Self-powered unmanned underwater vehicle

Abstract

The invention relates to the technical field of underwater vehicles. The invention provides a self-powered unmanned underwater vehicle, which comprises a vehicle shell, an unmanned aerial vehicle, a power supply device and a power supply device, the energy storage device is arranged in the accommodating cavity; the self-power supply device is connected with the aircraft shell, the self-power supply device is electrically connected with the energy storage device, and the self-power supply device is used for rotating relative to the aircraft shell under the driving of ocean current energy to generate electric energy and storing the electric energy in the energy storage device; the self-powered device comprises a recovery state and an extension state, when the vehicle works normally, the self-powered device is in the recovery state, and when the vehicle is charged, the self-powered device is in the extension state. The self-powered device generates electric energy by using ocean current energy, the electric energy is stored in the energy storage device, and the energy storage device provides running power for the aircraft, so that the electric power storage capability of the deep sea observation equipment is improved, and the deep sea observation efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of underwater vehicle technology, and more specifically, to a self-powered unmanned underwater vehicle. Background Technology

[0002] Deep-sea observation is fundamental to the development of deep-sea mineral resources. However, the limited power storage capacity of deep-sea observation equipment has restricted the duration and depth of observations, severely impacting their efficiency. Improving the power storage capacity of deep-sea observation equipment and thus enhancing observation efficiency are urgent technical challenges. Summary of the Invention

[0003] In view of the above situation, this application provides a self-powered unmanned underwater vehicle, which aims to solve the above problems or at least partially solve the above problems.

[0004] This application provides a self-powered unmanned underwater vehicle, comprising: The hull of the aircraft has a receiving cavity; An energy storage device, wherein the energy storage device is disposed within the receiving cavity; The self-powered device is connected to the outer shell of the aircraft and is electrically connected to the energy storage device. The self-powered device is used to generate electrical energy by rotating relative to the outer shell of the aircraft under the drive of ocean current energy and to store it in the energy storage device. The self-powered device includes a retracted state and an extended state. When the aircraft is operating normally, the self-powered device is in the retracted state, and when the aircraft is charging, the self-powered device is in the extended state.

[0005] Preferably, the self-powered device includes a first power supply device and a second power supply device; The first power supply device and the second power supply device are coaxially arranged, and the first power supply device and the second power supply device are rotatably connected to the outer shell of the aircraft, and the first power supply device and the second power supply device are electrically connected to the energy storage device. A first torque is generated between the first power supply device and the aircraft shell, and a second torque is generated between the second power supply device and the aircraft shell. The first torque and the second torque are equal in magnitude and opposite in direction.

[0006] Preferably, the first power supply device is located upstream of the second power supply device; The diameter of the first power supply device in its extended state is smaller than the diameter of the second power supply device in its extended state.

[0007] Preferably, the first power supply device includes a first coil group, a first permanent magnet group, and a first current turbine. The second power supply device includes a second coil group, a second permanent magnet group, and a second ocean current turbine; Both the first coil group and the second coil group are disposed within the receiving cavity of the aircraft shell. The first coil group and the first permanent magnet group are matched and disposed together, and the second coil group and the second permanent magnet group are matched and disposed together. The first permanent magnet assembly is connected to the first ocean current turbine, and the first ocean current turbine or the first permanent magnet assembly is rotatably connected to the vehicle shell. The first ocean current turbine and the first permanent magnet assembly rotate relative to the vehicle shell in a first direction. The second permanent magnet assembly is connected to the second ocean current turbine, and the second ocean current turbine or the second permanent magnet assembly is rotatably connected to the vehicle hull. The second ocean current turbine and the second permanent magnet assembly rotate relative to the vehicle hull in a second direction. The first direction and the second direction are opposite.

[0008] Preferably, the first current turbine is connected to the vehicle hull via a first bearing; The second current turbine is connected to the outer shell of the vehicle via a second bearing; The first bearing rotates relative to the vehicle housing in a first direction, and the second bearing rotates relative to the vehicle housing in a second direction.

[0009] Preferably, the first permanent magnet assembly is mounted on the first current turbine or the first bearing; The second permanent magnet assembly is mounted on the second current turbine or the second bearing.

[0010] Preferably, the first current turbine includes a first support, a first blade, a first elastic element, and a first limiting structure; The first bracket is connected to the first permanent magnet assembly, the first blade is connected to the first bracket, and multiple first blades are provided, with the multiple first blades evenly arranged circumferentially around the axis of the first bracket. The first elastic element is disposed between the first blade and the first support; The first limiting structure is slidably connected to the outer shell of the aircraft. When the first limiting structure abuts against the first blade, the first blade is in the retracted position. When the first limiting structure separates from the first blade, the first blade unfolds under the action of the first elastic member and is in the extended position.

[0011] Preferably, the first limiting structure includes a first slide, a first transmission structure, and a first driving member; The first drive member is disposed on the outer shell of the aircraft. The first slide cylinder is coaxially disposed with the outer shell of the aircraft. The first drive member and the first slide cylinder are connected through the first transmission structure. The first transmission structure is used to convert rotational motion into linear motion. The first drive member is used to drive the first slide cylinder to slide along the axial extension direction of the outer shell of the aircraft through the first transmission structure. The first slide cylinder and the first blade are slidably connected.

