A micro unmanned submarine that can launch a drone in water

Abstract

The application relates to the field of unmanned submarines, and discloses a micro unmanned submarine capable of launching a spherical unmanned plane in water, which comprises a main body of the unmanned submarine and a spherical unmanned plane, wherein the front end of the main body of the unmanned submarine is provided with an underwater detector, one side of the main body of the unmanned submarine is provided with an inspection hatch, the tail of the main body of the unmanned submarine is provided with a boosting system, the upper surface of the main body of the unmanned submarine is uniformly provided with unmanned plane cabins along an axis, a sealing cover plate is rotatably arranged on one side of the top of the unmanned plane cabin, the sealing cover plate is controlled through hydraulic pressure, sliding grooves are arranged in the inner walls on the two sides of the unmanned plane cabin, and a first-stage high-pressure gas launching system is arranged below the inside of the unmanned plane cabin. The micro unmanned submarine capable of launching the spherical unmanned plane in the air under water has overcome a plurality of defects in the prior art through innovative design and material selection, and has significantly improved the execution efficiency, flexibility and safety of underwater and aerial tasks, and has a wide application prospect.

Description

Technical Field

[0001] This invention relates to the field of unmanned submarine technology, specifically to a miniature unmanned submarine capable of launching drones underwater. Background Technology

[0002] In existing technologies, the collaborative operation of unmanned submarines and drones is typically achieved through independent systems. Unmanned submarines are mainly used for underwater reconnaissance, detection, and search and rescue missions, while drones are used for aerial reconnaissance, surveillance, and communication relay. However, existing technological solutions have the following shortcomings:

[0003] 1. The independence of unmanned submarines and drones:

[0004] Existing unmanned submarines and drone systems are typically separate, unable to seamlessly integrate in the same mission. After completing an underwater mission, if an unmanned submarine needs to conduct aerial reconnaissance or surveillance, it must rely on an external drone system. This not only increases mission complexity but also requires additional human intervention and coordination, reducing mission efficiency.

[0005] 2. Lack of underwater drone catapult technology:

[0006] Currently, there is no mature technology capable of stably launching drones out of the water in an underwater environment. Water resistance, buoyancy, and the structural design of the drone all place high demands on the launch process. Existing drone launch technologies are mostly applied to aerial or ground environments and cannot meet the special needs of the underwater environment.

[0007] 3. The structural design of drones is not suitable for underwater catapult launch:

[0008] Most existing drones are fixed-wing or multi-rotor designs. These designs have good stability and maneuverability when flying in the air, but when launched underwater, the resistance of the water and the shape of the drone can easily lead to launch failure or the drone being unable to quickly unfold and enter flight mode after emerging from the water.

[0009] 4. Limitations of intelligent control systems:

[0010] The control of existing unmanned submarines and drones largely relies on manual operation, resulting in a low level of intelligence. Although some systems are equipped with automatic navigation and mission planning functions, existing intelligent control systems still have significant limitations in complex mission environments, especially in the seamless integration of underwater and aerial missions, and cannot achieve fully autonomous mission execution.

[0011] Summary of shortcomings of existing technologies: Existing technologies have many shortcomings in the collaborative operation of unmanned submarines and drones, underwater ejection of drones, and intelligent control systems. These shortcomings lead to increased complexity, reduced efficiency, and a higher risk of mission failure. Therefore, there is an urgent need for a system that can safely and automatically eject drones from the water and into aerial flight mode after underwater missions are completed, in order to achieve seamless integration of underwater and aerial missions.

[0012] The technical problem solved by this invention: Addressing the shortcomings of existing technologies, this invention proposes a miniature unmanned submarine capable of launching a spherical drone. After completing an underwater mission, the spherical drone can be launched out of the water and into aerial flight mode, thus achieving seamless integration of underwater and aerial missions. This invention, through its innovative drone shape and intelligent control system, solves problems in existing technologies such as the inability of unmanned submarines and drones to cooperate, difficulties in underwater drone launch, and limitations of intelligent control systems. Summary of the Invention

[0013] To address the shortcomings of existing technologies, this invention provides a miniature unmanned submarine capable of launching drones underwater. It solves problems such as difficulties in collaborative operations between unmanned submarines and drones, the lack of underwater drone launch technology, and limitations of intelligent control systems in existing technologies. The invention provides a miniature unmanned submarine capable of launching spherical drones. After completing an underwater mission, the system automatically launches the spherical drone out of the water and into aerial flight mode, thus achieving seamless integration of underwater and aerial missions.

[0014] To achieve the above objectives, the present invention is implemented through the following technical solution: a miniature unmanned submarine capable of launching unmanned aerial vehicles (UAVs) underwater, comprising an unmanned submarine body and a spherical UAV, wherein an underwater detector is provided at the front end of the unmanned submarine body, a maintenance hatch is installed on one side of the unmanned submarine body, a propulsion system is provided at the stern of the unmanned submarine body, UAV cabins are evenly distributed along the axis on the upper surface of the unmanned submarine body, a sealing cover is rotatably installed on one side of the top of the UAV cabin, the sealing cover is hydraulically controlled, grooves are provided on the inner walls of both sides of the UAV cabin, and a high-pressure gas ejection system is installed at the lower part of the UAV cabin.

