference-fitted with a rear waterproof flange, and an O-ring is provided at the connection between the rear waterproof flange and the aluminum tube;

[0018] The rear waterproof flange is fixedly connected to an acrylic circular plate by bolts, and the acrylic circular plate is used to be connected to the power steering structure.

[0019] Optionally, the power steering structure includes:

[0020] The power compartment shell is fixedly connected to the acrylic circular plate via a power compartment waterproof flange;

[0021] A steering portion, provided on the power compartment housing;

[0022] A propeller is fixed to an end of the power compartment housing away from the acrylic circular plate;

[0023] A communication interface is provided on the power compartment housing;

[0024] The power compartment shell and the power compartment waterproof flange are fixed by M5 bolts.

[0025] Optionally, the steering portion includes a plurality of rudder blades rotatably arranged on the power compartment housing, and the rudder blades are transmission-connected to a steering gear;

[0026] There are three rudder blades, which are distributed in a Y shape. The fixed end of the servo is fixedly connected to the power compartment housing, and the rudder blade is fixedly connected to the output shaft of the servo.

[0027] Optionally, a water depth sensor is fixedly connected to the power compartment shell.

[0028] Optionally, the visual component includes:

[0029] A bracket is fixed in the aluminum tube; the power supply component, the control component and the visual component are fixed to the bracket in sequence, and the visual component is located at the front end of the fully sealed housing in the direction of travel;

[0030] The bracket comprises:

[0031] The central control section bracket has a visual module bracket for installing the visual component fixedly connected at one end, and a power supply bracket for installing the power supply component fixedly connected at the other end. The central control section bracket is used to install the control component.

[0032] Optionally, the visual component includes:

[0033] A visual acquisition sensor is rotatably arranged on the visual module bracket, one end of the visual acquisition sensor is engaged with a visual gear, the visual gear is rotatably arranged on the visual module bracket, the visual gear shaft is connected to the output shaft of the visual servo, and the fixed end of the visual servo is fixedly connected to the visual module bracket.

[0034] Optionally, the control assembly includes a flight controller, a communication board, a development board and a motor electronic regulator fixedly connected to the central control section bracket.

[0035] Optionally, the power supply assembly includes:

[0036] A power supply is fixedly connected to the power supply bracket, the power supply bracket is fixedly connected to a power supply cover, and the power supply cover covers the top of the power supply;

[0037] The power supply bracket and the power supply cover are fixedly connected to the central control section bracket through a screw rod.

[0038] Compared with the prior art, the present invention has the following advantages and technical effects:

[0039] The device includes a fully sealed shell and a power steering structure, wherein the fully sealed shell is a fully enclosed cabin design, and is divided into a visual section, a central control section and a power supply section. The fully sealed shell is used to provide a streamlined shape to reduce the resistance of navigation in water. The visual section is used to collect images in front for task identification, the central control section is used to receive environmental information and give control instructions after calculation, and the power supply section is used to provide energy for the whole. The power steering structure is an open cabin section with an unsealed outer shell. Only some key components in the cabin are pressure-sealed. The power steering structure includes a power cabin waterproof flange, a power cabin outer shell, a deflection mechanism, a thruster, a water depth sensor and a communication interface. The power cabin waterproof flange is used to connect the central control power cabin and the power cabin. The outer shell is used to provide a streamlined shape to reduce the resistance of navigation in water. The deflection structure realizes the yaw, pitch and roll control of the autonomous underwater vehicle. The thruster is used to provide power to the autonomous underwater vehicle. The water depth sensor is used to detect the water depth. The communication interface is used to communicate with the computer host. This device provides buoyancy by sealing air within the chamber, allowing it to float in water. It also uses a power steering mechanism to achieve steering, ascent, and descent. Compared to traditional structures, this device eliminates the intake and exhaust structures, with the remaining air in the cabin serving as a buoyancy chamber, significantly simplifying trim. The outer shell adopts a streamlined structure that mimics a torpedo, and the integrated transition of the rudder and fin reduces frictional resistance. The power compartment is equipped with three Y-shaped waterproof servos and rudder deflection mechanisms, enabling vector control in the three degrees of freedom of yaw, pitch, and roll, meeting the requirements for rapid steering in narrow waterways. This device offers the significant advantages of compact structure, high maneuverability, low energy consumption, and easy deployment. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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. Those skilled in the art can also derive other drawings based on these drawings without inventive work.

[0041] Figure 1 This is a schematic diagram of the housing structure of the present invention;

[0042] Figure 2 This is a side view of the central control power compartment of the present invention;

[0043] Figure 3 The internal structure of the central control power supply compartment of the present invention;

[0044] Figure 4 This is a side view of the power cabin of the present invention;

[0045] Figure 5 This is a rear view of the power cabin of the present invention;

[0046] Figure 6 It is a cross-sectional view of the power cabin of the present invention.

