A military unmanned paddleless shuttle submarine

Abstract

The present application relates to a kind of military unmanned paddleless shuttle body submarine, belong to underwater vehicle field.It includes: shuttle body, base plate, balance bin, diving adjuster, pressure main pipe, water inlet system, booster system and jet drive system;Water inlet system includes the left water inlet of being arranged in the left side of shuttle body and the right water inlet of being arranged in the right side of shuttle body;Booster system includes left booster device and right booster device, left water inlet is communicated with left booster device, right booster device is communicated with right water inlet;Jet drive system includes front nozzle regulating valve, rear nozzle regulating valve, front branch pipe, rear branch pipe, front left regulating valve, front right regulating valve, rear left regulating valve and rear right regulating valve, and front branch pipe and rear branch pipe are communicated with pressure main pipe;Pressure main pipe is used to supply high-pressure water flow to jet drive system, so that military unmanned paddleless shuttle body submarine is realized paddleless underwater movement by nozzle jet.

Description

Technical Field

[0001] This invention belongs to the field of underwater vehicle technology, and in particular relates to a military unmanned propellerless shuttle submarine. Background Technology

[0002] With its vast maritime area, my country faces the challenge of the ocean becoming a core battlefield in modern military struggles, driven by the evolving international political landscape. Concealing combat readiness and ensuring the secrecy of troop movements have become critical themes in current maritime military operations. To address the complex and ever-changing military landscape, the military urgently needs highly concealed and mobile underwater equipment to assist large ships in berthing and departure from port, effectively safeguarding my country's maritime rights and national security.

[0003] Currently, the berthing, departure, and port maneuvering of warships and conventional submarines are usually accomplished with the help of surface barges for towing and assistance. Traditional military underwater vehicles generally use a mechanical transmission propulsion and control mode with propellers and rudders, and most of them are manned structures that rely on onboard personnel to operate and perform various underwater tasks.

[0004] The aforementioned existing technologies have many obvious drawbacks: First, traditional propeller propulsion generates cavitation noise, rudder surface fluid noise, and mechanical transmission noise, resulting in a serious lack of flexibility; second, manned underwater equipment requires professional operators, which not only incurs high labor costs but also poses a significant risk of personnel injury. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of the invention is to provide a military unmanned propellerless shuttle submarine, which solves the problems of cavitation noise, rudder surface fluid noise and mechanical transmission noise generated by the traditional propeller propulsion method, and the serious lack of flexibility; secondly, manned underwater equipment requires professional operators, which not only has high labor costs, but also poses a significant risk of personnel casualties.

[0006] A first aspect of the present invention provides a military unmanned propellerless shuttle submarine, comprising: The components include a shuttle-shaped body, a base plate, a balance chamber, a depth adjuster, a pressure header, a water inlet system, a pressurization system, and a jet drive system. The shuttle-shaped body is positioned above the substrate, the balance chamber is positioned below the substrate, and the diving depth adjuster is positioned on the upper surface of the substrate; The water inlet system includes a left water inlet located on the left side of the shuttle-shaped body and a right water inlet located on the right side of the shuttle-shaped body; The pressurization system includes a left pressurization device and a right pressurization device. The left inlet is connected to the left pressurization device, and the right pressurization device is connected to the right inlet. The jet drive system includes a front nozzle regulating valve, a rear nozzle regulating valve, a front branch pipe, a rear branch pipe, a front left regulating valve, a front right regulating valve, a rear left regulating valve, and a rear right regulating valve. Both the front branch pipe and the rear branch pipe are connected to the pressure main pipe. The pressure header is used to supply high-pressure water flow to the jet drive system, enabling military unmanned, propeller-less shuttle submarines to achieve propeller-less and rudder-less underwater movement through nozzle jets.

[0007] The beneficial effects of this invention are as follows: In this embodiment of the invention, the jet drive system precisely controls the flow rate and direction of different nozzles, enabling zero-radius in-situ torque rotation, left and right translation, and bidirectional straight-line shuttle movement in a plane. This increases the turning radius of traditional rudder control, reduces maneuverability limitations in narrow waters, and enhances flexibility. Secondly, the water intake system and pressurization system automatically adjust the opening of the regulating valve, eliminating the need for onboard personnel and completely freeing up manpower, thus avoiding personnel casualties in high-risk military missions. Attached Figure Description

[0008] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts. It is obvious that the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings.