[0015] The first-stage high-pressure gas ejection system includes two high-pressure gas thrust rods vertically mounted on a high-pressure cylinder. The high-pressure gas thrust rods penetrate the lower surface of the slide groove. A connector is provided at the top of the high-pressure gas thrust rod. The connector slides inside the slide groove. A push plate is provided between the tops of the two connectors. The push plate is used to support the bottom of the spherical UAV. A second-stage mechanical ejection system is installed below the push plate.

[0016] The secondary mechanical catapult system includes a thrust plate placed parallel to the push plate below the push plate. A magnetic block is embedded in the lower surface of the thrust plate. A strong magnetic accumulator is installed at the bottom of the unmanned cabin. The magnetic block corresponds to the strong magnetic accumulator. When the strong magnetic accumulator is energized, it has a downward attraction force on the magnetic block.

[0017] The spherical drone includes a drone body, which is placed inside the drone cabin. The drone body is placed on the upper surface of the thrust plate. A rotating shaft is rotatably mounted on the top of the drone body. A connecting block is fixed on the top of the rotating shaft. Three propeller blades are evenly hinged on the surface of the connecting block. A propeller blade telescopic mechanism is installed on the top of the drone body.

[0018] The blade extension mechanism is used to control the extension and retraction of the three propeller blades.

[0019] Preferably, the drone body has a spherical structure, an aerial detector is provided on the front side of the drone body, a recovery control system is installed below the drone body, and a bottom pad is fixed to the bottom of the drone body.

[0020] Preferably, a buoyancy cone is installed on the top of the connecting block, and three diversion grooves are evenly opened on the surface of the unmanned aerial vehicle. The diversion grooves are used to guide the water flow during ejection, and the end of the propeller blade is placed inside the diversion groove when it retracts.

[0021] Preferably, the propeller telescopic mechanism includes a triangular bushing sleeved on the surface of the rotating shaft and two power push rods vertically installed on the cylinder inside the UAV body. The triangular bushing sleeve has connecting rods hinged on three sides. The ends of the three connecting rods opposite to the triangular bushing sleeve are respectively hinged to the propeller blades. An extension cylinder is provided at the bottom of the triangular bushing sleeve, and a protruding ring is provided at the bottom of the extension cylinder.

[0022] Preferably, the two power push rods are placed parallel to each other on both sides of the rotating shaft, and an extension block is provided on the side of the top of the power push rods that is close to each other. The surface of the extension block is provided with an annular groove, and the two annular grooves are respectively engaged on both sides of the convex ring surface.

[0023] Preferably, a through hole is provided at the center of the surface of the push plate, the lower pad block passes through the through hole and contacts the upper surface of the push plate, and protrusions are symmetrically arranged on both sides of the lower surface of the high-pressure gas thrust rod, with the two protrusions corresponding to the two high-pressure gas thrust rods.

[0024] Preferably, the upper surface of the push plate is symmetrically provided with slide rods, both of which penetrate the push plate. A limit plate is provided at the top of the slide rod, and the limit plate is placed above the push plate. A storage spring is sleeved on the surface of the slide rod, and the storage spring is placed between the limit plate and the push plate.

[0025] Preferably, a limiting groove is formed on the surface of the slide bar, and a limiting rod slides laterally through the surface of the protrusion, with one end of the limiting rod matching the internal dimensions of the limiting groove.

[0026] Preferably, a compression control rod is vertically slidably installed inside the connector, the compression control rod extends beyond the top of the connector, and a crossbar is horizontally arranged below the side of the compression control rods that are close to each other. The crossbar is placed below the push plate and passes through the side surface of the connector. A connecting rod is hinged to the end of the crossbar, and the end of the connecting rod opposite to the crossbar is hinged to the limiting rod.

[0027] Preferably, a return spring is also placed inside the connector, and the top of the return spring contacts the lower surface of the compression control rod.

[0028] This invention provides a miniature unmanned submarine capable of launching drones underwater. It offers the following advantages:

[0029] 1. Reduce underwater resistance:

[0030] Traditional underwater drones are often designed with planar or angular shapes, resulting in significant water resistance and affecting their maneuverability. This invention employs a spherical design, significantly reducing underwater resistance and enabling the drone to move more efficiently underwater, completing reconnaissance missions faster.

[0031] 2. Optimize storage space:

[0032] In existing technologies, drones typically have their wings deployed when stored underwater, resulting in significant space consumption. The drone of this invention features a foldable wing design, allowing the wings to fold within the underwater compartment, greatly saving storage space, making the submarine design more compact, and improving overall space utilization.

[0033] 3. Improve task flexibility:

[0034] This invention allows submarines to quickly launch unmanned aerial vehicles (UAVs) into the air for follow-up surveillance after underwater missions, enhancing mission flexibility and adaptability. Compared to traditional systems, it can respond more quickly to different mission requirements, improving operational and reconnaissance efficiency.

