Design method of AUV multi-body reconfigurable streamline light source cover

Abstract

This invention discloses a design method for a streamlined light source cover for multi-body reconstruction of an AUV, belonging to the field of underwater vehicle structural design. The method includes: establishing a coordinate system and parametric design variables for the light source cover; determining installation position parameters, two-dimensional cross-sectional baselines, and forming axes on the fin plane; constructing a longitudinal profile of the upper surface composed of a front curved segment and a rear straight segment; generating a three-dimensional shell through semi-rotation forming using a fixed forming angle based on the two-dimensional cross-sectional profile; establishing an internal light source housing cavity; establishing the relationship between the light emission direction and the positioning of optical components; and forming an integrated mounting structure for the light source cover and the fin. This invention, by parametrically describing the shape and installation position of the light source cover, clarifies the geometric relationships between the bottom dimensions, the upper surface curves and straight segments, the internal cavity, and the shell thickness, enabling the light source cover to be flexibly arranged at different positions on the fin according to the requirements of docking optical components, thus improving modeling accuracy and applicability.

Description

Technical Field

[0001] This invention relates to the study of underwater vehicle structural design methods, and in particular to a design method for a streamlined light source cover for multi-body reconfiguration of an AUV. More specifically, this invention relates to a parametric shape design method for a fin-mounted light source cover housing used for auxiliary docking optics. Background Technology

[0002] With the deepening of marine exploration and development, the application of AUVs is becoming increasingly widespread. Combining multiple AUVs through multi-body reconfiguration technology can significantly improve system load capacity, endurance, and mission flexibility. Among these advancements, underwater autonomous docking technology is a core challenge in achieving modular collaborative operation of AUVs. During multi-body reconfiguration, each subsequent AUV needs to accurately identify the docking position of the tail section of the preceding AUV.

[0003] Optical guidance offers advantages such as intuitive positioning and high end-effector accuracy, making it commonly used for close-range autonomous docking underwater. To achieve optical guidance, a light source assembly needs to be installed at the front or rear of the AUV. This assembly is typically mounted on the tail fin or an adjacent structure, enabling it to provide identification signals to the visual sensors of the following AUV. However, the light source assembly cannot be directly exposed on the fin surface. Firstly, the light source devices require a protective casing in the underwater environment; secondly, the casing needs to define the mounting position, light emission direction, and wiring space of the light source assembly. Therefore, a light source cover is required on the fin. This cover should be understood as a casing on the fin used to house and protect the auxiliary docking optics, rather than a purely decorative element or independent flow guide.

[0004] Existing light source cover structures are mostly simple semi-cylindrical covers, rectangular covers, or partially protruding covers. Their shape descriptions are usually quite rough, lacking clear definitions of the relationships between the bottom mounting dimensions, the curved section at the front of the upper surface, the straight section at the rear of the upper surface, the internal cavity, and the shell thickness. Especially in actual modeling, the light source cover can be obtained by drawing a two-dimensional cross-sectional profile in the fin plane and performing a semi-rotation forming at a fixed forming angle. At the same time, the mounting position of the light source cover on the fin is not fixed, but can be adjusted according to the field of view of the optical device, docking identification requirements, available space on the fin, and wiring requirements. Without a clear description of the cross-sectional profile, forming parameters, and fin mounting position parameters, it is difficult to form a technical solution that can be directly modeled and repeatedly applied. Therefore, it is necessary to propose a streamlined design method for fin-mounted light source covers with clear parameters, clear formulas, and easy modeling. Summary of the Invention

[0005] The purpose of this invention is to provide a design method for a streamlined light source cover for AUV multi-body reconstruction, in order to solve the problems of insufficiently specific description of the shape of existing finned light source covers, unclear relationships between parameters, and inconvenience in modeling based on the size of the light source components.