[0009] Figure 1 This is a front view of a military unmanned propellerless shuttle submarine provided in an embodiment of the present invention.

[0010] Figure 2 This is a top view of a military unmanned propellerless shuttle submarine provided in an embodiment of the present invention.

[0011] Reference numerals: 1. Magnetic North Orientation; 2. Actuator; 3. Spindle-shaped body; 4. Inlet / outlet channel; 5. Base plate; 6. Observation window; 7. Balance chamber; 8. Diving depth adjuster; 9. Pressure header; 10. Front nozzle regulating valve; 11. Rear nozzle regulating valve; 12. Front elastic body; 13. Rear elastic body; 14. Drain; 15. Left inlet; 16. Right inlet; 17. Left booster device; 18. Right booster device; 19. Left inlet check valve; 20. Right inlet check valve; 21. Left booster device outlet regulating valve; 22. Right booster device outlet regulating valve; 23. Front branch pipe; 24. Rear branch pipe; 25. Front left adjusting valve; 26. Front right adjusting valve; 27. Rear left adjusting valve; 28. Rear right adjusting valve. Detailed Implementation

[0012] To enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0013] Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts disclosed in this invention.

[0014] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "installed," "connected," and "linked" should be interpreted broadly; for example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0015] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of methods and systems consistent with some aspects of the invention as detailed in the appended claims.

[0016] This invention proposes a method and system for military unmanned propellerless shuttle submarines. It addresses the problems of cold start, data sparsity, and relatively simple recommendations in traditional recommendation methods, which lead to a decline in user experience and the effectiveness of recommendation results, thus failing to better adapt to changes in users' personalized needs.

[0017] Method Implementation Examples Reference Figure 1The image shows a front view of a military unmanned propellerless shuttle submarine provided in an embodiment of the present invention.

[0018] Reference Figure 2 The image shows a top view of a military unmanned propellerless shuttle submarine provided in an embodiment of the present invention.

[0019] An embodiment of the present invention provides a military unmanned propellerless shuttle submarine, comprising: 3. Spindle-shaped body, 5. Base plate, 7. Balance chamber, 8. Diving depth adjuster, 9. Pressure header, water inlet system, pressurization system and jet drive system.

[0020] The shuttle-shaped body 3 is disposed above the substrate 5, the balance chamber 7 is disposed below the substrate 5, and the diving depth adjuster 8 is disposed on the upper surface of the substrate 5.

[0021] The water inlet system includes a left water inlet 15 located on the left side of the shuttle-shaped body 3 and a right water inlet 16 located on the right side of the shuttle-shaped body 3.

[0022] The pressurization system includes a left pressurization device 17 and a right pressurization device 18. The left inlet 15 is connected to the left pressurization device 17, and the right pressurization device 18 is connected to the right inlet 16.

[0023] The jet drive system includes a front nozzle regulating valve 10, a rear nozzle regulating valve 11, a front branch pipe 23, a rear branch pipe 24, a front left regulating valve 25, a front right regulating valve 26, a rear left regulating valve 27, and a rear right regulating valve 28. Both the front branch pipe 23 and the rear branch pipe 24 are connected to the pressure main pipe 9.

[0024] The pressure header 9 is used to supply high-pressure water flow to the jet drive system, enabling the military unmanned, propeller-free shuttle submarine to achieve underwater movement without propellers or rudders through nozzle jets.

[0025] In this embodiment of the invention, the water intake, pressurization, jet drive, and balanced diving depth systems are modularly integrated into a load-bearing structure composed of a shuttle-shaped body and a base plate. This completely eliminates the traditional propeller and rudder surface structure, thereby eliminating cavitation noise, fluid noise, and mechanical transmission noise at their source, significantly improving underwater stealth. Simultaneously, by using multiple regulating valves to collaboratively control the jet direction and flow rate of the high-pressure water, omnidirectional maneuverability without a turning radius can be achieved. Furthermore, the overall structure is simple and compact, with a low failure rate, facilitating mass production and long-term underwater deployment.

