Multi-body reconfigurable AUV (Autonomous Underwater Vehicle) underwater observation and optical communication structure layout method

Abstract

The invention discloses a multi-body reconfigurable AUV (Autonomous Underwater Vehicle) underwater observation and optical communication structure layout method, which comprises the following steps of: determining each structure of a multi-body reconfigurable AUV combination function, and constructing optimization design variables including design parameters and layout parameters; the design variables are endowed with initial values and then input into a database, a two-parameter square polynomial linetype is generated, and the type value points are stored into the database; designing variables are subjected to structured packaging based on an MATLAB platform, a standardized input data set is formed, and a modeling process is controlled and driven through feature tree logic; the head part, the tail part and each part of the single AUV generate a three-dimensional model according to design variables, and the reconstruction and combination of the parts are supported; the modeling process is stored as a parameterized script which can be called at any time; operating the parameterized modeling script to generate parameterized models of the head, the tail and the main body; and performing butt joint preview and check in modeling software to complete the modeling process. According to the method, the design efficiency is effectively improved, and subsequent optimization is facilitated.

Description

Technical Field

[0001] This invention relates to the field of underwater vehicle layout design, specifically to a multi-body reconfigurable AUV underwater observation and optical communication structure layout method. Background Technology

[0002] As an important component of marine equipment, autonomous underwater vehicles (AUVs) are widely used in scenarios such as seabed mapping, marine environmental monitoring, marine resource development, and underwater obstacle search and location. However, due to physical limitations in terms of payload capacity, energy supply, and environmental adaptability, single AUVs face performance bottlenecks when performing large-scale resource exploration and seabed topographic mapping tasks. Inspired by the co-evolutionary mechanisms of biological groups, a chain-like configuration of multiple unmanned surface vessels (USVs) can significantly reduce fluid resistance, thereby improving energy efficiency. The "Sea Train" innovation project launched by the U.S. Advanced Research Projects Agency (DARPA) integrates multiple USVs into a convoy using rigid linkages. This convoy, in its integrated configuration, withstands harsh sea conditions during transoceanic voyages. Upon reaching the mission area, it quickly disassembles into independent units to perform tasks such as electronic jamming and intelligence gathering, before regrouping and returning to port. This "convergence-dispersion adaptive" mode effectively reduces drag and extends endurance, pioneering a new paradigm for maritime unmanned equipment swarms.

[0003] The multi-body reconfigurable underwater vehicle (MUV) utilizes a modular assembly design to form a streamlined composite structure with an equivalent parallel midships, laying a hydrodynamic foundation for long-endurance missions. Each assembly unit can be configured with differentiated payloads such as sonar arrays and Doppler sensors according to mission requirements. Upon arrival at the target area, it can be independently deployed via a rapid separation mechanism, achieving flexible mission switching for "one machine, multiple uses." This technology system, relying on fluid drag reduction optimization and dynamic reconfiguration capabilities, provides new solutions for complex tasks such as subsea pipeline inspection and multi-target collaboration.

[0004] Traditional AUV design processes employ a top-down design philosophy. In the design of docking sections for multi-body reconfigurable AUVs, layout design largely relies on the designer's experience, involving manually creating models and setting constraints in modeling software for docking preview. Further optimization of the layout for better performance requires iterative iterations, but these iterations necessitate manual modification or reconstruction of the complex models, resulting in long optimization cycles and high overall development costs. This is particularly true for the optical communication structure layout of AUVs, where existing methods are costly and inefficient. Summary of the Invention