[0047] Among them, 1. Transparent hemispherical vision segment protective shell; 2. Vision segment protective cover; 3. Front waterproof flange; 4. Aluminum tube; 5. Rear waterproof flange; 6. Acrylic round plate; 7. Power compartment waterproof flange; 8. Power compartment shell; 9. Rudder; 10. Communication interface; 11. Thruster; 12. Visual acquisition sensor; 13. Vision module bracket; 14. Vision servo; 15. Vision gear; 16. Central control section bracket; 17. Flight controller; 18. Motor electronic regulator; 19. Communication board; 20. Development board; 21. Power supply bracket; 22. Power supply cover; 23. Power supply; 25. Water depth sensor; 26. Servo; 27. M5 bolt. DETAILED DESCRIPTION

[0048] 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.

[0049] 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.

[0050] Reference Figures 1 to 6 The present invention discloses a small autonomous underwater vehicle, comprising:

[0051] Fully sealed housing;

[0052] A power steering structure is connected and arranged at the tail end of the fully sealed housing in the direction of travel; the power steering structure is used to drive the fully sealed housing to turn, float and dive;

[0053] An equipment cavity is provided in the fully sealed shell, in which a power supply component, a control component and a visual component are installed. The visual component is located at the front end of the fully sealed shell in the direction of travel. Air is sealed in the equipment cavity to provide buoyancy, and the fully sealed shell has a streamlined structure.

[0054] The device includes a fully sealed shell and a power steering structure, wherein the fully sealed shell is a fully enclosed cabin design, and is divided into a visual section, a central control section and a power section. The fully sealed shell is used to provide a streamlined shape to reduce the resistance of navigation in water. The visual section is used to collect images in front for task identification, the central control section is used to receive environmental information to give control instructions after calculation, and the power section is used to provide energy to the whole. The power steering structure is an open cabin section, the outer shell is not sealed, and only some key components in the cabin are pressure-sealed. The power steering structure includes a power cabin waterproof flange, a power cabin outer shell, a deflection mechanism, a propeller 11, a water depth sensor and a communication interface. The power cabin waterproof flange is used to connect the central control power cabin and the power cabin. The outer shell is used to provide a streamlined shape to reduce the resistance of navigation in water. The deflection structure realizes the yaw, pitch and roll control of the autonomous underwater vehicle. The propeller is used to provide power to the autonomous underwater vehicle. The water depth sensor is used to detect the water depth. The communication interface is used to communicate with the computer host. This device provides buoyancy by sealing air within the chamber, allowing it to float in water. It also uses a power steering mechanism to achieve steering, ascent, and descent. Compared to traditional structures, this device eliminates the intake and exhaust structures, with the remaining air in the cabin serving as a buoyancy chamber, significantly simplifying trim. The outer shell adopts a streamlined structure that mimics a torpedo, and the integrated transition of the rudder and fin reduces frictional resistance. The power compartment is equipped with three Y-shaped waterproof servos and rudder deflection mechanisms, enabling vector control in the three degrees of freedom of yaw, pitch, and roll, meeting the requirements for rapid steering in narrow waterways. This device offers the significant advantages of compact structure, high maneuverability, low energy consumption, and easy deployment.

[0055] As an optional embodiment, the fully sealed housing includes:

[0056] Aluminum tube 4, where power supply components and control components are installed;

[0057] The visual part housing is sealed and fixed to the front end of the aluminum tube 4 in the direction of travel, and the visual component is installed in the visual part housing;

[0058] One end of the aluminum tube 4 away from the housing of the vision part is sealed, and the other end of the aluminum tube 4 away from the housing of the vision part is connected to the power steering structure.

[0059] As an optional embodiment, the visual part housing includes:

[0060] One end of the visual segment protection cover 2 is sealed and fixed to the aluminum tube 4 through the front waterproof flange 3, and the other end of the visual segment protection cover 2 is sealed and fixed to the transparent hemispherical visual segment protection shell 1;

[0061] The visual segment protection cover 2 is threadedly fixed to the front waterproof flange 3 by a number of bolts. The front waterproof flange 3 and the aluminum tube 4 are interference fit. An O-ring is provided at the connection between the front waterproof flange 3 and the aluminum tube 4.

[0062] The transparent hemispherical visual segment protection shell 1 and the visual segment protection cover 2 are sealed and fixed by waterproof sealant and buckles;

[0063] The end of the aluminum tube 4 away from the visual segment protection cover 2 is interference-fitted with a rear waterproof flange 5, and an O-ring is provided at the connection between the rear waterproof flange 5 and the aluminum tube 4;

[0064] The rear waterproof flange 5 is fixed with an acrylic circular plate 6 by bolts. The acrylic circular plate 6 is used to connect with the power steering structure.