[0026] In one possible implementation, it also includes: magnetic north orientation 1 and actuator 2.

[0027] The magnetic north orientation 1 is located inside the shuttle-shaped body 3. The magnetic north orientation 1 is connected to the actuator 2. The magnetic north orientation 1 and the actuator 2 are used to determine the submarine's direction and perform control actions.

[0028] Specifically, the magnetic north orientation 1 is used to sense the azimuth of the submarine relative to magnetic north in real time in complex underwater electromagnetic environments without relying on external satellite navigation signals, and continuously output a stable and accurate heading reference signal. The actuator 2 is used to receive the heading signal from the magnetic north orientation 1 and preset mission control commands, and drives the opening and closing status of all power regulating valves through electrical signals to automatically complete multi-dimensional maneuver attitude control such as speed adjustment, heading correction, stationary rotation, and left and right translation. Ultimately, it realizes the submarine's fully unmanned autonomous navigation and covert operations, completely eliminating dependence on onboard operators, while avoiding the risk of external navigation signals being interfered with or intercepted, and greatly improving the safety and stealth of underwater military missions.

[0029] In this embodiment of the invention, the autonomous navigation control system composed of magnetic north orientation and actuator does not rely on external satellite navigation signals that are susceptible to interference. It can stably provide a precise heading reference in complex underwater electromagnetic environments, automatically complete the opening and closing control of each regulating valve, ensure the unmanned autonomous navigation and multi-dimensional maneuvering of the submarine, avoid the delay and error of manual operation, and greatly improve the reliability and emergency response speed of underwater covert operations.

[0030] In one possible implementation, the actuator 2 is electrically connected to the left booster outlet regulating valve 21, the right booster outlet regulating valve 22, the front left regulating valve 25, the front right regulating valve 26, the rear left regulating valve 27, the rear right regulating valve 28, the front nozzle regulating valve 10, and the rear nozzle regulating valve 11, respectively, and is used to control the opening degree and on / off state of each regulating valve according to the heading reference signal output by the magnetic north orientation 1, so as to realize the submarine's speed regulation, heading correction, and multi-dimensional maneuver attitude control.

[0031] Specifically, the left booster outlet regulating valve 21 and the right booster outlet regulating valve 22 control the flow rate and pressure of high-pressure water supplied by the left and right boosters to the pressure header, respectively, serving as the overall flow regulating valves for the entire power system. They can independently adjust the output power of a single booster, providing differentiated power for steering and translation. In case of a single booster failure, the corresponding valve can be quickly closed to isolate the fault, ensuring the normal operation of the other power source while maintaining stable water pressure in the pressure header to avoid power fluctuations. The front left regulating valve 25 and the front right regulating valve 26 independently control the high-pressure water flow rate of the left and right branches of the front branch pipe, precisely adjusting the jet thrust on the left and right sides of the hull. By adjusting the difference in opening between the two, a yaw moment can be generated at the front, which, in conjunction with the rear regulating valve, enables fine-tuning of the heading. When one side is fully open and the other fully closed, it can form a torque with the corresponding rear regulating valve, achieving rotation in place. The aft left regulating valve 27 and aft right regulating valve 28 independently control the high-pressure water flow of the left and right paths of the aft branch pipe, respectively, precisely adjusting the jet thrust on the left and right sides of the hull's rear end. Working in conjunction with the front regulating valve, through the combination and matching of forward and backward, left and right thrust, complex maneuvers without rudder surfaces, such as left and right translation, 360° rotation in place, and reverse navigation without turning around, can be achieved. The front nozzle regulating valve 10 and aft nozzle regulating valve 11 are the master control valves for the jet systems at the front and rear ends of the hull, respectively, controlling the overall on / off state and total flow of the front and rear nozzles. They can quickly cut off all power output at the front or rear end to achieve emergency braking. By synchronously adjusting the opening of both valves, stepless speed regulation for forward and backward movement of the submarine can be achieved. When one side is closed, it can be used in conjunction with the other side's power system to achieve rapid turning.