[0035] 4. Enhanced stability and security:

[0036] The spherical design of the drone effectively reduces instability caused by water impact during launch. Furthermore, the stowage of the propeller blades aligns with the drainage channels on the drone's surface, guiding the water flow during launch. Combined with the buoyancy cone at the top, this further ensures the drone's safety and stability during launch. This design improvement reduces the risk of malfunction during water launch.

[0037] 5. The two-stage ejection system can adapt to ejection operations at different depths:

[0038] This invention employs a combination of high-pressure airflow ejection and spring-loaded ejection to achieve a two-stage ejection, thereby increasing the inertial potential energy of the UAV during ejection and increasing the height it rises above the water surface, providing ample time and space for wing deployment and rotational acceleration.

[0039] 6. Simplified operating procedures:

[0040] The integration of intelligent control systems simplifies the operational process between submarines and drones, reduces the need for human intervention, and improves the system's automation level. This improvement allows operators to focus more on mission execution rather than complex operational procedures.

[0041] In summary, the miniature unmanned submarine of the present invention, which can be launched from underwater into the air by a spherical drone, overcomes many defects in the prior art through innovative design and material selection, significantly improving the efficiency, flexibility and safety of underwater and air missions, and has broad application prospects. Attached Figure Description

[0042] Figure 1 This is a three-dimensional structural diagram of the unmanned submarine and unmanned aerial vehicle of the present invention.

[0043] Figure 2 This is a schematic cross-sectional view of the unmanned aerial vehicle cabin structure of the present invention;

[0044] Figure 3 This is a schematic diagram showing the distribution of the UAV and catapult system of the present invention;

[0045] Figure 4 This is a schematic diagram of the structure of the UAV in its retracted state according to the present invention;

[0046] Figure 5 This is a schematic diagram of the structure of the UAV in its deployed state according to the present invention;

[0047] Figure 6 This is a three-dimensional structural diagram of the triangular bushing and power push rod installation of the present invention;

[0048] Figure 7 This is a schematic diagram of the high-pressure gas ejection and mechanical ejection installation structure of the present invention;

[0049] Figure 8 For the present invention Figure 7 A cross-sectional three-dimensional structural schematic diagram;

[0050] Figure 9 For the present invention Figure 8 A front view structural diagram;

[0051] Figure 10 This is a schematic diagram showing the distribution of the various systems in this invention.

[0052] The components include: 1. Main body of the unmanned submarine; 11. Underwater detector; 12. Maintenance hatch; 13. Boost system; 14. Unmanned cabin; 15. Sealing cover; 16. Strong magnetic accumulator; 17. Slide rail.

[0053] 2. First-stage high-pressure gas ejection system; 21. High-pressure gas thrust rod; 22. Connector; 23. Push plate; 24. Through hole; 25. Protrusion;

[0054] 3. Two-stage mechanical ejection system; 31. Thrust plate; 32. Magnetic block; 33. Slide bar; 331. Limiting groove; 34. Limiting plate; 35. Storage spring; 36. Compression control rod; 361. Crossbar; 37. Connecting rod; 38. Limiting rod; 39. Return spring;

[0055] 4. Spherical UAV; 41. UAV body; 42. Aerial detector; 43. Diversion channel; 44. Recovery control system; 45. Lower pad block; 46. Rotary shaft; 47. Connecting block; 48. Buoyancy cone; 49. Propeller blade;

[0056] 5. Blade telescopic mechanism; 51. Triangular bushing; 52. Power push rod; 53. Extension cylinder; 54. Convex ring; 55. Extension block; 56. Ring groove; 57. Connecting rod. Detailed Implementation

[0057] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] Example 1:

[0059] Please refer to Figures 1-6This invention provides a miniature unmanned submarine capable of launching drones underwater, comprising an unmanned submarine body 1 and a spherical drone 4. An underwater detector 11 is installed at the front of the unmanned submarine body 1 for underwater detection. A maintenance hatch 12 is installed on one side of the unmanned submarine body 1 for easy maintenance of internal equipment. During operation, the maintenance hatch 12 remains sealed to prevent external water from flowing in. A propulsion system 13 is installed at the stern of the unmanned submarine body 1 to control the movement of the unmanned submarine body 1. Unmanned drone compartments 14 are evenly distributed along the axis on the upper surface of the unmanned submarine body 1. A sealing cover 15 is rotatably installed on one side of the top of the unmanned drone compartment 14. The sealing cover 15 is hydraulically controlled and remains sealed during underwater detection. When launch is required, it is synchronized with a first-stage high-pressure gas launch system 2 via hydraulic control. Slide grooves 17 are provided on the inner walls of both sides of the unmanned drone compartment 14, providing a vertical sliding path for the connector 22 to ensure stability during launch. A first-stage high-pressure gas launch system 2 is installed below the interior of the unmanned drone compartment 14.

[0060] The first-stage high-pressure gas ejection system 2 includes two high-pressure gas thrust rods 21 vertically mounted on the high-pressure cylinder. The high-pressure gas thrust rods 21 penetrate the lower surface of the slide groove 17. A connector 22 is provided at the top of the high-pressure gas thrust rods 21. The connector 22 slides inside the slide groove 17. A push plate 23 is provided between the tops of the two connectors 22. The push plate 23 is used to support the bottom of the spherical UAV 4. The second-stage mechanical ejection system 3 is installed below the push plate 23.