[0006] The technical solution of the present invention: In order to achieve the above objectives, according to a first aspect of the present invention, a design method for a streamlined light source cover for AUV multi-body reconstruction is proposed, comprising the following steps: Step 1: Establish the coordinate system of the light source cover and determine the set of parametric design variables for the light source cover; Establish a set of parametric design variables for the light source cover, denoted as:

[0007] Establish a set of parametric design variables for the light source cover, denoted as:

[0008] in, The total length of the bottom of the two-dimensional cross-section of the light source cover in the longitudinal direction; The maximum radial height of the two-dimensional cross-section of the light source cover; The length of the straight segment at the rear of the upper surface of the light source cover; , First control point The coordinate parameters; , Second control point The coordinate parameters; The radius of the cavity is used to accommodate the internal light source; The length of the cavity is to accommodate the internal light source; This refers to the minimum thickness of the light source housing. The fixed forming angle used for the semi-rotation forming of the light source cover. ; The first positioning parameter for the light source cover on the fin indicates the installation position along the first reference direction of the fin; The second positioning parameter for the light source cover on the fin indicates the installation position along the second reference direction of the fin; The mounting angle is the length direction of the light source cover relative to the reference direction of the fin. The mounting angle is the length direction of the light source cover relative to the first reference direction.

[0009] Note that the upper surface curve segment is controlled by a control point. and Involved in control, the length of the straight segment at the rear of the upper surface is determined by parameters. The decision was made. Therefore, the upper surface of the light source cover is not a single curve, but a combination structure of a "curved front segment + a straight rear segment". Meanwhile, the parameters... , and Used to determine the installation position and direction of the light source cover on the fin plane, so that the light source cover can be positioned at different positions on the fin according to the arrangement requirements of the docking optical devices.

[0010] Step 2: Determine the installation position parameter constraints of the fin plane, and combine the parametric design variable set of the light source cover in Step 1 to draw the two-dimensional cross-section of the light source cover in the fin plane, including the two-dimensional cross-section baseline and the forming axis; Step 3: In the coordinate system of the light source cover established in Step 1, based on the set of parametric design variables of the light source cover in Step 1, establish the contour function h(x) of the upper surface of the light source cover; Step 4: The two-dimensional cross-sectional profile of the light source cover is formed by the two-dimensional cross-sectional baseline, the contour function h(x) of the upper surface of the light source cover, and the rear boundary. The outer surface is modeled by semi-rotation forming based on the fixed parameters of the two-dimensional cross-sectional profile. The rear end boundary is determined by the local rear end position corresponding to the total length of the bottom of the light source cover, and connects the rear end point of the two-dimensional cross-sectional baseline with the rear end point of the straight line segment on the upper surface.

[0011] Step 5: Based on the geometric parameters of the light source component, model the internal cavity that houses the light source; Step 6: Form an integrated mounting structure for the light source cover and fins: After completing the modeling of the outer surface and internal cavity, connect the bottom mounting surface of the light source cover to the surface of the fins, and set rounded corners or transition surfaces at the bottom edge of the light source cover.

[0012] In one possible embodiment, in step 1, a two-dimensional cross-sectional coordinate system is established using the fin plane as the reference plane for sketching the two-dimensional cross-section of the light source cover; wherein, the x-axis is along the length direction of the light source cover or the axial direction of the light source device, and the z-axis is the radial direction away from the forming axis within the cross-section; the third direction formed after forming is obtained by semi-rotation forming.

[0013] In one possible embodiment, the specific process of determining the installation position parameter constraints of the fin plane in step 2 includes: Establish a local coordinate system for the fins within the fin plane. ;in, The u-axis and v-axis are set along a first reference direction and a second reference direction that are perpendicular to each other within the plane of the fin, respectively, with a preset installation reference origin on the fin. The first reference direction is the chordal direction of the fin, that is, the direction parallel to the line connecting the front and rear edges of the fin; the second reference direction is the spanwise direction of the fin, that is, the direction from the root of the fin to the outer edge of the fin. The u-direction and the v-direction are perpendicular to each other and both lie within the plane of the fin.

[0014] The mounting position of the light source cover on the fin is determined by positioning parameters. and Sure; This indicates the offset distance of the installation reference point along the chord length of the fin; This indicates the offset distance of the installation reference point along the fin's elongation direction; Its installation reference point It can be represented as:

[0015] in, and In the local coordinate system of the fins shaft and The unit direction vector of the axis; the length direction of the light source cover relative to the fins. The installation offset angle of the shaft is denoted as Then the unit vector along the length of the light source cover It can be represented as:

[0016] Therefore, the position of the light source cover on the fin is not limited to a fixed point, but can be determined by... , and Adjustments can be made. For example, when it is necessary to position the light source cover near the middle, near the root, or near the outer edge of the lower fin, the above positioning parameters can be changed.