[0032] In this embodiment of the invention, the actuator controls all power regulating valves through electrical connection. It can quickly and accurately adjust the opening and on / off status of each valve synchronously according to the real-time heading signal output by magnetic north orientation, so as to realize stepless speed adjustment, real-time heading correction, and multi-dimensional complex maneuvers such as rotation in place and left and right translation. This greatly improves the control accuracy and response speed of the submarine's unmanned autonomous navigation, and ensures the mobility of underwater covert operations and the reliability of mission execution.

[0033] In one possible implementation, it also includes: an inlet / outlet channel 4, an observation window 6, a front elastic body 12, a rear elastic body 13, and a drainage outlet 14.

[0034] An access channel 4 is provided on the upper part of the shuttle-shaped body 3, an observation window 6 is provided in the upper middle part of the shuttle-shaped body 3, a front elastic body 12 is provided at the front part of the shuttle-shaped body 3, a rear elastic body 13 is provided at the rear part of the shuttle-shaped body 3, and a drainage port 14 is provided at the bottom of the shuttle-shaped body 3. The front elastic body 12 and the rear elastic body 13 are used to buffer the collision or contact impact of the submarine during underwater operations.

[0035] Specifically, access channel 4 serves as the sole physical interface between the hull and the external environment. It is used for the overall hoisting and replacement of core equipment, the rapid assembly and disassembly of modular payloads, and temporary personnel access and tool transfer during ground maintenance. The channel is equipped with a pressure-resistant watertight door structure, which, when closed, completely isolates external water pressure, ensuring the overall airtightness of the hull. Observation window 6 serves as a direct window for underwater optical observation, used to install high-definition underwater cameras and lighting equipment. It collects real-time visual information about the surrounding environment, enabling precise identification of docking marks and obstacles on the hull during underwater berthing and departure operations for large vessels. This assists the actuators in achieving millimeter-level precision position adjustments and attitude matching. Drainage outlet 14 automatically discharges small amounts of water accumulated inside the hull due to temperature differences, condensation, and minor seepage in the pipelines, preventing short circuits caused by water soaking electrical components. The drainage outlet has a built-in one-way check valve, allowing only water from inside the hull to drain outwards, completely preventing high-pressure water from flowing back into the hull.

[0036] In this embodiment of the invention, the top access channel ensures the convenience of equipment maintenance, module replacement and material replenishment, the middle and upper observation window provides underwater close-range visual observation capability to assist in precise operations, the symmetrically arranged elastic bodies at the front and rear can effectively buffer collision impacts and protect the hull and internal precision equipment, and the bottom drainage outlet can promptly drain water inside the submarine to prevent electrical systems from being damaged by moisture. All aspects of the invention improve the submarine's operational convenience, structural safety and operational reliability, and it is especially suitable for close-range covert operation scenarios in narrow waters of ports.

[0037] In one possible implementation, a left booster outlet regulating valve 21 is provided on the connecting pipe between the left booster device 17 and the pressure main pipe 9, and a right booster outlet regulating valve 22 is provided on the connecting pipe between the right booster device 18 and the pressure main pipe 9.

[0038] Specifically, the left booster outlet regulating valve 21, in addition to basic flow and pressure control, can also be slowly opened when the left booster is started to achieve a soft start, eliminating water hammer impact and protecting the pipeline and booster pump body. During the system commissioning phase, the left output parameters can be adjusted independently to complete the performance calibration and fault diagnosis of a single power unit. During low-speed cruising, the left channel can be opened independently and the opening degree can be precisely controlled to achieve low-power operation of a single channel and extend underwater endurance. The right booster outlet regulating valve 22 forms a redundant backup with the left valve and can independently undertake all power output tasks when the left system is under maintenance or malfunctioning. When the water pressure in the pressure header exceeds the rated threshold, the opening degree can be quickly reduced to achieve system overpressure protection and prevent downstream branch pipes and nozzles from being damaged due to overpressure. In emergency maneuvers, it can be opened rapidly and fully in sync with the left valve to instantly increase the water pressure in the header and provide the submarine with explosive acceleration power.