[0061] The secondary mechanical ejection system 3 includes a thrust plate 31 placed parallel to the push plate 23 below. A magnetic block 32 is embedded in the lower surface of the thrust plate 31. A strong magnetic accumulator 16 is provided at the bottom of the unmanned cabin 14. The magnetic block 32 corresponds to the strong magnetic accumulator 16. When the strong magnetic accumulator 16 is energized, it has a downward attraction force on the magnetic block 32. During recovery and overall assembly, the strong magnetic accumulator 16 pulls the magnetic block 32 downward, which in turn squeezes and stores the energy in the energy storage spring 35 for further acceleration.

[0062] refer to Figures 3-5 As shown, the spherical drone 4 includes a drone body 41. The spherical structure can reduce drag during launch. The drone body 41 is placed inside the drone cabin 14 and on the upper surface of the thrust plate 31. A rotating shaft 46 is rotatably mounted on the top of the drone body 41. A connecting block 47 is fixed on the top of the rotating shaft 46. Three propeller blades 49 are evenly hinged on the surface of the connecting block 47. A blade extension mechanism 5 is installed on the top of the drone body 41. The blade extension mechanism 5 is used to control the extension and retraction of the three propeller blades 49.

[0063] refer to Figures 3-5As shown, the unmanned aerial vehicle body 41 has a spherical structure. An aerial detector 42 is installed on the front side of the surface of the unmanned aerial vehicle body 41 for aerial detection. A recovery control system 44 is installed below the unmanned aerial vehicle body 41. The recovery control system 44 can control the buoyancy during recovery. A lower pad 45 is fixed at the bottom of the unmanned aerial vehicle body 41. The pad 45 is inserted into the through hole 24 during recovery to maintain stability.

[0064] refer to Figure 4 As shown, a buoyancy cone 48 is installed on the top of the connecting block 47 to pierce the water during ejection and to keep the buoyancy cone 48 at the top to ensure the stability of the drone during ejection. Three diversion channels 43 are evenly distributed on the surface of the drone body 41. The diversion channels 43 are used to guide the water flow during ejection. When the propeller blades 49 are retracted, their ends are placed inside the diversion channels 43. During ejection, the tilted propeller blades 49 can guide the water flow and, together with the diversion channels 43, further ensure the stability of the drone during ejection and prevent tilting.

[0065] refer to Figure 5 and Figure 6 As shown, the propeller extension mechanism 5 includes a triangular bushing 51 sleeved on the surface of the rotating shaft 46 and two power push rods 52 vertically installed on the cylinder inside the unmanned aerial vehicle body 41. The three sides of the triangular bushing 51 are hinged with connecting rods 57. The ends of the three connecting rods 57 away from the triangular bushing 51 are respectively hinged to the propeller blades 49. The extension of the propeller blades 49 is controlled by controlling the height of the triangular bushing 51. The triangular bushing 51 rotates together with the rotating shaft 46. An extension cylinder 53 is provided at the bottom of the triangular bushing 51. A convex ring 54 is provided outward at the bottom of the extension cylinder 53. The triangular bushing 51, the extension cylinder 53 and the convex ring 54 are an integral structure.

[0066] Two power push rods 52 are placed parallel to each other on both sides of the rotating shaft 46. An extension block 55 is provided on the side of the top of the power push rods 52 that is close to each other. The surface of the extension block 55 is provided with annular grooves 56. The two annular grooves 56 are respectively locked on both sides of the surface of the convex ring 54. The height of the triangular bushing 51 can be controlled by pushing the power push rods 52 through the cylinder inside the UAV. During this process, the convex ring 54 rotates between the two extension blocks 55 without being affected.

[0067] Example 2;

[0068] refer to Figures 7-9 As shown, the push plate 23 in the first-stage high-pressure gas ejection system 2 has a through hole 24 at the center of its surface. The lower pad 45 passes through the through hole 24 and contacts the upper surface of the thrust plate 31, so that the bottom of the drone body 41 is supported by the push plate 23 and the lower pad 45 is supported by the thrust plate 31, ensuring the stability of the drone body 41 during storage. The lower surface of the high-pressure gas thrust rod 21 is also symmetrically provided with protrusions 25 on both sides, and the two protrusions 25 correspond to the two high-pressure gas thrust rods 21.

[0069] refer to Figure 8 As shown, two sliding rods 33 are symmetrically and vertically arranged on the upper surface of the thrust plate 31. Both sliding rods 33 penetrate the push plate 23. A limiting plate 34 is provided at the top of the sliding rods 33. The cross-sectional dimension of the limiting plate 34 is larger than that of the sliding rod. The limiting plate 34 is positioned above the push plate 23. A storage spring 35 is sleeved on the surface of the sliding rods 33. The storage spring 35 is positioned between the limiting plate 34 and the push plate 23. When the push plate 23 is stationary and pulls the thrust plate 31 downward, the sliding rods 33 will move downward, and then the storage spring 35 will be compressed and stored through the limiting plate 34.