[0017] In one possible embodiment, in step 2, after determining the installation reference point... Then, a two-dimensional cross-section of the light source cover is drawn within the fin plane; the reference line of the two-dimensional cross-section is not a separate rectangular projection area, but rather the installation reference boundary between the two-dimensional cross-section of the light source cover and the fin plane, and also the reference boundary for subsequent semi-rotation forming; let the local front end point and local rear end point of the two-dimensional cross-section reference line be respectively: The two-dimensional cross-sectional reference line is the line segment of the bottom mounting surface of the light source cover in the two-dimensional cross-section. It represents both the mounting reference boundary where the light source cover connects to the fin surface and serves as the positioning reference for the forming axis in the subsequent semi-rotation forming. It is not a rectangular projection area representing the overall shape of the light source cover. Let the local front end point and local rear end point of the two-dimensional cross-sectional reference line be:

[0018]

[0019] Then, within the local two-dimensional cross-sectional coordinate system of the light source cover, the two-dimensional cross-sectional baseline can be represented as:

[0020] In the local coordinate system of the fin, the spatial position of this baseline can be represented as:

[0021] in, Indicates forming shaft The point on top.

[0022] in, Indicates forming shaft The point on the top. The forming axis l0 is the straight line where the two-dimensional cross-section baseline A0A5 is located, which is also the straight line where the bottom edge of the light source cover is located; during the semi-rotation forming process, the straight line where the bottom edge is located is denoted as .

[0023] In this way, the light source cover is not fixed in only one position on the fin plate. Instead, its installation position and direction on the fin plate are first determined by positioning parameters, and then a two-dimensional cross-sectional baseline and forming axis are established at that position.

[0024] To prevent the light source cover from exceeding the fin's installation range, the permissible installation area of ​​the fin is defined as follows: The mounting envelope area of ​​the light source cover on the fin plate is Then the preferred condition is:

[0025] The above relationship indicates that the positional parameters of the light source cover should ensure that its mounting envelope is within the allowable mounting area of ​​the fin, thereby facilitating its arrangement at different positions on the fin according to the actual requirements of the docking optical components.

[0026] In one possible embodiment, step 3 specifically includes the following process: exist In the longitudinal section, establish the profile function of the upper surface of the light source cover. The upper surface profile consists of a front curved segment and a rear straight segment.

[0027] Let the starting point of the first curve segment be:

[0028] Let the endpoint of the first curve segment, which is also the starting point of the second straight line segment, be:

[0029] in, Given the length of the straight segment at the rear of the upper surface, the endpoint of the straight segment at the rear is:

[0030] The first curved section is represented by a cubic Bézier curve, with its two control points being:

[0031]

[0032] and satisfy:

[0033]

[0034] , , and ,

[0035] The roles of the above four points in forming the curve are as follows: is the connection point between the front end of the light source cover and the bottom edge, is the end point of the front curved segment, and is the position where the front curved segment connects with the rear straight segment after reaching the maximum radial height Hc; the bending degree and rising trend of the curve are determined by and control. Accordingly, the front curved segment is not a randomly selected curve, but is jointly determined by , , and jointly determined.

[0036] The cubic Bezier curve is adopted because under the condition that the start point and the end point are determined, the front profile can be continuously changed by adjusting and to continuously change the front profile. The constraints 0<x1<x2<Lb Lt, 0<z1≤z2≤Hc make the two control points located sequentially along the length direction of the light source cover between and , and make their radial heights increase sequentially, so that the front profile gradually rises backward and upward from the bottom edge, avoiding reverse turning back or sudden change. This front curved segment is used to make the light source cover mounted on the fin plate surface gradually transition from the front bottom edge to the rear straight segment with the height of Hc, reducing the geometric sudden change between the front part of the light source cover and the fin plate surface; the rear straight segment provides a height-stable accommodation area for the internal light source assembly. Therefore, the curve adopted in the present invention is jointly defined by the positions of Lb, Hc, Lt and , rather than an arbitrary curve equation.

[0037] The front curved segment is expressed as:

[0038] wherein, , the corresponding height function thereof is denoted as ; The latter straight segment is represented as:

[0039] Therefore, the longitudinal profile function of the upper surface of the light source cover can be written in the following piecewise form:

[0040] The above description clearly illustrates that the front curved shape of the upper surface of the light source cover is controlled by two points. and The length of the rear straight segment of the upper surface is determined by... The decision is made, and the length of the straight segment can be changed as needed.