[0005] This invention aims to solve the problem of slow layout design of existing multi-body reconfigurable AUV docking structures, and proposes a layout method for underwater observation and optical communication structures of multi-body reconfigurable AUVs. To achieve the above objectives, the present invention employs the following technical solution: A method for the layout of a multi-body reconfiguration AUV underwater observation and optical communication structure includes: The structure of the multi-body reconfigurable AUV combination function is determined; the multi-body reconfigurable AUV is composed of multiple AUV units connected in series, and the combination function of the multi-body reconfigurable AUV is realized by the components on the head and tail of each AUV unit; the components on the head of the individual AUV include a communication camera, an optical communication sensor, a magnetic wedge buckle, and a central docking pin; the components on the tail include a positioning guide light, an optical communication transmitter, a magnetic wedge slot, a central docking interface, and a positioning ring; The design variables for optimization include design parameters and layout parameters. The design parameters include the diameters of the head and tail end faces, the diameter of the communication camera mounting holes, the diameters of the mounting holes for the optical communication sensors and transmitters, the diameter of the central interface, the side lengths of the magnetic wedge buckles and slots, the lengths of the head and tail, the head and tail profiles, the rate of curvature change at the junction of the head profile and the front plane of the head, the rate of curvature change at the junction of the head and the main body of the AUV unit, and the rate of curvature change of the tail profile. The layout parameters include the distance between the communication camera mounting holes and the center of the head end face, the distance between the mounting holes for the optical communication sensors and transmitters and the centers of the head and tail end faces, the camera mounting angle, and the mounting angles for the optical communication sensors and transmitters. After assigning initial values ​​to the design variables, input them into the database and generate a two-parameter square polynomial line type, then store the line type points in the database. The design variables are encapsulated in a structured manner using the MATLAB platform to form a standardized input dataset. The modeling process is driven by feature tree logic control. The head, tail, and other components of a single AUV generate 3D models based on the design variables, supporting component reconstruction and combination. The modeling process is saved as a parametric script that can be called at any time. Run the parametric modeling script to generate parametric models of the head, tail, and body; The modeling process is completed by previewing and checking the docking in the modeling software.

[0006] Furthermore, the communication camera, located on the outer side of the AUV's head, is used for initial positioning during docking and video recording of the entire docking process. The optical communication sensor, located on the inner side of the AUV's head, enables short-range, high-speed underwater optical signal transmission and real-time positioning during docking by identifying signals. The magnetic wedge-shaped buckle, located on both sides of the central docking pin, uses magnets to provide attraction and is wedge-shaped. The central docking pin and the central docking interface at the tail cooperate to complete mechanical locking, supporting underwater wet-plug connection.

[0007] Furthermore, the positioning guide light provides underwater visible light or infrared navigation signals, guiding the single AUV into the docking area via a combination of multi-color LEDs, located at the tail fin; the optical communication transmitter transmits modulated light signals to the optical communication sensor; the magnetic wedge grooves are located on both sides of the central docking interface, corresponding to the magnetic wedge buckle on the head, forming wedge-shaped grooves; the central docking interface and the central docking pin on the head cooperate to complete the mechanical locking; the positioning ring is fixed to the rear end of the tail by circumferentially distributed ribs, used for coarse alignment of the head and tail.

[0008] Furthermore, the central docking pin on the head is the same size as the central docking interface on the tail; the mounting holes for the optical communication sensors and optical communication transmitters on the head and tail are aligned; in addition, the positioning guide lights on the fin rudders and the communication camera on the outside of the head are used for initial positioning during the initial docking phase and do not need to be aligned.

[0009] Furthermore, the modeling process is driven by feature tree logic control, including: (1) Set the initial plane and create a sketch, import the two-parameter square polynomial line type, and generate the three-dimensional shell of the head and tail required for the docking part through the rotation loft command; (2) Create a cutting sketch based on the three-dimensional shell of the head and tail. According to the design variables, output the plane position and size of the mounting holes of the head and tail in sequence. Then, perform the cutting and lofting command to cut out the mounting holes of the optical communication sensor and optical communication transmitter, the mounting holes of the communication camera and the central interface in the head and tail. (3) Create a sketch based on the three-dimensional shell of the head and tail, draw the planar outline of the magnetic wedge buckle of the head and the magnetic wedge groove of the tail. The head is constructed using the boss lofting command and the chamfering command to build the three-dimensional model of the magnetic wedge buckle; correspondingly, the tail is constructed using the cutting lofting command and the chamfering command to build the three-dimensional model of the magnetic wedge groove; at the same time, the central docking pin is constructed using the lofting command and the chamfering command on the head. (4) Create a sketch based on the initial plane, draw the outline sketch of the tail fin, use the boss lofting command to construct a single flat fin, and then use the circular array command with the array angle set to a preset angle and the array quantity set to a preset quantity to output the three-dimensional model of the tail fin. (5) Create an offset plane based on the fin plane, create a sketch on the offset plane, draw the outline sketch of the positioning guide light, perform the boss lofting command, construct a single positioning guide light, and then use the circular array command with the array angle set to a preset angle and the array quantity set to a preset quantity to output the three-dimensional model of the positioning guide light. (6) Create a sketch based on the tail of the fin rudder, draw the outline sketch of the positioning ring, and use extrude loft to generate a three-dimensional model of the positioning ring. (7) Import or generate the main three-dimensional model of the AUV unit; (8) Save the above operations as an operation script and create a parameterized script.