[0070] It is important to note that the distance between the two sliding bars 33 must be such that the drone body 41 can land smoothly.

[0071] refer to Figure 8 and Figure 9 As shown, a limiting groove 331 is provided on the surface of the slide rod 33, and a limiting rod 38 slides laterally through the surface of the protrusion 25. One end of the limiting rod 38 is adapted to the internal size of the limiting groove 331 so as to fix the slide rod 33 through the connected cooperation, so that the energy storage spring 53 is kept in the energy storage state. After the energy storage is completed, the strong magnetic accumulator 16 can be de-energized.

[0072] refer to Figure 8 and Figure 9 As shown, a compression control rod 36 is vertically slidably installed inside the connector 22. The compression control rod 36 extends beyond the top of the connector 22 so that when the push plate 23 moves to the top, the compression control rod 36 can be compressed to contact the limit of the slide rod 33. A horizontal bar 361 is arranged below the side of the compression control rods 36 that are close to each other. The horizontal bar 361 is located below the push plate 23 and passes through the side surface of the connector 22. A connecting rod 37 is hinged to the end of the horizontal bar 361. The end of the connecting rod 37 away from the horizontal bar 361 is hinged to the limit rod 38. The connection direction of the connecting rod 37 should ensure that when the compression control rod 36 is compressed and moved downward, it can pull the limit rod 38 to move to contact the limit of the slide rod 33.

[0073] The connector 22 also contains a return spring 39. The top of the return spring 39 contacts the lower surface of the compression control rod 36. The return spring 39 can return to its original position after a single use for the next use.

[0074] Example 3:

[0075] refer to Figure 10 As shown, supplements are provided for the internal systems.

[0076] 1. Overall structure of a miniature unmanned submarine

[0077] The miniature unmanned submarine of this invention mainly comprises the following components:

[0078] Submarine body: Made of high-strength waterproof material, compact in shape, with high stability and pressure resistance, suitable for missions in deep water environments.

[0079] Cylindrical Unmanned Aerial Vehicle (UAV) Cabin: Located inside the submarine, this cabin is specifically designed to house and launch spherical UAVs. The cabin features a sealed design to ensure the safety and waterproofing of the UAVs during underwater storage. Four such cabins are provided.

[0080] Ejection device: This device is used to launch the spherical UAV from the water into the air. It consists of a first-stage high-pressure gas ejection system 2, a second-stage mechanical ejection system 3, and a control door opening and closing mechanism to ensure that the UAV can successfully break through the water surface and quickly enter the air flight mode.

[0081] Intelligent control system: including modules such as automatic navigation, mission planning, real-time monitoring, and fault detection, which can achieve seamless connection and coordinated operation between submarines and UAVs, ensuring the autonomy and stability of mission execution.

[0082] 2. Working principle of the catapult system

[0083] To ensure the safe launch of the spherical drone from underwater into the air, the invention employs the following technical means:

[0084] High-pressure gas propulsion: High-pressure gas (such as compressed air or hydraulic system) is used to propel the catapult device, which overcomes water resistance through specific propulsion force, allowing the drone to successfully break through the water surface.

[0085] Automatic control mechanism: The gas release, hatch opening and drone start-up during the ejection process are all automatically controlled by the intelligent control system, ensuring a smooth and efficient transition of the drone in underwater and aerial environments.

[0086] When the submarine needs to release the spherical drone, the catapult system activates, quickly launching the drone out of the water. The catapult system is designed to ensure that the drone can reach sufficient altitude in a short time so that its rotors can deploy and enter flight mode.

[0087] 3. Foldable-wing spherical drone

[0088] Spherical UAV: ​​The spherical body is made of high-strength, lightweight alloy material. Its spherical design provides excellent aerodynamic performance, enabling stable flight. Internally, the UAV integrates an electric motor, folding rotors, sensors, and a control system. After being ejected from the water, the rotors unfold and the UAV enters flight mode, enabling it to perform reconnaissance and surveillance missions in the air.

[0089] Folding wings: The drone's wings are hydrodynamic surfaces, which help it quickly stabilize and enter flight after emerging from the water. The wings are designed to be foldable, folding when stored underwater to reduce space occupation; and automatically unfolding after being launched into the air to adapt to aerial flight.

[0090] The innovative design of the spherical drone and its foldable wings significantly improve underwater mobility. The spherical shape reduces water resistance, while the foldable wings further reduce resistance and guide water flow during launch, resulting in reduced storage space and enhanced overall submarine performance and mission execution capabilities. The spherical structure of the drone also significantly reduces underwater drag during launch, greatly improving its safety.

[0091] 4. Intelligent Control System

[0092] The intelligent control system, as the core component of this invention, includes the following key functions:

[0093] Automatic navigation system: Enables submarines and drones to navigate autonomously underwater and in the air. By linking data with detection systems, the automatic navigation system can identify obstacles, set paths, and autonomously avoid obstacles, ensuring that the entire system maintains an accurate course in complex environments.

[0094] Mission planning and execution: The system can plan and adjust in real time according to mission requirements, automatically coordinating the collaborative operations of submarines and UAVs. Whether it is underwater reconnaissance, aerial surveillance, or a combination of both, the system can dynamically adjust its strategies.