[0012] Preferably, the second current turbine includes a second support, a second blade, a second elastic element, and a second limiting structure; The second bracket is connected to the second permanent magnet assembly, the second blade is connected to the second bracket, and multiple second blades are provided, which are evenly arranged circumferentially around the axis of the second bracket; The second elastic element is disposed between the second blade and the second support; The second limiting structure is slidably connected to the outer shell of the aircraft. When the second limiting structure and the second blade abut against each other, the second blade is in the retracted position. When the second limiting structure and the second blade separate, the second blade unfolds under the action of the second elastic member and is in the extended position.

[0013] Preferably, the second limiting structure includes a second slide, a second transmission structure, and a second driving member; The second drive member is disposed on the outer shell of the aircraft. The second slide and the outer shell of the aircraft are coaxially disposed. The second drive member and the second slide are connected by the second transmission structure. The second transmission structure is used to convert rotational motion into linear motion. The second drive member is used to drive the second slide to slide along the axial extension direction of the outer shell of the aircraft through the second transmission structure. The second slide and the second blade are slidably connected.

[0014] The above-described technical solutions adopted in the embodiments of this application can achieve the following beneficial effects: This application utilizes ocean current energy to generate electricity through a self-powered device, stores the electricity in an energy storage device, and then uses the energy storage device to provide power for the operation of the vessel, thereby improving the energy storage capacity of the deep-sea observation equipment and increasing the efficiency of deep-sea observation. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is an isometric view of the self-powered unmanned underwater vehicle in its recovery state according to an embodiment of the present invention; Figure 2 This is a perspective axonometric view of the self-powered unmanned underwater vehicle in its recovery state according to an embodiment of the present invention; Figure 3 This is a front view of the self-powered unmanned underwater vehicle in its recovery state according to an embodiment of the present invention; Figure 4 This is a perspective front view of the self-powered unmanned underwater vehicle in its recovery state according to an embodiment of the present invention; Figure 5 This is an isometric view of a self-powered unmanned underwater vehicle in its extended state according to an embodiment of the present invention; Figure 6 This is a perspective axonometric view of a self-powered unmanned underwater vehicle in its extended state according to an embodiment of the present invention; Figure 7 This is a front view of a self-powered unmanned underwater vehicle in its extended state according to an embodiment of the present invention; Figure 8 This is a perspective front view of a self-powered unmanned underwater vehicle in its extended state according to an embodiment of the present invention; Figure 9 This is an isometric view of the ocean current turbine in the recovery state according to one embodiment of the present invention; Figure 10 This is an isometric view of the extended state of a current turbine in one embodiment of the present invention; Figure 11 This is a schematic diagram of the permanent magnet assembly and coil assembly structure in one embodiment of the present invention; Figure 12 This is a schematic diagram of the principle of the first limiting structure in one embodiment of the present invention; Figure 13 This is an isometric view of an anchoring device according to an embodiment of the present invention; Figure 14 This is a transparent isometric view of the anchoring device in one embodiment of the present invention; Figure 15 This is a schematic diagram of the operation of a self-powered unmanned underwater vehicle in one embodiment of the present invention.

[0016] The reference numerals in the figure are respectively: 1-Front cabin; 2-Vehicle hull; 2-1-First vehicle hull; 2-2-Second vehicle hull; 2-3-Third vehicle hull; 3-Tail structure; 4-Camera; 5-Energy storage device; 6-Vehicle motor; 7-Propeller; 8A-First ocean current turbine; 8A-1-First support; 8A-2-First slide; 8A-3-First blade seat; 8A-4-First blade; 8A-5-First elastic element; 8A-6-First gear; 8A-7-First drive element; 8A-8-First rack; 8A-9-First slide rail; 8 A-10-First connecting rod; 8B-Second current turbine; 8B-1-Second support; 8B-2-Second slide; 8B-3-Second blade seat; 8B-4-Second blade; 8B-5-Second elastic element; 9-First bearing; 10A-1-First permanent magnet assembly; 10A-2-First coil assembly; 10B-1-Second permanent magnet assembly; 10B-2-Second coil assembly; 11-Anchor lifting device; 11-1-Sealed vehicle hull; 11-2-Intelligent control motor; 11-3-Roller reel; 11-4-Cable; 11-5-Anchor.

[0017] The accompanying drawings have illustrated specific embodiments of the invention, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such use can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the term "comprising" and its variations should be interpreted as open-ended terms meaning "including but not limited to."