[0039] In this embodiment of the invention, independent outlet regulating valves are respectively installed between the left and right booster devices and the pressure header, which can precisely control the flow rate and pressure of the two high-pressure water streams flowing into the header. This can maintain a stable water pressure output in the pressure header, ensuring the power consistency of the jet drive system, and can also adjust the output power of a single booster device to provide differentiated power support for the submarine's multi-dimensional maneuverability. At the same time, in the event of a failure of a single booster device, the corresponding valve can be quickly closed to isolate the fault and avoid affecting the normal operation of the entire power system, significantly improving the controllability and operational reliability of the submarine's power system.

[0040] In one possible implementation, a front branch pipe 23 is provided in the inner front part of the shuttle body 3. A front left regulating valve 25 and a front right regulating valve 26 are provided on the front branch pipe 23. The end of the front branch pipe 23 is connected to the front nozzle at the front end of the hull and the on / off state and flow rate are controlled by the front nozzle regulating valve 10.

[0041] Specifically, the forward branch pipe 23 serves as the centralized water supply pipeline for the front jet system, evenly distributing the high-pressure water output from the pressure header to the left and right jet branches at the front. Its internally embedded arrangement significantly shortens the transmission distance of the high-pressure water to the forward nozzle, reducing pressure loss and energy consumption along the way. Simultaneously, it avoids external pipeline protrusion that could disrupt the hull's streamlined shape, reducing fluid resistance and navigation noise. The forward left regulating valve 25 allows for precise micro-opening adjustment. In underwater docking operations of large vessels, fine control generates a small thrust difference to achieve millimeter-level correction of the hull's course, ensuring docking accuracy. In the event of a failure of the forward right regulating valve, its opening can be adjusted independently to maintain thrust output on one side of the front, preventing the submarine from losing course control. The forward right regulating valve 26, in conjunction with the forward left regulating valve, enables vector distribution of thrust at the front. During underwater hovering operations, alternating fine adjustments to the openings on both sides counteract water flow disturbances, maintaining hull stability. During low-speed, stealthy navigation, a small opening on one side can generate asymmetrical thrust for silent steering, avoiding fluid noise generated by full valve operation. The front nozzle regulating valve 10 has a millisecond-level rapid response capability. When encountering underwater obstacles, it can instantly fully open the front reverse jet (in conjunction with the rear valve closing) to achieve emergency braking and collision avoidance. In a silent and lurking state, the front power can be completely shut off, relying solely on the rear micro-power to maintain hovering, minimizing fluid noise and infrared signature.

[0042] In this embodiment of the invention, the front branch pipe and multi-regulating valve combination design allows for independent control of the flow rate and pressure of the jets on both sides of the front end via the front left and front right regulating valves. This enables precise adjustment of the magnitude and distribution of the front thrust, which, in conjunction with the rear jet system, creates a thrust differential, enabling complex maneuvers such as stationary rotation and left-right translation without rudder surfaces. The front nozzle regulating valve, as the overall front-end power control, can quickly cut off the front-end power output or uniformly regulate the total flow rate at the front end. This allows for stepless speed adjustment and rapid braking or changing of course in emergencies. Furthermore, the independent branch pipe and valve structure enhances the redundancy and ease of maintenance of the power system.

[0043] In one possible implementation, a rear branch pipe 24 is provided in the inner rear part of the shuttle body 3. A rear left regulating valve 27 and a rear right regulating valve 28 are provided on the rear branch pipe 24. The end of the rear branch pipe 24 is connected to the rear nozzle at the rear end of the hull and the on / off state and flow rate are controlled by the rear nozzle regulating valve 11.