[0010] Furthermore, the docking preview and inspection are performed in the modeling software, including: The assembly status and movement path of each component on the head and tail are checked in real time through a dynamic visualization interface to detect whether there is geometric interference or movement conflict. If so, the modeling is returned to be remodeled; otherwise, the modeling process of the AUV unit is completed. Subsequently, only design variables need to be input to automatically complete the parametric modeling of the head and tail.

[0011] A terminal device includes a processor, a memory, and a computer program stored in the memory; when the processor executes the computer program, it implements the multi-body reconfiguration AUV underwater observation and optical communication structure layout method.

[0012] A computer-readable storage medium storing a computer program; when executed by a processor, the computer program implements the multi-body reconfiguration AUV underwater observation and optical communication structure layout method.

[0013] Compared with the prior art, the present invention has the following technical features: This invention guides the parametric design of multi-body reconfigurable AUV docking structure layout based on design parameters, which improves design efficiency and facilitates subsequent optimization. It supports the rapid generation of different docking layout structures and promotes the intelligent design of multi-body reconfigurable AUV docking structure layout. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the parametric modeling of the AUV single-unit docking section head in this invention; Figure 2 This is a parametric modeling diagram of the AUV unit docking tail section in this invention; Figure 3 This is a schematic diagram of the AUV unit docking in this invention; Figure 4 This is a schematic diagram of the shape of a multi-body reconstructed AUV composed of three individual AUVs; Figure 5 This is a diagram defining the layout parameters of the front and rear sections of a single AUV. Detailed Implementation

[0015] Parametric modeling can automatically generate modified models by adjusting modeling parameters, avoiding the process of repetitive modeling. Furthermore, mathematical constraints between parameters (such as geometric relationships) ensure the logical rigor of the model and reduce human error. Compared to traditional design, this significantly improves design efficiency and accuracy. Therefore, researching a parametric design method for the structural layout of multi-body reconstructed AUVs for underwater observation and optical communication is of great significance.

[0016] See Figures 1 to 5 The present invention provides a multi-body reconfiguration AUV underwater observation and optical communication structure layout method, comprising: Step 1: Determine the structures of the multi-body reconfiguration AUV combination function.

[0017] A multi-body reconfigurable AUV consists of multiple AUV units connected in series, and the combined function of the multi-body reconfigurable AUV is realized by the components on the head and tail of each AUV unit; among which: The components on the head of a single AUV include: Communication camera: Used for initial positioning during the docking phase and video recording of the entire docking process, located on the outer side of the AUV head.

[0018] Optical communication sensor: Enables high-speed optical signal transmission over short distances underwater, and performs real-time positioning during docking by identifying signals. It is located on the inner side of the AUV head and the installation structure is mostly circular.

[0019] Magnetic wedge buckle: It uses magnets to provide attraction, and the wedge shape ensures rapid dynamic docking; this design improves docking stability by combining magnetic force with mechanical structure; it is located on both sides of the central docking pin and is wedge-shaped protrusion.

[0020] Central docking pin: As the core component for physical docking, it works with the central docking interface at the tail to complete mechanical locking and supports underwater wet plugging and unplugging connection.

[0021] The components at the tail of a single-unit AUV include: Positioning guide light: Provides underwater visible light or infrared navigation signals, guiding the AUV into the docking area through a combination of multi-color LEDs (such as red and green dual-frequency), located at the tail fin.

[0022] Optical communication transmitter: transmits modulated light signals to optical communication sensors, integrates infrared supplementary lighting modules to cope with turbid waters, is located on the inner side of the tail, and the installation structure is mostly circular, corresponding to the optical communication sensor at the head.

[0023] Magnetic wedge groove: The magnetic force is provided by the magnet, and the wedge shape ensures rapid dynamic docking. This design improves docking stability by combining magnetic force with mechanical structure. It is located on both sides of the central docking interface and corresponds to the magnetic wedge buckle at the head, forming a wedge groove.

[0024] Central mating interface: It works with the central mating pin on the head to achieve mechanical locking and supports underwater wet plugging and unplugging connection.