[0041] In one possible embodiment, step 4 specifically includes the following process: The two-dimensional cross-sectional contour region It can be represented as:

[0042] The two-dimensional cross-sectional contour region Around the forming axis Forming angle according to a fixed value A semi-rotational forming process is performed to obtain the three-dimensional outer shell of the light source cover; the preferred constant forming angle is:

[0043] For any point on the upper surface profile The outer surface generated by its semi-rotation can be expressed in parametric form as follows:

[0044] in:

[0045] Therefore, the lateral envelope width of the light source cover It can be represented as:

[0046] when At that time, the lateral envelope width of the light source cover satisfies:

[0047] Using this fixed-parameter semi-rotation forming method, the three-dimensional outer shell of the light source cover is directly generated from the two-dimensional cross-sectional contour. Furthermore, its shape is consistent with the actual modeling process of "drawing the cross-section in the fin plane and then performing semi-rotation forming." Due to the forming axis... Spatial location by , and Therefore, the generated light source cover can be synchronously arranged at different positions on the fin plate according to the above positioning parameters.

[0048] Using this fixed-parameter semi-rotation forming method, the three-dimensional shell of the light source cover is directly generated from the two-dimensional cross-sectional contour, and its shape is consistent with the actual modeling process of "drawing the cross-section in the fin plane and then performing semi-rotation forming". This is because the two-dimensional cross-sectional baseline and forming axis... It is based on the installation reference point and installation offset Established at a defined local location, when the positioning parameters , Or install at an off-center angle When the shape changes, the two-dimensional cross-sectional profile and the three-dimensional shell generated by its semi-rotation are translated or rotated accordingly, thereby enabling the reuse of the same set of parametric shapes at different installation positions of the fins.

[0049] In one possible embodiment, step 5 specifically includes the following process: Let the outer envelope radius of the light source component be... The axial length of the light source assembly is Radial assembly allowance is Axial assembly allowance is Then the radius of the internal cavity and internal cavity length They respectively satisfy:

[0050]

[0051] To ensure that the light source cover still has the necessary shell thickness after the cavity is formed, the internal cavity parameters should also meet the following requirements:

[0052]

[0053] in, The minimum thickness of the light source housing is specified above. These constraints indicate that the cavity accommodating the light source cannot exceed the height and length limits allowed by the shape of the light source housing, while maintaining the necessary housing thickness. Length of the rear straight segment The length of the cavity can be accommodated according to the internal light source. The thickness of the rear-end retaining shell is determined together.

[0054] Preferably, the following can be satisfied:

[0055] in, This refers to the starting position of the front end of the internal cavity relative to the front end of the light source cover. When it is necessary to increase the space for internal components or to increase the area for flat mounting at the rear, the position can be increased accordingly. .

[0056] In one possible embodiment, in step 5, the central axis of the internal light source housing cavity preferably coincides with the light emission axis of the light source assembly. Let the direction of the light emission axis of the light source assembly be... The preset optical guidance direction for docking is Then the preferred option between the two satisfies:

[0057] in, This represents the permissible light emission direction deviation angle. This relationship ensures that the internal cavity of the light source cover not only provides accommodating space but also helps define the mounting direction of optical components, thus meeting the optical guidance requirements during multi-body reconfiguration and docking.

[0058] In one possible embodiment, after modeling the outer surface and internal cavity in step 6, the bottom mounting surface of the light source cover is connected to the surface of the fin. The light source cover can be installed on the fin surface by screwing, embedding, gluing, snap-fit ​​connection, or integral molding. To reduce the geometric abrupt change at the junction of the light source cover and the fin, a rounded corner or transition surface can be provided at the bottom edge of the light source cover, with the transition radius denoted as . And satisfy:

[0059] in, This is the minimum transition radius determined based on processing capabilities and structural dimensions. This transition structure allows for a smoother connection between the light source cover and the fins.

[0060] According to a second aspect of the present invention, an AUV multi-body reconfiguration streamlined light source cover is proposed, which is designed using the above-described design method for an AUV multi-body reconfiguration streamlined light source cover.