[0020] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0021] like Figures 1 to 15As shown, this application provides a self-powered unmanned underwater vehicle, including: a vehicle shell 2, the vehicle shell 2 having a receiving cavity; an energy storage device 5, the energy storage device 5 being disposed within the receiving cavity; a self-powering device, the self-powering device being connected to the vehicle shell 2, and the self-powering device and the energy storage device 5 being electrically connected, the self-powering device being used to generate electrical energy by rotating relative to the vehicle shell 2 under the drive of ocean current energy and storing it in the energy storage device 5; the self-powering device includes a retracted state and an extended state, when the vehicle is operating normally, the self-powering device is in the retracted state, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, when the aircraft is charging, the self-powered device is in the extended state, as... Figure 5 , Figure 6 , Figure 7 , Figure 8 As shown. When the vessel is operating normally, the self-powered device is in a retracted state. When the vessel is charging, the self-powered device is in an extended state. The self-powered device uses ocean current energy to generate electrical energy, which is stored in the energy storage device 5. The energy storage device 5 provides power to the vessel, effectively utilizing ocean current energy, improving the energy storage capacity of the deep-sea observation equipment, and improving the efficiency of deep-sea observation.

[0022] Specifically, such as Figure 1 and Figure 2 As shown, the vehicle hull 2 ​​includes a first vehicle hull 2-1, a second vehicle hull 2-2, and a third vehicle hull 2-3. The first vehicle hull 2-1 and the third vehicle hull 2-3 are connected through the second vehicle hull 2-2. All three are hollow structures. The first vehicle hull 2-1 and the second vehicle hull 2-2 are connected, as are the second vehicle hull 2-2 and the third vehicle hull 2-3. A forward cabin 1 is located at one end of the vehicle hull 2, connected to the first vehicle hull 2-1. Observation equipment, such as a camera 4, is installed in the forward cabin 1. A tail structure 3 is located at the other end of the vehicle hull 2, connected to the third vehicle hull 2-3. The vehicle motor 6 is located inside the third vehicle hull 2-3, and the propeller 7 is located in the tail structure 3. The drive shaft of the vehicle motor 6 is connected to the propeller 7, and the vehicle motor 6 drives the propeller 7 to rotate, thus enabling the vehicle to operate. The energy storage device 5 is housed within the outer shell 2-2 of the second aircraft. The aircraft motor 6 is electrically connected to the energy storage device 5, or the aircraft motor 6 is electrically connected to both the energy storage device 5 and the self-powered device. In this embodiment, the energy storage device 5 is a battery, and the aircraft motor 6 is a propeller 7 drive motor that drives the propeller 7 to rotate, thereby enabling the operation of the aircraft.

[0023] Furthermore, such as Figure 3 , Figure 4 , Figure 13 and Figure 14 As shown, the first underwater vehicle's outer shell 2-1 is equipped with an anchor-lifting device 11, which consists of a sealed underwater vehicle shell 11-1, an intelligent control motor 11-2, a reel 11-3, a cable 11-4, and an anchor 11-5. The sealed underwater vehicle shell 11-1 is fixed to the first underwater vehicle shell 2-1. The intelligent control motor 11-2 is installed inside the sealed underwater vehicle shell 11-1. The output shaft of the intelligent control motor 11-2 is connected to the reel 11-3, driving the reel 11-3 to rotate, thereby releasing or tightening the cable 11-4. The end of the cable 11-4 is connected to the anchor 11-5. When the energy storage device 5 detects that the electrical capacity is lower than a preset value, it automatically seeks a mooring position to generate electricity. The mooring position is a sea area with a large current velocity and a seabed depth less than that of the mooring cable 11-4. When it moves to the mooring position, the anchor-lifting device 11 releases the anchor 11-5 and sinks it to the bottom, thereby securing the self-powered unmanned underwater vehicle. Once the energy storage device 5 is fully charged, the anchor-raising device 11 tightens the cable 11-4 and retracts the anchor 11-5, enabling the self-powered unmanned underwater vehicle to continue its observation mission.

[0024] Furthermore, two self-powered devices are provided, both connected to the energy storage device. The inclusion of two self-powered devices enhances the vehicle's energy storage capacity. Specifically, in this embodiment, the self-powered devices include a first power supply device and a second power supply device; the first and second power supply devices are coaxially arranged and rotatably connected to the vehicle's outer shell, respectively, and electrically connected to the energy storage device 5, respectively; a first torque is generated between the first power supply device and the vehicle's outer shell 2, and a second torque is generated between the second power supply device and the vehicle's outer shell 2. The first and second torques are equal in magnitude and opposite in direction. Specifically, under the action of the first torque, the vehicle tends to capsize in a clockwise direction. At this time, the second torque causes the vehicle to capsize in a counterclockwise direction. Since the first and second torques are equal in magnitude, the vehicle remains stable in the ocean current, preventing instability of the self-powered unmanned underwater vehicle while moored.

[0025] Specifically, the first power supply device is located upstream of the second power supply device; the diameter of the first power supply device in its extended state is smaller than the diameter of the second power supply device in its extended state. Because the upstream first power supply device experiences a higher current velocity than the downstream second power supply device, the asymmetrically rotating first and second power supply devices rotate in two different directions under the influence of the ocean current, generating equal torque, thus preventing the moored unmanned underwater vehicle from becoming unstable.