[0025] The positioning ring is fixed to the rear end of the tail by circumferentially distributed ribs and is used for coarse alignment between the head and tail. After the head enters the positioning ring, fine alignment is achieved by using the central docking interface and the central docking pin.

[0026] Step 2: Construction of the parameterization system for a single AUV.

[0027] A unified, systematic, and scalable geometric parameter system is constructed around the structure of the various components at the head and tail of the aforementioned monolithic AUV to support the efficient generation, flexible configuration, and cross-configuration adaptation of the monolithic AUV's geometric model. This parameter system mainly includes two categories: design parameters and layout parameters. Design parameters are used to define the geometry of each component module; they mainly include: D_ef: Diameter of the tail end face; D_tf: Head end face diameter; D_cam: Diameter of the mounting hole for the communication camera; D_sensor_trans: Diameter of the mounting hole for optical communication sensors and optical communication transmitters; D_center: Diameter of the central interface; D_pin: Side length of the magnetic wedge buckle and magnetic wedge groove; D_H: Head length; D_L: Tail length; D_1: Head line type; D_2: Rate of curvature change at the junction of the head line and the frontal plane of the head; D_3: Rate of curvature change at the junction of the head and the main body of the AUV unit; D_4: Tail line type; D_5: Rate of change of tail line curvature.

[0028] These parameters directly drive the generation of surfaces and solids, and are the foundation for ensuring the physical realism of the model and expressing the design intent; Layout parameters: These determine the spatial arrangement of each component module in a multi-body reconstructed AUV, including the module's three-dimensional spatial position, relative rotation angle, axial and radial offset, etc.; they mainly include: L_cam: Distance between the mounting hole of the communication camera and the center of the head end face; The distance between the mounting holes of the L_sensor_trans optical communication sensor and the center of the head and tail end faces; Angle_cam: The mounting angle of the communication camera; Angle_sensor_trans: The mounting angle of the optical communication sensor or transmitter; that is, the angle relative to the baseline set on the head and tail surfaces.

[0029] These parameters ensure the geometric continuity and spatial rationality of the connections between component modules, supporting the precise implementation of assembly logic.

[0030] Standardizing and classifying parameters can improve consistency in the model building process and facilitate the management and modification of the appearance and layout of each component in the interface structure.

[0031] Step 3, construct optimization design variables; the design variables include design parameters and layout parameters, that is, in this embodiment, the design variables are represented as [D_ef, D_tf, D_cam, D_sensor_trans, D_center, D_pin, D_H, D_L, D_1, D_2, D_3, D_4, D_5, L_cam, L_sensor_trans, Angle_cam, Angle_sensor_trans].

[0032] Figure 5 The design variables are shown in Table 1.

[0033] Table 1 Parameter Correspondence Table

[0034] The central docking pin on the head is the same size as the central docking port on the tail; the mounting holes for the optical communication sensors and optical communication transmitters on the head and tail are aligned; in addition, the positioning guide lights on the fin rudders and the communication camera on the outside of the head are used for initial positioning during the initial docking and do not need to be aligned.

[0035] Step 4: Using platforms such as MATLAB, assign initial values ​​to the design variables and input them into the database, generate a two-parameter square polynomial line type, and store the model value points in the database.

[0036] Step 5: Based on the MATLAB platform, the design variables are structurally encapsulated to form a standardized input dataset. This dataset is then linked with the COMSOL Multiphysics platform to construct a parameter-driven modeling process through feature tree logic control. The head, tail, and other components of the individual AUV generate 3D geometric models based on the design variables, supporting component reconstruction and combination, and are exported as standard geometric file formats such as .step and .x_t. The above process is saved as an operation script for later use. The specific modeling process steps are as follows: (1) Set the initial plane and create a sketch. Import the two-parameter square polynomial line type stored in step 4. Generate the three-dimensional shell of the head and tail required for the docking part by using the rotation loft command.

[0037] (2) Create a cutting sketch based on the three-dimensional shell of the head and tail. According to the design variables, output the plane position and size of the mounting holes of the head and tail in sequence. Then, perform the cutting and lofting command to cut out the mounting holes of the optical communication sensor and optical communication transmitter, the mounting holes of the communication camera and the central interface in the head and tail.

[0038] (3) Create a sketch based on the three-dimensional shell of the head and tail, draw the planar outline of the magnetic wedge buckle of the head and the magnetic wedge groove of the tail. The head is constructed using the boss lofting command and the chamfering command to build the three-dimensional model of the magnetic wedge buckle; correspondingly, the tail is constructed using the cutting lofting command and the chamfering command to build the three-dimensional model of the magnetic wedge groove; at the same time, the central docking pin is constructed using the lofting command and the chamfering command on the head.