[0065] As an optional embodiment, the power steering structure includes:

[0066] The power compartment shell 8 is fixedly connected to the acrylic circular plate 6 through the power compartment waterproof flange 7;

[0067] A steering portion, provided on the power compartment housing 8;

[0068] The propeller 11 is fixed to the end of the power compartment shell 8 away from the acrylic circular plate 6;

[0069] A communication interface 10 is provided on the power compartment housing 8;

[0070] The power compartment housing 8 and the power compartment waterproof flange 7 are fixed by M5 bolts 27.

[0071] The housing of the present invention adopts a segmented structure. The housing of the central control power compartment is composed of the following components: a transparent hemispherical visual segment protective shell 1 made of acrylic material, a visual segment protective cover 2, a front waterproof flange 3, an aluminum tube 4, a rear waterproof flange 5 and an acrylic circular plate 6; wherein, the transparent hemispherical visual segment protective shell 1 is sealed to the visual segment protective cover 2 by waterproof sealant and a snap. The visual segment protective cover 2 is fixed to the front waterproof flange 3 using 6 M3 bolts. The front waterproof flange 3 and the rear waterproof flange 5 are respectively fixed by interference fit with the aluminum tube 4 through their own two waterproof O-rings. The rear waterproof flange 5 and the acrylic circular plate 6 and the power compartment waterproof flange 7 are fixed by 6 M3 bolts; the power compartment is composed of the power compartment waterproof flange 7 and the power compartment housing 8, and the two are fixed by M5 bolts 27.

[0072] As an optional embodiment, the steering part includes a plurality of rudder blades 9, which are rotatably arranged on the power compartment housing 8, and the rudder blades 9 are transmission-connected to the steering gear 26;

[0073] There are three rudder blades 9 , which are distributed in a Y shape. The fixed end of the servo 26 is fixedly connected to the power compartment housing 8 , and the rudder blades 9 are fixedly connected to the output shaft of the servo 26 .

[0074] As an optional embodiment, a water depth sensor 25 is fixedly connected to the power compartment shell 8.

[0075] As an optional implementation, the visual component includes:

[0076] The bracket is fixed in the aluminum tube 4; the power supply component, the control component and the visual component are fixed to the bracket in sequence, and the visual component is located at the front end of the fully sealed housing in the direction of travel;

[0077] The bracket includes:

[0078] The central control section bracket 16 has a visual module bracket 13 for installing a visual component fixedly connected to one end thereof, and a power supply bracket 21 for installing a power supply component fixedly connected to the other end thereof. The central control section bracket 16 is used to install the control component.

[0079] As an optional implementation, the visual component includes:

[0080] The visual acquisition sensor 12 is rotatably set on the visual module bracket 13. One end of the visual acquisition sensor 12 is engaged with a visual gear 15. The visual gear 15 is rotatably set on the visual module bracket 13. The visual gear 15 is connected to the output shaft of the visual servo 14. The fixed end of the visual servo 14 is fixed to the visual module bracket 13.

[0081] As an optional embodiment, the control assembly includes a flight controller 17 fixed to the central control section bracket 16, a communication board 19, a development board 20 and a motor electronic regulator 18.

[0082] As an optional embodiment, the power supply assembly includes:

[0083] The power supply 23 is fixed to the power supply bracket 21. The power supply bracket 21 is fixed to a power supply cover 22. The power supply cover 22 covers the power supply 23.

[0084] The power supply bracket 21 and the power supply cover 22 are fixedly connected to the central control section bracket 16 through screw rods.

[0085] The visual acquisition sensor 12 in the visual section is connected to the visual module bracket 13 via two bearings. The visual servo 14 is bolted to the visual module bracket 13. The visual servo 14 controls the rotation of the visual acquisition sensor 12 via the visual gear 15. The visual module bracket 13 is bolted to the central control bracket 16. The central control bracket 16 is a one-piece structure consisting of two circular keels and four crossbeams. The four crossbeams respectively carry the flight controller 17, the motor ESC 18, the communication board 19, and the development board 20, all of which are bolted to the four crossbeams. The power supply bracket 21 comprises three circular keels. The power supply bracket 21 and the power supply cover 22 are fixed to the central control bracket 16 via four M4 screws. The power supply bracket 21 is bolted to the rear waterproof flange 5. The water depth sensor 25 and the communication interface 10 are fixed to the engine compartment housing 8 via their own threads. The servo 26 is bolted to the engine compartment housing 8, and the rudder blade 9 is also bolted to the servo 26.

[0086] In the present invention, the servo 26, the visual servo 14, the communication interface 10 are electrically connected to the flight controller 17, the motor ESC 18, the communication board 19, the development board 20, and the power supply 23. The line connection method belongs to the existing technology and will not be repeated here.

[0087] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, 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 therefore cannot be understood as a limitation on the present invention.