[0044] Specifically, the aft branch pipe 24 and the forward branch pipe form a completely symmetrical aft and rear water supply pipeline, ensuring consistent jet power output characteristics at both ends and providing a structural basis for bidirectional, indiscriminate navigation. The inner-rear embedded arrangement balances the hull's center of gravity, improving pitch stability during high-speed maneuvers, while reducing exposed pipe area, fluid resistance, and navigation noise. During underwater departure operations of large vessels, the aft left regulating valve 27 can generate a small reverse thrust through fine adjustment of its opening, achieving a slow separation of the hull from the ship's hull and avoiding significant water flow disturbance. In the event of a malfunction of the aft right regulating valve, it can cooperate with the forward left regulating valve to form unilateral aft and rear thrust, maintaining the submarine's basic straight-line navigation and turning capabilities, ensuring uninterrupted mission operations. In underwater hovering and alert status, the aft right regulating valve 28 can alternately fine-tune with the forward left regulating valve to counteract the continuous lateral thrust of the water flow, maintaining the hull's position and attitude stability for extended periods. In emergency evasive maneuvers, the valve can be quickly fully opened to form maximum torque with the forward left regulating valve, enabling the submarine to turn on the spot at the fastest speed, significantly improving battlefield survivability. During submarine depth adjustments, the aft nozzle regulating valve 11, in conjunction with the depth adjuster, can regulate the total flow rate of the rear jet to assist in controlling the hull's pitch angle, preventing attitude loss due to sudden depth changes. During submarine recovery, it can be linearly and slowly closed to achieve smooth deceleration and docking, preventing rigid collisions with recovery equipment and damage.

[0045] In this embodiment of the invention, the symmetrical design of the aft branch pipe and multiple regulating valves forms a complete bidirectional power architecture with the front jet system. The flow rate and pressure of the jets on both sides of the rear end can be independently adjusted by the aft left and aft right regulating valves, precisely coordinating with the front thrust to form a force couple or thrust differential, enabling in-situ rotation, left and right translation, and reverse navigation without turning around. The aft nozzle regulating valve, as the rear power control unit, can quickly switch on / off or uniformly adjust the total flow rate at the rear end, improving the response speed of speed regulation and attitude control, enhancing the redundancy of the power system, and maintaining basic navigation capability even in the event of a single valve failure, significantly improving the submarine's underwater maneuverability and operational reliability.

[0046] In one possible implementation, a balance chamber 7 is provided at the lower part of the substrate 5, and a pressure header 9 and a depth adjuster 8 are provided at the upper part of the substrate 5.

[0047] Specifically, base plate 5 serves as a unified rigid mounting reference for all equipment on the submarine, ensuring the coaxiality and connection accuracy of all pipes and valves, and preventing pipe leaks and jamming caused by hull deformation. It also forms a physical isolation layer, completely separating the humid water environment of the lower ballast tank from the electrical control system above, preventing moisture corrosion of precision electronic components and significantly improving the service life and reliability of the electrical system. Ballast tank 7 employs a multi-compartment design, allowing adjustment of ballast water volume in different compartments to assist in correcting the hull's roll and pitch attitude, achieving high-precision underwater hovering in conjunction with the jet system. Its bottom structure increases the hull's draft, reducing the disturbance of surface waves to underwater navigation, and in emergencies, it can quickly drain all ballast water, enabling the submarine to surface for emergency avoidance. Pressure header 9 also functions as a high-pressure water energy storage buffer, effectively absorbing pressure pulsations generated by the alternating operation of the left and right booster devices, ensuring stable and consistent water pressure output from each jet branch pipe, and preventing hull attitude fluctuations caused by power fluctuations. Its large-diameter flow design can simultaneously provide ample high-pressure water supply to multiple sets of nozzles, meeting the high-flow-rate power requirements when multiple nozzles work together. The depth adjuster 8 features automatic seawater density compensation, allowing for real-time fine-tuning of ballast water volume based on changes in seawater density at different depths and in different sea areas, maintaining long-term stability of the diving depth. Linked with the actuator, it achieves closed-loop control, enabling centimeter-level precision depth adjustment without altering the jet power, meeting the stringent requirements of underwater covert reconnaissance and close-range docking operations.

[0048] In this embodiment of the invention, the integrated layout with upper and lower layers places the balance tank below the base plate, which effectively lowers the overall center of gravity of the hull and significantly improves the lateral and longitudinal stability during underwater navigation and complex maneuvers. Meanwhile, the pressure header and depth adjuster are centrally located above the base plate, which not only shortens the pipeline length between the depth adjuster and the balance tank, accelerating the ballast water regulation response and improving depth control accuracy, but also reduces the connection distance between the pressure header and each jet branch pipe, reducing the pressure loss during high-pressure water flow transmission, improving the efficiency of the power system. Furthermore, the modular and centralized layout facilitates later equipment maintenance and system upgrades.