[0026] Furthermore, when the self-powered device is in the retracted state, the blades in the self-powered device are close to the outer shell 2 of the aircraft and the blades in the self-powered device are in the retracted position. When the self-powered device is in the extended state, the blades in the self-powered device are away from the outer shell of the aircraft and the blades in the self-powered device are in the extended position.

[0027] Specifically, such as Figure 8 , Figure 11 As shown, the first power supply device includes a first coil group 10A-2, a first permanent magnet group 10A-1, and a first current turbine 8A; the second power supply device includes a second coil group 10B-2, a second permanent magnet group 10B-1, and a second current turbine 8B. Both the first coil group 10A-2 and the second coil group 10B-2 are housed within the receiving cavity of the vehicle's outer shell 2. The first coil group 10A-2 and the first permanent magnet group 10A-1 are matched, and the second coil group 10B-2 and the second permanent magnet group 10B-1 are also matched. The first permanent magnet group 10A-1 is connected to the first current turbine 8A, and the first current turbine 8A is rotatably connected to the vehicle's outer shell 2. The first current turbine 8A and the first permanent magnet group 10A-1 rotate relative to the vehicle's outer shell 2 in a first direction. The second permanent magnet assembly 10B-1 is connected to the second current turbine 8B, which is rotatably connected to the vehicle hull 2. The second current turbine 8B and the second permanent magnet assembly 10B-1 rotate relative to the vehicle hull 2 ​​in a second direction. The first and second directions are opposite; for example, the first direction is clockwise, and the second direction is counterclockwise.

[0028] Specifically, in this embodiment, the first coil group 10A-2 and the second coil group 10B-2 are both located inside the outer shell 2-2 of the second vehicle, while the first permanent magnet group 10A-1 and the second permanent magnet group 10B-1 are located outside the outer shell 2-2 of the second vehicle. The first permanent magnet group 10A-1 and the second permanent magnet group 10B-1 are each composed of several centrally symmetrical permanent magnets, and the first coil group 10A-2 and the second coil group 10B-2 are each composed of several centrally symmetrical coils. Under the action of the ocean current, the first current turbine 8A drives the first permanent magnet group 10A-1 to rotate, thereby generating an alternating magnetic field, which in turn generates current in the first coil group 10A-2. Under the action of the ocean current, the second current turbine 8B drives the second permanent magnet group 10B-1 to rotate, thereby generating an alternating magnetic field, which in turn generates current in the second coil group 10B-2. The first coil group 10A-2 and the first permanent magnet group 10A-1 are set separately, and the second coil group 10B-2 and the second permanent magnet group 10B-1 are set separately. This setting can complete the conversion of mechanical energy into electrical energy without the need for a drive shaft and any dynamic sealing device, reducing the risk of water entering the vehicle's outer shell 2 and further increasing the stability of the vehicle.

[0029] Specifically, the first current turbine 8A is connected to the vehicle hull 2 ​​via a first bearing 9; the second current turbine 8B is connected to the vehicle hull 2 ​​via a second bearing; the first bearing 9 rotates relative to the vehicle hull 2 ​​in a first direction, and the second bearing rotates relative to the vehicle hull 2 ​​in a second direction. Specifically, as... Figure 11 As shown, in one embodiment, the first permanent magnet assembly 10A-1 is disposed on the first current turbine 8A or the first bearing 9; the second permanent magnet assembly 10B-1 is disposed on the second current turbine 8B or the second bearing. Driven by the first current turbine 8A, the first bearing 9 rotates relative to the vehicle hull 2 ​​in a first direction, and driven by the second current turbine 8B, the second bearing rotates relative to the vehicle hull 2 ​​in a second direction.

[0030] Specifically, such as Figure 9 , Figure 10 , Figure 11 and Figure 12 As shown, the first ocean current turbine 8A includes a first support 8A-1, a first blade 8A-4, a first elastic element 8A-5, and a first limiting structure. The first support 8A-1 is connected to the first permanent magnet assembly 10A-1, and the first blade 8A-4 is connected to the first support 8A-1. Multiple first blades 8A-4 are provided and are evenly arranged circumferentially around the axis of the first support 8A-1. The first elastic element 8A-5 is disposed between the first blade 8A-4 and the first support 8A-1. The first limiting structure is connected to the vehicle shell 2. When the first limiting structure abuts against the first blade 8A-4, the first blade 8A-4 is in the retracted position. When the first limiting structure separates from the first blade 8A-4, the first blade 8A-4 unfolds under the action of the first elastic element 8A-5 and is in the extended position. Specifically, the inner wall of the first support 8A-1 is circular, and the inner wall of the first support 8A-1 is connected to the outer ring of the first bearing 9. The outer wall of the first support 8A-1 is circular or polygonal. The first blade 8A-4 is disposed on the outer wall of the first support 8A-1, and the first permanent magnet assembly 10A-1 is disposed on one side of the first support 8A-1. The first support 8A-1 is provided with a first blade seat 8A-3, and one end of the first blade 8A-4 is connected to the first blade seat 8A-3.