[0039] (4) Create a sketch based on the initial plane, draw the outline sketch of the tail fin, use the boss lofting command to construct a single flat fin, and then use the circular array command with an array angle of 90 degrees and an array quantity of 4 to output the three-dimensional model of the tail fin.

[0040] (5) Create an offset plane based on the fin plane, create a sketch on the offset plane, draw the outline sketch of the positioning guide light, perform the boss lofting command to construct a single positioning guide light, and then use the circular array command with an array angle of 90 degrees and an array quantity of 4 to output the three-dimensional model of the positioning guide light. (6) Create a sketch based on the tail of the fin, draw the outline sketch of the positioning ring, and use extrude loft to generate a three-dimensional model of the positioning ring.

[0041] (7) Import or generate the main three-dimensional model of the AUV unit.

[0042] (8) Save the above operations as an operation script such as a .m file to create a parameterized script.

[0043] Step 6: Run the parametric modeling script to generate parametric models of the head, tail, and body.

[0044] By implementing a modular script architecture to achieve full parameter-driven operation, it retains the geometric accuracy advantages of traditional CAD software while also possessing the flexibility and traceability of code-based design.

[0045] Step 7: Preview the docking in the modeling software. Use the dynamic visualization interface to check the assembly status and movement path of each component on the head and tail (such as the optical guidance module, magnetic wedge docking buckle, and central docking device) in real time. Focus on checking for geometric interference or movement conflicts. If any exist, return to step 4; otherwise, complete the modeling process of the AUV unit. Afterward, you only need to input design variables to automatically complete the parametric modeling of the head and tail.

[0046] The above solution employs a unified naming system and modeling structure to ensure consistency in the calling, organization, and integration of component models. It supports data interoperability with mainstream CAD / CAE platforms, allows models to be exported in standard formats (such as .step and .x_t), and retains modeling parameters and feature trees for easy structural analysis and assembly verification. Through this rule system, each module can autonomously complete 3D geometric modeling based on the input parameter set, ensuring the accuracy and rationality of the model.

[0047] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for the structural layout of a multi-body reconfiguration AUV for underwater observation and optical communication, characterized in that, include: The structure of the multi-body reconfigurable AUV combination function is determined; the multi-body reconfigurable AUV is composed of multiple AUV units connected in series, and the combination function of the multi-body reconfigurable AUV is realized by the components on the head and tail of each AUV unit; the components on the head of the individual AUV include a communication camera, an optical communication sensor, a magnetic wedge buckle, and a central docking pin; the components on the tail include a positioning guide light, an optical communication transmitter, a magnetic wedge slot, a central docking interface, and a positioning ring; The design variables for optimization include design parameters and layout parameters. The design parameters include the diameters of the head and tail end faces, the diameter of the communication camera mounting holes, the diameters of the mounting holes for the optical communication sensors and transmitters, the diameter of the central interface, the side lengths of the magnetic wedge buckles and slots, the lengths of the head and tail, the head and tail profiles, the rate of curvature change at the junction of the head profile and the front plane of the head, the rate of curvature change at the junction of the head and the main body of the AUV unit, and the rate of curvature change of the tail profile. The layout parameters include the distance between the communication camera mounting holes and the center of the head end face, the distance between the mounting holes for the optical communication sensors and transmitters and the centers of the head and tail end faces, the camera mounting angle, and the mounting angles for the optical communication sensors and transmitters. After assigning initial values ​​to the design variables, input them into the database and generate a two-parameter square polynomial line type, then store the line type points in the database. The design variables are encapsulated in a structured manner based on the MATLAB platform to form a standardized input dataset, and the modeling process is driven by feature tree logic control. The head, tail, and other components of a single AUV are generated into 3D models based on design variables, supporting component reconstruction and combination; and the modeling process is saved as a parametric script that can be called at any time. Run the parametric modeling script to generate parametric models of the head, tail, and body; The modeling process is completed by previewing and checking the docking in the modeling software.