[0049] In one possible implementation, it also includes: a left inlet check valve 19 and a right inlet check valve 20.

[0050] The left inlet 15 is connected to the left inlet check valve 19, and the right inlet 16 is connected to the right inlet check valve 20.

[0051] In one possible implementation, the left inlet check valve 19 is connected to the left booster device 17, and the left booster device 17 is connected to the pressure header 9 through the left booster device outlet regulating valve 21.

[0052] The right inlet check valve 20 is connected to the inlet of the right booster device 18 through a pipeline, and the outlet of the right booster device 18 is connected to the pressure main pipe 9 through the right booster device outlet regulating valve 22.

[0053] Specifically, the left and right water inlets 15 and 16 employ a symmetrical side-mounted grille water intake structure on both sides of the hull. This effectively prevents marine plankton, silt, and other impurities from entering the pipelines, avoiding wear on the booster impeller and pipe blockage. The symmetrical water intake method balances the fluid resistance on both sides of the hull, preventing yaw torque from affecting navigation stability and avoiding the intake of seabed sediments at the bottom water inlet, ensuring operational safety in complex seabed environments. The left and right inlet check valves 19 and 20 utilize a spring-loaded silent opening and closing structure, producing no metal-impact noise during operation and avoiding additional acoustic signals that could reveal the hull's position. They automatically maintain residual water pressure in the pipelines when the booster is shut down, eliminating the need for re-bleeding and refilling during the next startup, reducing the cold start response time of the power system to less than one second. In the event of emergency surfacing and pressure fluctuations within the submarine, they prevent high-pressure water from flowing back into the pipelines and impacting the water inlet structure.

[0054] In this embodiment of the invention, the completely independent dual-path boosting flow design, through the inlet check valve blocking the reverse flow of high-pressure water and the outlet regulating valve precisely controlling the flow and pressure of the water entering the pressure header, not only achieves completely independent operation and fault isolation of the two power units, greatly improving system reliability and battlefield survivability, but also allows for the separate adjustment of the output power of the boosting devices on both sides, providing differentiated power support for the submarine's multi-dimensional maneuvering such as turning and translation. At the same time, the parallel operation of the two paths can be superimposed to increase the total boosting capacity, meeting the requirements of high-speed navigation. The modular independent flow path also facilitates targeted maintenance and component replacement in the later stages.

[0055] The applicant of this invention has provided a detailed description of the embodiments of the invention in conjunction with the accompanying drawings. However, those skilled in the art should understand that the above embodiments are merely preferred embodiments of the invention. The detailed description is only intended to help readers better understand the spirit of the invention and is not intended to limit the scope of protection of the invention. On the contrary, any improvements or modifications made based on the inventive spirit of the invention should fall within the scope of protection of the invention.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and are not intended to limit them. Although the present invention 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; and these 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 the present invention. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the protection scope of the present invention.

Claims

1. A military unmanned propellerless shuttle submarine, characterized in that, include: The components include a shuttle-shaped body (3), a base plate (5), a balance chamber (7), a depth adjuster (8), a pressure header (9), a water inlet system, a pressurization system, and a jet drive system. The shuttle-shaped body (3) is disposed above the substrate (5), the balance chamber (7) is disposed below the substrate (5), and the diving depth adjuster (8) is disposed on the upper surface of the substrate (5); The water inlet system includes a left water inlet (15) located on the left side of the spindle body (3) and a right water inlet (16) located on the right side of the spindle body (3). The boosting system includes a left boosting device (17) and a right boosting device (18), the left inlet (15) is connected to the left boosting device (17), and the right boosting device (18) is connected to the right inlet (16). The jet drive system includes a front nozzle regulating valve (10), a rear nozzle regulating valve (11), a front branch pipe (23), a rear branch pipe (24), a front left regulating valve (25), a front right regulating valve (26), a rear left regulating valve (27), and a rear right regulating valve (28). The front branch pipe (23) and the rear branch pipe (24) are both connected to the pressure main pipe (9). The pressure header (9) is used to supply high-pressure water flow to the jet drive system, enabling the military unmanned propellerless shuttle submarine to achieve propellerless and rudderless underwater movement through nozzle jet.