[0031] In one embodiment, one end of the first blade 8A-4 and the first blade seat 8A-3 are connected by a pivot, allowing the first blade 8A-4 to rotate relative to the first blade seat 8A-3. The first elastic element 8A-5 is a first torsion spring, disposed between the first blade 8A-4 and the first blade seat 8A-3. The first torsion spring applies a spring force to the blade away from the axis of the vehicle housing 2. When the first limiting structure abuts against the first blade 8A-4, the first limiting structure applies a force to the first blade 8A-4 in the direction of the axis of the vehicle housing 2. The force applied to the first blade 8A-4 by the first limiting structure is greater than the force applied to the first blade 8A-4 by the first torsion spring, causing the first blade 8A-4 to be in the retracted position, tightly pressed against the vehicle housing 2. In the retracted position, the length extension direction of the first blade 8A-4 is parallel to the axial extension direction of the vehicle housing 2, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown. When the first limiting structure and the first blade 8A-4 separate, the force exerted by the first limiting structure on the first blade 8A-4 disappears. Under the action of the force exerted by the first torsion spring on the first blade 8A-4, the first blade 8A-4 is extended away from the vehicle shell 2 and placed in the extended position. In the extended position, the length extension direction of the first blade 8A-4 is perpendicular to the axial extension direction of the vehicle shell 2, as shown. Figure 5 , Figure 6 , Figure 7 , Figure 8 As shown.

[0032] Specifically, such as Figure 9 , Figure 10 , Figure 11 and Figure 12As shown, the first limiting structure includes a first slide cylinder 8A-2, a first transmission structure, and a first driving member 8A-7. The first driving member 8A-7 is disposed on the vehicle shell 2. The first slide cylinder 8A-2 and the vehicle shell 2 are coaxially arranged. The first driving member 8A-7 and the first slide cylinder 8A-2 are connected through the first transmission structure, which converts rotational motion into linear motion. The first driving member 8A-7 drives the first slide cylinder 8A-2 to slide along the axial extension direction of the vehicle shell 2 through the first transmission structure. The first slide cylinder 8A-2 and the first blade 8A-4 are slidably connected. Specifically, a first slide rail 8A-9 is disposed on the second vehicle shell 2-2. The extension direction of the first slide rail 8A-9 is parallel to the axial extension direction of the vehicle shell 2. The first slide cylinder 8A-2 and the first slide rail 8A-9 are slidably connected. The first driving member 8A-7 is a drive motor. The first transmission structure is connected to the first driving member 8A-7. The first transmission structure is used to convert the rotational motion of the first driving member 8A-7 into linear motion. When the first slide 8A-2 and the first blade 8A-4 come into contact, the first blade 8A-4 is in the retracted position. When the first slide 8A-2 and the first blade 8A-4 separate, the first blade 8A-4 unfolds under the action of the first elastic element 8A-5, and the first blade 8A-4 is in the extended position. The contact area between the first blade 8A-4 and the ocean current is increased when it is in the extended position, which can effectively utilize the energy of the ocean current. Under the action of the ocean current energy, the first blade 8A-4 begins to rotate. The rotation of the first blade 8A-4 drives the first permanent magnet group 10A-1 to rotate relative to the first coil group 10A-2, thereby generating an alternating magnetic field, which in turn generates current in the first coil group 10A-2.

[0033] Furthermore, such as Figure 9 and Figure 12As shown, the first transmission structure includes a first gear 8A-6, a first rack 8A-8, and a first connecting rod 8A-10. The first gear 8A-6 is connected to the drive shaft of the first driving member 8A-7, and the first gear 8A-6 and the first rack 8A-8 are meshed and connected. The first rack 8A-8 and the first slide cylinder 8A-2 are connected through the first connecting rod 8A-10. The movement direction of the first rack 8A-8 is perpendicular to the movement direction of the first slide cylinder 8A-2. Specifically, the first gear 8A-6 rotates under the drive of the first driving member 8A-7, and the first gear 8A-6 drives the first rack 8A-8 to move along the radial extension direction of the second vehicle hull 2-2. The first rack 8A-8 drives the first slide cylinder 8A-2 to move along the axial extension direction of the second vehicle hull 2-2 through the first connecting rod 8A-10. Specifically, the second vehicle hull 2-2 can be a single piece. To increase the installation space of the first transmission structure, the second vehicle hull 2-2 can also be divided into two sections, with the first transmission structure located between the two sections of the second vehicle hull 2-2. The first drive component 8A-7 is located at the axial position of the vehicle hull 2, and the two sections of the second vehicle hull 2-2 are connected by the first slide rail 8A-9.

[0034] Alternatively, the first transmission structure includes a first lead screw and a first lead screw nut. The drive shaft of the first drive member 8A-7 is connected to the first lead screw, the first lead screw nut is threadedly connected to the first lead screw, and the first lead screw nut is connected to the first slide cylinder 8A-2. The axial extension direction of the first lead screw is parallel to the axial extension direction of the aircraft outer shell 2. The first drive member 8A-7 drives the first lead screw to rotate, and the first lead screw drives the first slide cylinder 8A-2 to move along the axial extension direction of the aircraft outer shell 2 through the first lead screw nut.