2. The multi-body reconfiguration AUV underwater observation and optical communication structure layout method according to claim 1, characterized in that, The communication camera, located on the outer side of the AUV's head, is used for initial positioning during docking and video recording of the entire docking process. The optical communication sensor, located on the inner side of the AUV's head, enables short-range, high-speed underwater optical signal transmission and real-time positioning during docking by identifying signals. The magnetic wedge-shaped buckle, located on both sides of the central docking pin, uses magnets to provide attraction and is wedge-shaped. The central docking pin and the central docking interface at the tail cooperate to complete mechanical locking and support underwater wet-plug connection.

3. The multi-body reconfiguration AUV underwater observation and optical communication structure layout method according to claim 1, characterized in that, The positioning guide light provides underwater visible light or infrared navigation signals, guiding the single AUV into the docking area via a combination of multi-color LEDs, located at the tail fin; the optical communication transmitter transmits modulated light signals to the optical communication sensor; the magnetic wedge grooves are located on both sides of the central docking interface, corresponding to the magnetic wedge buckle on the head, forming wedge-shaped grooves; the central docking interface and the central docking pin on the head cooperate to complete the mechanical locking; the positioning ring is fixed to the rear end of the tail by circumferentially distributed ribs, used for coarse alignment of the head and tail.

4. The multi-body reconfiguration AUV underwater observation and optical communication structure layout method according to claim 1, characterized in that, The central docking pin on the head is the same size as the central docking port on the tail; the mounting holes for the optical communication sensors and optical communication transmitters on the head and tail are aligned; in addition, the positioning guide lights on the fin rudders and the communication camera on the outside of the head are used for initial positioning during the initial docking and do not need to be aligned.

5. The multi-body reconfiguration AUV underwater observation and optical communication structure layout method according to claim 1, characterized in that, The modeling process is driven by feature tree logic control, including: (1) Set the initial plane and create a sketch, import the two-parameter square polynomial line type, and generate the three-dimensional shell of the head and tail required for the docking part through the rotation loft command; (2) Create a cutting sketch based on the three-dimensional shell of the head and tail. According to the design variables, output the plane position and size of the mounting holes of the head and tail in sequence. Then, perform the cutting and lofting command to cut out the mounting holes of the optical communication sensor and optical communication transmitter, the mounting holes of the communication camera and the central interface in the head and tail. (3) Create a sketch based on the three-dimensional shell of the head and tail, draw the planar outline of the magnetic wedge buckle of the head and the magnetic wedge groove of the tail. The head is constructed using the boss lofting command and the chamfering command to build the three-dimensional model of the magnetic wedge buckle; correspondingly, the tail is constructed using the cutting lofting command and the chamfering command to build the three-dimensional model of the magnetic wedge groove; at the same time, the central docking pin is constructed using the lofting command and the chamfering command on the head. (4) Create a sketch based on the initial plane, draw the outline sketch of the tail fin, use the boss lofting command to construct a single flat fin, and then use the circular array command with the array angle set to a preset angle and the array quantity set to a preset quantity to output the three-dimensional model of the tail fin. (5) Create an offset plane based on the fin plane, create a sketch on the offset plane, draw the outline sketch of the positioning guide light, perform the boss lofting command, construct a single positioning guide light, and then use the circular array command with the array angle set to a preset angle and the array quantity set to a preset quantity to output the three-dimensional model of the positioning guide light. (6) Create a sketch based on the tail of the fin rudder, draw the outline sketch of the positioning ring, and use extrude loft to generate a three-dimensional model of the positioning ring. (7) Import or generate the main three-dimensional model of the AUV unit; (8) Save the above operations as an operation script and create a parameterized script.

6. The multi-body reconfiguration AUV underwater observation and optical communication structure layout method according to claim 1, characterized in that, Perform docking previews and checks in the modeling software, including: The assembly status and movement path of each component on the head and tail are checked in real time through a dynamic visualization interface to detect whether there is geometric interference or movement conflict. If so, the modeling is returned to be remodeled; otherwise, the modeling process of the AUV unit is completed. Subsequently, only design variables need to be input to automatically complete the parametric modeling of the head and tail.

7. A terminal device, comprising a processor, a memory, and a computer program stored in the memory; characterized in that, When the processor executes the computer program, it implements the multi-body reconfiguration AUV underwater observation and optical communication structure layout method according to any one of claims 1-6.

8. A computer-readable storage medium storing a computer program; characterized in that, When the computer program is executed by the processor, it implements the multi-body reconfiguration AUV underwater observation and optical communication structure layout method according to any one of claims 1-6.

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