[0095] Real-time monitoring and fault detection: The system has a built-in fault detection mechanism that can monitor the operating status of submarines and drones in real time, ensuring the efficient and stable operation of the system.

[0096] Data transmission and communication: Data transmission between the submarine and the UAV is conducted via an encrypted communication channel, ensuring information security and real-time performance during the mission. The system also supports remote communication with the ground control center.

[0097] Propulsion system: Provides power support for submarines and drones in various underwater and air operations.

[0098] Fault detection system: Used for real-time monitoring and fault diagnosis of various subsystems of drones and submarines.

[0099] Ejection System: Designed as a highly efficient pneumatic ejection device, this system rapidly launches drones from underwater into the air. It automatically adjusts the ejection force based on parameters such as water depth and ambient pressure to ensure successful exit from the water at various depths. While the ejection device itself is not innovative, this system optimizes the spherical shape and air pressure control to make the ejection process smoother and more efficient, thereby reducing potential vibrations and instabilities during launch.

[0100] Recovery System: Responsible for the safe recovery of the drone after the mission, especially suitable for automated drone recovery in complex waters. This system combines precise positioning and control mechanisms, enabling the drone to return to the predetermined recovery location after the mission. Furthermore, the system can ensure the drone's stability in the air and on the water through buoyancy adjustment and navigation control, thereby improving the success rate and safety of recovery.

[0101] The detection system is the core perception module of UAVs and submarines, integrating multiple sensors (such as sonar, lidar, and cameras) for real-time monitoring of the underwater and aerial environments. This system can sense surrounding obstacles, water temperature, depth, and other information, providing crucial environmental data support for UAVs' aerial flight after emerging from the water. The innovation of the detection system lies in its compatibility and multimodal perception capabilities, enabling it to adapt to complex underwater and aerial environmental changes and ensuring that UAVs and submarines maintain accurate environmental awareness in various missions.

[0102] Example 4:

[0103] This embodiment details the specific structure, materials, parameters, and workflow of a miniature unmanned submarine that can be launched from underwater into the air, enabling those skilled in the art to implement and reproduce the invention.

[0104] 1. Overall Structure

[0105] The overall structure of this miniature unmanned submarine. The submarine body has a streamlined design and an internal unmanned drone compartment. The drones are folded underwater, and their wings automatically deploy upon launch.

[0106] 2. Submarine hull

[0107] Materials: The main body is made of high-strength polycarbonate (PC) and carbon fiber composite material, which has excellent compressive strength and corrosion resistance.

[0108] Dimensions: 1 meter long, 0.33 meters wide, and 0.27 meters high. It is designed to be streamlined to reduce water resistance.

[0109] Sealing: The submarine's main body adopts a double-sealing design to ensure watertightness at a depth of 300 meters.

[0110] 3. Unmanned Aerial Vehicle (UAV) Design

[0111] Spherical shell:

[0112] Materials: The outer shell is made of lightweight polymers (such as polypropylene), providing excellent underwater and airborne flight capabilities.

[0113] Diameter: 0.1 meters, weight: approximately 0.5 kilograms.

[0114] Folding wings:

[0115] Materials: The wings are made of lightweight aluminum alloy with good strength and toughness.

[0116] Wingspan when deployed: 0.6 meters.

[0117] Water jet propulsion: The recovery control system 44 at the bottom of the drone is equipped with three small water jet propulsion units to assist the catapult-provided power to quickly propel it out of the water.

[0118] 4. Ejection device

[0119] Type: Pneumatic catapult device, which uses compressed air as a power source.

[0120] Operating pressure: 0.8 MPa, capable of launching the drone out of the water in 0.5 seconds.

[0121] 5. Work Process

[0122] 1. Underwater mission execution:

[0123] Submarines use pump-jet propulsion to propel themselves underwater, perform reconnaissance missions, and collect underwater data.

[0124] 2. Preparation for drone catapult launch:

[0125] After the submarine completes its underwater mission, the intelligent control system determines that it needs to launch the drone and activates the launch device.

[0126] The control system sends a signal to the ejection device to open the hatch and release high-pressure gas.

[0127] 3. Unmanned aerial vehicle (UAV) catapult launch:

[0128] Within 0.5 seconds, the ejection device propels the drone out of the water using high-pressure gas. After breaking through the water, the drone automatically deploys its wings and enters flight mode.

[0129] 4. Aerial mission execution:

[0130] The drones perform surveillance missions in the air, collect data, and transmit the information back to the submarine and ground control center in real time.

[0131] 5. Task completion and recovery:

[0132] After completing its mission, the drone returns to the submarine for recovery, allowing the submarine to continue with subsequent missions.

[0133] 6. Parameters and Specifications

[0134] Maximum diving depth of the submarine: 200 meters

[0135] Maximum flight altitude of the drone: 1000 meters

[0136] Submarine endurance: 8 hours

[0137] Drone flight time: 2 hours

[0138] Control range: The effective communication range between the submarine and the drone is 500 meters.

[0139] 7. Manufacturing method

[0140] Submarine hull construction: Mold forming technology is used, and polycarbonate and carbon fiber composite materials are hot-pressed to ensure the strength and sealing of the structure.