[0035] For details, please refer to Figure 9 , Figure 10 , Figure 11 and Figure 12The second current turbine 8B includes a second support 8B-1, a second blade 8B-4, a second elastic element 8B-5, and a second limiting structure. The second support 8B-1 is connected to the second permanent magnet assembly 10B-1, and the second blade 8B-4 is connected to the second support 8B-1. Multiple second blades 8B-4 are arranged evenly around the axis of the second support 8B-1. The second elastic element 8B-5 is located between the second blade 8B-4 and the second support 8B-1. The second limiting structure is connected to the vehicle shell 2. When the second limiting structure and the second blade 8B-4 are in contact, the second blade 8B-4 is in a retracted position. When the second limiting structure and the second blade 8B-4 are separated, the second blade 8B-4 unfolds under the action of the second elastic element 8B-5 and is in an extended position. Specifically, the inner wall of the second support 8B-1 is circular, and the inner wall of the second support 8B-1 is connected to the outer ring of the second bearing. The outer wall of the second support 8B-1 is circular or polygonal. The second blade 8B-4 is disposed on the outer wall of the second support 8B-1, and the second permanent magnet assembly 10B-1 is disposed on one side of the second support 8B-1. The second support 8B-1 is provided with a second blade seat 8B-3, and one end of the second blade 8B-4 is connected to the second blade seat 8B-3.

[0036] In one embodiment, one end of the second blade 8B-4 and the second blade seat 8B-3 are connected by a pivot, allowing the second blade 8B-4 to rotate relative to the second blade seat 8B-3. The second elastic element 8B-5 is a second torsion spring, disposed between the second blade 8B-4 and the second blade seat 8B-3. The second torsion spring applies a spring force to the blade away from the axis of the vehicle outer shell 2. When the second limiting structure abuts against the second blade 8B-4, the second limiting structure applies a force to the second blade 8B-4 in the direction of the axis of the vehicle outer shell 2. The force applied to the second blade 8B-4 by the second limiting structure is greater than the force applied to the second blade 8B-4 by the second torsion spring, causing the second blade 8B-4 to be in the retracted position, tightly pressed against the vehicle outer shell 2. In the retracted position, the length extension direction of the second blade 8B-4 is parallel to the axial extension direction of the vehicle outer shell 2, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown. When the second limiting structure separates from the second blade 8B-4, the force exerted by the second limiting structure on the second blade 8B-4 disappears. Under the action of the force exerted by the second torsion spring on the second blade 8B-4, the second blade 8B-4 is extended away from the vehicle shell 2 and reaches the extended position. In the extended position, the length extension direction of the second blade 8B-4 is perpendicular to the axial extension direction of the vehicle shell 2, as shown. Figure 5 , Figure 6 , Figure 7 , Figure 8 As shown.

[0037] For details, please refer to Figure 9 , Figure 10 , Figure 11 and Figure 12 As shown, the second limiting structure includes a second slide cylinder 8B-2, a second transmission structure, and a second driving member. The second driving member is mounted on the aircraft shell 2. The second slide cylinder 8B-2 and the aircraft shell 2 are coaxially arranged. The second driving member and the second slide cylinder 8B-2 are connected through the second transmission structure, which converts rotational motion into linear motion. The second driving member drives the second slide cylinder 8B-2 to slide along the axial extension direction of the aircraft shell 2 via the second transmission structure. The second slide cylinder 8B-2 and the second blade 8B-4 are slidably connected. Specifically, a second slide rail is provided on the second aircraft shell 2-2. The extension direction of the second slide rail is parallel to the axial extension direction of the aircraft shell 2. The second slide cylinder 8B-2 and the second slide rail are slidably connected. The second driving member is a drive motor. The second transmission structure is connected to the second driving member, and the second transmission structure converts the rotational motion of the second driving member into linear motion. When the second slide 8B-2 and the second blade 8B-4 come into contact, the second blade 8B-4 is in the retracted position. When the second slide 8B-2 and the second blade 8B-4 separate, the second blade 8B-4 unfolds under the action of the second elastic element 8B-5, and the second blade 8B-4 is in the extended position. In the extended position, the contact area between the second blade 8B-4 and the ocean current increases, effectively utilizing the ocean current energy. Under the action of the ocean current energy, the second blade 8B-4 begins to rotate. The rotation of the second blade 8B-4 drives the second permanent magnet assembly 10B-1 to rotate relative to the second coil assembly 10B-2, thereby generating an alternating magnetic field, which in turn generates current in the second coil assembly 10B-2.