[0088] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A small autonomous underwater vehicle, characterized in that: include: Fully sealed housing; A power steering structure, connected to the rear end of the fully sealed housing in the direction of travel; The power steering structure is used to drive the fully sealed housing to turn, float and dive; An equipment cavity is provided in the fully sealed shell, in which a power supply component, a control component and a visual component are installed. The visual component is located at the front end of the moving direction of the fully sealed shell; air is sealed in the equipment cavity to provide buoyancy, and the fully sealed shell has a streamlined structure.

2. A small autonomous underwater vehicle according to claim 1, characterized in that: The fully sealed housing comprises: an aluminum tube (4), wherein the power supply component and the control component are installed in the aluminum tube (4); A visual part housing is sealed and fixedly connected to the front end of the aluminum tube (4) in the direction of travel, and the visual component is installed in the visual part housing; The end of the aluminum tube (4) away from the visual part housing is sealed, and the end of the aluminum tube (4) away from the visual part housing is connected to the power steering structure.

3. A small autonomous underwater vehicle according to claim 2, characterized in that: The visual part housing comprises: A visual segment protection cover (2) has one end sealed and fixed to the aluminum tube (4) via a front waterproof flange (3), and the other end of the visual segment protection cover (2) is sealed and fixedly connected to a transparent hemispherical visual segment protection shell (1); The visual segment protection cover (2) is threadedly fixed to the front waterproof flange (3) by a plurality of bolts, the front waterproof flange (3) and the aluminum tube (4) are interference fit, and an O-ring is provided at the connection between the front waterproof flange (3) and the aluminum tube (4); The transparent hemispherical visual segment protection shell (1) and the visual segment protection cover (2) are fixedly connected by waterproof sealant and snap-fit sealing; The end of the aluminum tube (4) away from the visual segment protection cover (2) is interference-fitted with a rear waterproof flange (5), and an O-ring is provided at the connection between the rear waterproof flange (5) and the aluminum tube (4); The rear waterproof flange (5) is fixedly connected to an acrylic circular plate (6) via bolts, and the acrylic circular plate (6) is used to be connected to the power steering structure.

4. A small autonomous underwater vehicle according to claim 3, characterized in that: The power steering structure comprises: The power compartment shell (8) is fixedly connected to the acrylic circular plate (6) via the power compartment waterproof flange (7); A steering portion, arranged on the power compartment housing (8); A propeller (11) is fixedly connected to an end of the power compartment housing (8) away from the acrylic circular plate (6); A communication interface (10) is provided on the power compartment housing (8); The power compartment housing (8) and the power compartment waterproof flange (7) are fixed via M5 bolts (27).

5. The small autonomous underwater vehicle according to claim 4, characterized in that: The steering portion includes a plurality of rudder blades (9) rotatably arranged on the power compartment housing (8), and the rudder blades (9) are transmission-connected to a steering gear (26); There are three rudder blades (9), which are distributed in a Y shape. The fixed end of the steering gear (26) is fixedly connected to the power compartment housing (8), and the rudder blade (9) is fixedly connected to the output shaft of the steering gear (26).

6. The small autonomous underwater vehicle according to claim 4, characterized in that: A water depth sensor (25) is fixedly connected inside the power compartment shell (8).

7. The small autonomous underwater vehicle according to claim 2, characterized in that: The visual components include: A bracket is fixedly connected to the aluminum tube (4); the power supply component, the control component and the visual component are fixedly connected to the bracket in sequence, and the visual component is located at the front end of the fully sealed housing in the direction of travel; The bracket comprises: A central control section bracket (16) has a visual module bracket (13) fixedly connected at one end for mounting the visual component, and a power supply bracket (21) fixedly connected at the other end for mounting the power supply component. The central control section bracket (16) is used to mount the control component.

8. The small autonomous underwater vehicle according to claim 7, characterized in that: The visual components include: A visual acquisition sensor (12) is rotatably mounted on the visual module bracket (13); one end of the visual acquisition sensor (12) is meshed with a visual gear (15); the visual gear (15) is rotatably mounted on the visual module bracket (13); the visual gear (15) is axially connected to an output shaft of a visual servo (14); and a fixed end of the visual servo (14) is fixedly connected to the visual module bracket (13).

9. The small autonomous underwater vehicle according to claim 7, characterized in that: The control assembly comprises a flight controller (17) fixedly connected to the central control section bracket (16), a communication board (19), a development board (20) and a motor electric regulator (18).

10. The small autonomous underwater vehicle according to claim 7, characterized in that: The power supply assembly includes: A power supply (23) is fixedly connected to the power supply bracket (21), the power supply bracket (21) is fixedly connected to a power supply cover (22), and the power supply cover (22) covers the power supply (23); The power supply bracket (21) and the power supply cover plate (22) are fixedly connected to the central control section bracket (16) via a screw rod.

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