2. The military unmanned propellerless shuttle submarine according to claim 1, characterized in that, Also includes: Magneto-north orientation (1) and actuator (2); The magnetic north orientation (1) is located inside the spindle-shaped body (3). The magnetic north orientation (1) is connected to the actuator (2). The magnetic north orientation (1) and the actuator (2) are used to determine the submarine's direction and perform control actions.

3. The military unmanned propellerless shuttle submarine according to claim 2, characterized in that, The actuator (2) is electrically connected to the left booster outlet regulating valve (21), the right booster outlet regulating valve (22), the front left regulating valve (25), the front right regulating valve (26), the rear left regulating valve (27), the rear right regulating valve (28), the front nozzle regulating valve (10), and the rear nozzle regulating valve (11), respectively, and is used to control the opening degree and on / off state of each regulating valve according to the heading reference signal output by the magnetic north orientation (1), so as to realize the submarine's speed regulation, heading correction and multi-dimensional maneuver attitude control.

4. The military unmanned propellerless shuttle submarine according to claim 1, characterized in that, Also includes: The inlet / outlet channel (4), the observation window (6), the front elastic body (12), the rear elastic body (13), and the drainage outlet (14). The upper part of the spindle-shaped body (3) is provided with the inlet and outlet channel (4), the middle and upper part of the spindle-shaped body (3) is provided with the observation window (6), the front part of the spindle-shaped body (3) is provided with the front elastic body (12), the rear part of the spindle-shaped body (3) is provided with the rear elastic body (13), and the bottom of the spindle-shaped body (3) is provided with the drainage port (14). The front elastic body (12) and the rear elastic body (13) are used to buffer the collision or contact impact of the submarine during underwater operations.

5. The military unmanned propellerless shuttle submarine according to claim 1, characterized in that, A left booster outlet regulating valve (21) is provided on the connecting pipe between the left booster device (17) and the pressure main pipe (9), and a right booster outlet regulating valve (22) is provided on the connecting pipe between the right booster device (18) and the pressure main pipe (9).

6. The military unmanned propellerless shuttle submarine according to claim 1, characterized in that, The front part of the spindle-shaped body (3) is provided with a front branch pipe (23), and the front left regulating valve (25) and the front right regulating valve (26) are provided on the front branch pipe (23). The end of the front branch pipe (23) is connected to the front nozzle at the front of the hull and the on / off and flow rate are controlled by the front nozzle regulating valve (10).

7. The military unmanned propellerless shuttle submarine according to claim 1, characterized in that, The rear part of the spindle-shaped body (3) is provided with a rear branch pipe (24), and a rear left regulating valve (27) and a rear right regulating valve (28) are provided on the rear branch pipe (24). The end of the rear branch pipe (24) is connected to the rear nozzle at the rear end of the hull and the on / off and flow rate are controlled by the rear nozzle regulating valve (11).

8. The military unmanned propellerless shuttle submarine according to claim 1, characterized in that, The lower part of the substrate (5) is provided with the balance chamber (7), and the upper part of the substrate (5) is provided with the pressure main pipe (9) and the diving depth adjuster (8).

9. The military unmanned propellerless shuttle submarine according to claim 1, characterized in that, Also includes: Left inlet check valve (19) and right inlet check valve (20); The left inlet (15) is connected to the left inlet check valve (19), and the right inlet (16) is connected to the right inlet check valve (20).

10. The military unmanned propellerless shuttle submarine according to claim 9, characterized in that, The left inlet check valve (19) is connected to the left booster device (17), and the left booster device (17) is connected to the pressure main pipe (9) through the left booster device outlet regulating valve (21); The right inlet check valve (20) is connected to the inlet of the right booster device (18) through a pipeline, and the outlet of the right booster device (18) is connected to the pressure main pipe (9) through the right booster device outlet regulating valve (22).

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