[0038] Furthermore, refer to 9 and Figure 12 As shown, the second transmission structure includes a second gear, a second rack, and a second connecting rod. The second gear and the second driving member are connected by a drive shaft, and the second gear and the second rack are meshed and connected. The second rack and the second slide cylinder 8B-2 are connected via the second connecting rod. The movement direction of the second rack and the movement direction of the second slide cylinder 8B-2 are perpendicular to each other. Specifically, the second gear rotates under the drive of the second driving member, driving the second rack to move along the radial extension direction of the second aircraft hull 2-2. The second rack, through the second connecting rod, drives the second slide cylinder 8B-2 to move along the axial extension direction of the second aircraft hull 2-2. Specifically, the second aircraft hull 2-2 can be a single piece. To increase the installation space of the second transmission structure, the second aircraft hull 2-2 can also be divided into two sections, with the second transmission structure located between the two sections of the second aircraft hull 2-2. The second driving member is located at the axial position of the aircraft hull 2, and the two sections of the second aircraft hull 2-2 are connected by a second slide rail.

[0039] Alternatively, the second transmission structure includes a second lead screw and a second lead screw nut, with the drive shaft of the second drive member connected to the second lead screw, the second lead screw nut and the second lead screw threaded together, and the second lead screw nut and the second slide cylinder 8B-2 connected. The axial extension direction of the second lead screw is parallel to the axial extension direction of the aircraft outer shell 2. The second drive member drives the second lead screw to rotate, and the second lead screw drives the second slide cylinder 8B-2 to move along the axial extension direction of the aircraft outer shell 2 via the second lead screw nut.

[0040] Furthermore, in this example, the first slide rail 8A-9 and the second slide rail are the same slide rail, and the first slide cylinder 8A-2 and the second slide cylinder 8B-2 are both slidably connected to the same slide rail to reduce the number of parts and simplify the structure. The first rack 8A-8 and the second rack are arranged in parallel, and the first slide cylinder 8A-2 and the second slide cylinder 8B-2 move simultaneously, with their directions of movement always opposite. Furthermore, the first direction is clockwise around the axis of the vehicle's outer shell 2, and the second direction is counterclockwise around the axis of the vehicle's outer shell 2. When the first blade 8A-4 rotates clockwise, under the action of the first torque generated by the first blade 8A-4, the vehicle tends to capsize in the direction of the clockwise arrow. At this time, the second blade 8B-4 rotates counterclockwise, and the second torque acting on the vehicle by the second blade 8B-4 is equal to the first torque, stabilizing the vehicle in the current and preventing capsizing, thus preventing instability of the self-powered unmanned underwater vehicle while moored.

[0041] Furthermore, the energy storage device 5, the first drive unit 8A-7, the second drive unit, the intelligent control motor 11-2, and the vehicle motor 6 are electrically connected or wirelessly connected to the control platform. The control platform can be located inside the vehicle's outer shell 2 or can be remotely configured.

[0042] like Figure 15As shown, in one specific embodiment, the self-powered unmanned underwater vehicle (UUV) is deployed into the ocean by a research vessel and performs tasks such as marine resource exploration and hydrological data measurement. When the control platform detects that the capacity of the energy storage device 5 is lower than a preset value, the control platform controls the UUV to automatically find a mooring position. When it reaches the mooring position, the control anchor device 11 releases the anchor 11-5 to the bottom, allowing the self-powered UUV to hover at the mooring position in preparation for moored power generation. The control platform controls the first drive component 8A-7 to drive the first slide 8A-2 to slide, causing the first slide 8A-2 to separate from the first blade 8A-4. The first blade 8A-4 unfolds under the elastic force of the first elastic component 8A-5. At the same time, the control platform controls the second drive component to drive the second slide 8B-2 to slide, causing the second slide 8B-2 to separate from the second blade 8B-4. The second blade 8B-4 unfolds under the elastic force of the second elastic component 8B-5. The first blade 8A-4 and the second blade 8B-4 rotate in opposite directions under the action of the high-velocity ocean current, converting the kinetic energy in the ocean current into the mechanical energy of the ocean current turbine. The mechanical energy of the ocean current turbine is converted into electrical energy through a self-powered device and stored in the energy storage device 5. At the same time, the first torque generated by the first ocean current turbine 8A and the second torque generated by the second ocean current turbine 8B are equal in magnitude and opposite in direction, preventing the vehicle from capsizing. After charging is completed, the anchor-raising device 11 is controlled to retract the anchor 11-5. The first drive unit 8A-7 drives the first slide 8A-2 to slide, so that the first slide 8A-2 abuts against the first blade 8A-4. The first blade 8A-4 is retracted under the action of the first slide 8A-2. At the same time, the second drive unit is controlled to drive the second slide 8B-2 to slide, so that the second slide 8B-2 abuts against the second blade 8B-4. The second blade 8B-4 is retracted under the action of the second slide 8B-2. The vehicle continues to perform its ocean observation mission.

[0043] In this invention, the terms "second" and "secondary" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined. The term "connection" refers to a direct or indirect connection.

[0044] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. The invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0045] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A self-powered unmanned underwater vehicle, characterized in that, include: The hull of the aircraft has a receiving cavity; An energy storage device, wherein the energy storage device is disposed within the receiving cavity; The self-powered device is connected to the outer shell of the aircraft and is electrically connected to the energy storage device. The self-powered device is used to generate electrical energy by rotating relative to the outer shell of the aircraft under the drive of ocean current energy and to store it in the energy storage device. The self-powered device includes a retracted state and an extended state. When the aircraft is operating normally, the self-powered device is in the retracted state, and when the aircraft is charging, the self-powered device is in the extended state.