[0141] Drone manufacturing: The drone shell is manufactured using 3D printing technology, and the internal components are assembled through standardized production lines.

[0142] Catapult manufacturing: The cylinders and valves of the pneumatic catapult use industry-standard components to ensure high efficiency and reliability.

[0143] In summary, this embodiment details the structure, materials, workflow, and manufacturing method of a miniature unmanned submarine capable of being launched from underwater into the air, providing specific information and conditions necessary for those skilled in the art to implement this invention. Through the above embodiment, collaborative underwater and aerial missions can be effectively achieved, improving mission efficiency and reliability.

[0144] Working principle: During underwater exploration, the spherical UAV 4 is placed inside multiple UAV compartments 14 and sealed with a sealing cover 15. At this time, the unmanned submarine body 1 is controlled to move forward by the booster system 13 and conducts underwater exploration through the underwater detector 11 at the front. When the spherical UAV 4 is not needed, the high-pressure cylinder inside the unmanned submarine body 1 controls the first-stage high-pressure gas ejection system 2 to be placed at the bottom of the UAV compartment 14. When placed at the bottom, the propeller blades 49 are controlled to be in a retracted state by the blade extension mechanism 5 to reduce the storage space. Since it is placed at the bottom, the magnetic block 32 can be attracted downward by the strong magnetic accumulator 16, which in turn causes the push plate 31 to move downward. The downward movement of the push plate 31 can compress the accumulator spring 35 through the limit plate 34 to accumulate force. When the accumulator is finished, the position of the limit groove 331 corresponds to the limit rod 38. Due to the presence of the reset spring 39, the compression control rod 36 always has an upward force. Then, the limit rod 38 is controlled to move forward by the cooperation of the cross bar 361 and the connecting rod 37, so as to achieve the limit through the cooperation of the limit rod 38 and the limit groove 331 and maintain the accumulator state.

[0145] When aerial testing is required, the high-pressure gas thrust rod 21 is quickly ejected via the internal high-pressure cylinder. Since the connector 22 can only slide within the slide groove 17, ensuring stability during the movement of the first-stage high-pressure gas ejection system 2, the spherical UAV 4 moves upward along with the push plate 23. The second-stage mechanical ejection system 3 maintains its charge during the upward movement. At this time, the spherical UAV 4 can be ejected via the first-stage high-pressure gas ejection system 2. When the ejection is initiated, the sealing cover 15 is opened synchronously. When the connector 22 moves to the top of the slide groove 17... At this time, the spherical drone 4 already has a certain inertia. At this time, the squeezing control rod 36 will be impacted by the top of the slide groove 17. The squeezing control rod 36 moves down and pulls the limiting rod 38 outward through the crossbar 361 and the connecting rod 37, so that the limiting rod 38 no longer limits the limiting groove 331. At this time, the slide bar 33 can slide freely. The pre-stored energy of the energy storage spring 35 can make the limiting plate 34 bounce up quickly, and then drive the thrust plate 31 to move up quickly. The thrust plate 31 further accelerates the lower pad 45 to achieve the second-stage ejection.

[0146] During ejection, the propeller blades 49 remain retracted, tilted downwards, with their ends placed inside the drainage channel 43 to guide water. During ejection, water flows along the propeller blades 49 and the drainage channel 43, ensuring the spherical UAV 4 remains vertical and preventing tilting. The top buoyancy cone 48 further guides the water and maintains the overall integrity of the spherical UAV 4. Once fully ejected, the internal cylinders simultaneously extend the power push rods 52 on both sides. The extension block 55 moves upwards, and the engagement of the ring groove 56 with the convex ring 54 ensures that the convex ring 54 rotates along its axis, subsequently moving the triangular bushing 51 upwards. The connecting rod 57 then simultaneously pushes the three propeller blades 49 to rotate, enabling flight. During the rotation of the propeller blades 49, the convex ring 54 rotates between the two extension blocks 55 without being affected. The aerial detector 42 controls and detects the UAV, working in conjunction with the underwater detector 11 for efficient reconnaissance and detection.