2. The self-powered unmanned underwater vehicle according to claim 1, characterized in that, The self-powered device includes a first power supply device and a second power supply device; The first power supply device and the second power supply device are coaxially arranged, and the first power supply device and the second power supply device are rotatably connected to the outer shell of the aircraft, and the first power supply device and the second power supply device are electrically connected to the energy storage device. A first torque is generated between the first power supply device and the aircraft shell, and a second torque is generated between the second power supply device and the aircraft shell. The first torque and the second torque are equal in magnitude and opposite in direction.

3. The self-powered unmanned underwater vehicle according to claim 2, characterized in that, The first power supply device is located upstream of the second power supply device; The diameter of the first power supply device in its extended state is smaller than the diameter of the second power supply device in its extended state.

4. A self-powered unmanned underwater vehicle according to claim 2, characterized in that, The first power supply device includes a first coil group, a first permanent magnet group, and a first ocean current turbine; The second power supply device includes a second coil group, a second permanent magnet group, and a second ocean current turbine; Both the first coil group and the second coil group are disposed within the receiving cavity of the aircraft shell. The first coil group and the first permanent magnet group are matched and disposed together, and the second coil group and the second permanent magnet group are matched and disposed together. The first permanent magnet assembly is connected to the first ocean current turbine, and the first ocean current turbine or the first permanent magnet assembly is rotatably connected to the vehicle shell. The first ocean current turbine and the first permanent magnet assembly rotate relative to the vehicle shell in a first direction. The second permanent magnet assembly is connected to the second ocean current turbine, and the second ocean current turbine or the second permanent magnet assembly is rotatably connected to the vehicle hull. The second ocean current turbine and the second permanent magnet assembly rotate relative to the vehicle hull in a second direction. The first direction and the second direction are opposite.

5. A self-powered unmanned underwater vehicle according to claim 4, characterized in that, The first current turbine is connected to the outer shell of the vehicle via a first bearing; The second current turbine is connected to the outer shell of the vehicle via a second bearing; The first bearing rotates relative to the vehicle housing in a first direction, and the second bearing rotates relative to the vehicle housing in a second direction.

6. A self-powered unmanned underwater vehicle according to claim 5, characterized in that, The first permanent magnet assembly is mounted on the first current turbine or the first bearing; The second permanent magnet assembly is mounted on the second current turbine or the second bearing.

7. A self-powered unmanned underwater vehicle according to claim 4, characterized in that, The first ocean current turbine includes a first support, a first blade, a first elastic element, and a first limiting structure; The first bracket is connected to the first permanent magnet assembly, the first blade is connected to the first bracket, and multiple first blades are provided, with the multiple first blades evenly arranged circumferentially around the axis of the first bracket. The first elastic element is disposed between the first blade and the first support; The first limiting structure is slidably connected to the outer shell of the aircraft. When the first limiting structure abuts against the first blade, the first blade is in the retracted position. When the first limiting structure separates from the first blade, the first blade unfolds under the action of the first elastic member and is in the extended position.

8. A self-powered unmanned underwater vehicle according to claim 7, characterized in that, The first limiting structure includes a first slide, a first transmission structure, and a first driving component; The first drive member is disposed on the outer shell of the aircraft. The first slide cylinder is coaxially disposed with the outer shell of the aircraft. The first drive member and the first slide cylinder are connected through the first transmission structure. The first transmission structure is used to convert rotational motion into linear motion. The first drive member is used to drive the first slide cylinder to slide along the axial extension direction of the outer shell of the aircraft through the first transmission structure. The first slide cylinder and the first blade are slidably connected.

9. A self-powered unmanned underwater vehicle according to claim 4, characterized in that, The second ocean current turbine includes a second support, a second blade, a second elastic element, and a second limiting structure; The second bracket is connected to the second permanent magnet assembly, the second blade is connected to the second bracket, and multiple second blades are provided, which are evenly arranged circumferentially around the axis of the second bracket; The second elastic element is disposed between the second blade and the second support; The second limiting structure is slidably connected to the outer shell of the aircraft. When the second limiting structure and the second blade abut against each other, the second blade is in the retracted position. When the second limiting structure and the second blade separate, the second blade unfolds under the action of the second elastic member and is in the extended position.

10. A self-powered unmanned underwater vehicle according to claim 9, characterized in that, The second limiting structure includes a second slide, a second transmission structure, and a second driving component; The second drive member is disposed on the outer shell of the aircraft. The second slide and the outer shell of the aircraft are coaxially disposed. The second drive member and the second slide are connected by the second transmission structure. The second transmission structure is used to convert rotational motion into linear motion. The second drive member is used to drive the second slide to slide along the axial extension direction of the outer shell of the aircraft through the second transmission structure. The second slide and the second blade are slidably connected.

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