[0147] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A miniature unmanned submarine capable of launching unmanned aerial vehicles (UAVs) underwater, comprising an unmanned submarine body (1) and a spherical UAV (4), characterized in that: The unmanned submarine body (1) is equipped with an underwater detector (11) at the front end, and an inspection hatch (12) is installed on one side of the unmanned submarine body (1). The unmanned submarine body (1) is equipped with a propulsion system (13) at the tail end. The unmanned submarine body (1) is uniformly provided with unmanned cabins (14) along the axis on the upper surface of the unmanned submarine body (1). A sealing cover plate (15) is rotatably installed on one side of the top of the unmanned cabin (14). The sealing cover plate (15) is hydraulically controlled. The inner walls on both sides of the unmanned cabin (14) are provided with sliding grooves (17). A first-stage high-pressure gas ejection system (2) is installed at the bottom inside the unmanned cabin (14). The first-stage high-pressure gas ejection system (2) includes two high-pressure gas thrust rods (21) vertically mounted on a high-pressure cylinder. The high-pressure gas thrust rods (21) penetrate the lower surface of the slide groove (17). A connector (22) is provided at the top of the high-pressure gas thrust rods (21). The connector (22) slides inside the slide groove (17). A push plate (23) is provided between the tops of the two connectors (22). The push plate (23) is used to support the bottom of the spherical UAV (4). A second-stage mechanical ejection system (3) is installed below the push plate (23). The secondary mechanical ejection system (3) includes a thrust plate (31) placed parallel to the push plate (23) below. A magnetic block (32) is embedded in the lower surface of the thrust plate (31). A strong magnetic accumulator (16) is provided at the bottom of the unmanned cabin (14). The magnetic block (32) corresponds to the strong magnetic accumulator (16). When the strong magnetic accumulator (16) is energized, it has a downward attraction force on the magnetic block (32). The spherical drone (4) includes a drone body (41), which is placed inside the drone cabin (14). The drone body (41) is placed on the upper surface of the thrust plate (31). A rotating shaft (46) is rotatably mounted on the top of the drone body (41). A connecting block (47) is fixed on the top of the rotating shaft (46). Three propeller blades (49) are evenly hinged on the surface of the connecting block (47). A blade telescopic mechanism (5) is installed on the top of the drone body (41). The blade extension mechanism (5) is used to control the extension and retraction of the three propeller blades (49).

2. A miniature unmanned submarine capable of launching drones underwater, as described in claim 1, characterized in that: The unmanned aerial vehicle (41) has a spherical structure. An aerial detector (42) is provided on the front side of the surface of the unmanned aerial vehicle (41). A recovery control system (44) is installed below the unmanned aerial vehicle (41). A lower pad (45) is fixed at the bottom of the unmanned aerial vehicle (41).

3. A miniature unmanned submarine capable of launching drones underwater, as described in claim 2, characterized in that: The top of the connecting block (47) is equipped with a buoyancy cone (48), and three diversion grooves (43) are evenly opened on the surface of the unmanned aircraft body (41). The diversion grooves (43) are used to guide the water flow during ejection, and the end of the propeller blade (49) is placed inside the diversion groove (43) when it retracts.

4. A miniature unmanned submarine capable of launching drones underwater, as described in claim 3, characterized in that: The propeller telescopic mechanism (5) includes a triangular bushing (51) sleeved on the surface of the rotating shaft (46) and two power push rods (52) vertically installed on the cylinder inside the unmanned aerial vehicle body (41). The three sides of the triangular bushing (51) are hinged with connecting rods (57). The ends of the three connecting rods (57) away from the triangular bushing (51) are respectively hinged to the propeller blade (49). An extension cylinder (53) is provided at the bottom of the triangular bushing (51), and a protruding ring (54) is provided outward at the bottom of the extension cylinder (53).

5. A miniature unmanned submarine capable of launching drones underwater, as described in claim 4, characterized in that: Two power push rods (52) are placed parallel to each other on both sides of the rotating shaft (46). An extension block (55) is provided on the side of the top of the power push rods (52) that is close to each other. An annular groove (56) is opened on the surface of the extension block (55). The two annular grooves (56) are respectively locked on both sides of the surface of the convex ring (54).

6. A miniature unmanned submarine capable of launching drones underwater, as described in claim 2, characterized in that: The push plate (23) has a through hole (24) at the center of its surface. The lower pad (45) passes through the through hole (24) and contacts the upper surface of the thrust plate (31). The lower surface of the high-pressure gas thrust rod (21) is also symmetrically provided with protrusions (25), and the two protrusions (25) correspond to the two high-pressure gas thrust rods (21).

7. A miniature unmanned submarine capable of launching drones underwater, as described in claim 6, characterized in that: The upper surface of the thrust plate (31) is symmetrically provided with slide rods (33), both slide rods (33) penetrate the push plate (23), the top of the slide rods (33) is provided with a limiting plate (34), the limiting plate (34) is placed above the push plate (23), and a storage spring (35) is sleeved on the surface of the slide rods (33), the storage spring (35) is placed between the limiting plate (34) and the push plate (23).

8. A miniature unmanned submarine capable of launching drones underwater, as described in claim 7, characterized in that: The slide bar (33) has a limiting groove (331) on its surface, and the protrusion (25) slides laterally through the limiting rod (38). One end of the limiting rod (38) is adapted to the internal size of the limiting groove (331).

9. A miniature unmanned submarine capable of launching drones underwater, as described in claim 8, characterized in that: A compression control rod (36) is vertically slidably installed inside the connector (22). The compression control rod (36) extends beyond the top of the connector (22). A horizontal bar (361) is arranged below the side of the compression control rods (36) that are close to each other. The horizontal bar (361) is placed below the push plate (23). The horizontal bar (361) passes through the side surface of the connector (22). A connecting rod (37) is hinged to the end of the horizontal bar (361). The end of the connecting rod (37) away from the horizontal bar (361) is hinged to the limiting rod (38).

10. A miniature unmanned submarine capable of launching drones underwater, as described in claim 9, characterized in that: The connector (22) also contains a return spring (39), the top of which is in contact with the lower surface of the compression control rod (36).

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