[0061] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention breaks down the design of the light source cover into steps such as coordinate system establishment, installation position parameter determination, upper surface contour construction, rear end boundary formation, semi-rotation forming, internal cavity establishment and installation transition processing, so that the light source cover no longer relies on empirical modeling and can directly generate repeatable and adjustable three-dimensional shapes through parameter sets.

[0062] (2) The present invention defines the local coordinate system of the fin plate as two mutually perpendicular reference directions in the plane of the fin plate, and defines the positioning parameters of the light source cover as the distance in the two directions relative to the installation reference origin, so that the installation position of the light source cover is clear and the measurement method is clear, which makes it easy to adjust the position according to the field of view of the visual sensor, the light emission direction of the light source, the available space of the fin plate and the wiring requirements.

[0063] (3) The present invention clarifies the closed relationship between the two-dimensional cross-section baseline, the front curved segment of the upper surface, the rear straight segment and the rear boundary. In particular, the rear boundary is determined by the total length of the bottom, so that the two-dimensional cross-section outline has a clear formation process, which is convenient for sketching and semi-rotation forming in three-dimensional modeling software, and reduces the shape difference caused by unclear boundaries.

[0064] (4) The present invention controls the streamlined upper surface of the front part by using a cubic Bézier curve, and adapts the length of the straight section of the rear part to the internal light source cavity and the thickness of the rear structure, so that the light source cover can reduce the geometric change caused by the local protrusions on the fin surface, and provide a stable accommodation space and installation direction constraint for the light source assembly.

[0065] (5) The present invention correlates the internal cavity size, the outer envelope of the light source component, the assembly allowance, the minimum thickness of the shell and the light output direction deviation angle, so that the light source cover can limit its light output axis while protecting the light source component, which is beneficial to improving the recognition stability and installation consistency of the optical guidance of the AUV multi-body reconstruction end.

[0066] (6) The present invention provides rounded corners or transitional curved surfaces at the bottom edge of the light source cover, so that the light source cover and the fin surface form a smoother connection transition, which is beneficial to reduce local stress concentration and abrupt shape changes, and improve the structural applicability of the light source cover in the underwater navigation environment. Attached Figure Description

[0067] Figure 1 This is a flowchart illustrating the streamlined design method for the AUV multi-body reconfigurable light source cover provided by the present invention; Figure 2 This is an overall rendering of the AUV equipped with a light source cover in this invention; Figure 3 This is a rendering of the tail section of the AUV equipped with a light source cover in this invention; Figure 4 This is a rear view of the AUV equipped with a light source cover in this invention; Figure 5 This is a diagram of the light source cover flow engineering parameters in this invention; Figure 6 This is an explanatory diagram of the reference points and control points of the light source cover in this invention; Figure 7 This is a top view of the AUV multi-body reconstructed light source cover in this invention; Figure 8 It is the AUV multi-body reconfiguration light source cover in this invention. Detailed Implementation

[0068] To more clearly illustrate the design optimization process of this invention, the invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments described herein are merely one example of the present invention and are representative of its function. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0069] In this embodiment, a light source cover is disposed on the surface of the tail fin of the AUV for mounting auxiliary docking optics. During multi-body reconfiguration docking, these auxiliary docking optics emit optical signals to the following AUV or AUV. The following AUV or AUV identifies these optical signals using a visual sensor and obtains the relative positional relationship. The function of the light source cover is to provide mounting space for the optics, protect the optics, and define the light emission direction. Depending on different docking identification schemes, the light source cover can be arranged in different areas of the fin, for example, it can be arranged near the middle of the lower fin, or it can be moved to other installable positions on the fin according to field of view, wiring, or structural space requirements.

[0070] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 An embodiment of the present invention provides a streamlined design method for AUV multi-body reconfiguration hoods, which mainly includes the following steps: Step 1: Formation of the set of parametric design variables In this embodiment, the set of parameterized design variables for the light source cover is first determined based on the outer envelope size of the auxiliary docking optics, the installable area of ​​the fins, the docking optical guidance direction, and the processing and assembly requirements.

[0071]

[0072] in, The total length of the bottom of the two-dimensional cross-section of the light source cover in the longitudinal direction; The maximum radial height of the two-dimensional cross-section of the light source cover; The length of the straight segment at the rear of the upper surface of the light source cover; , First control point The coordinate parameters; , Second control point The coordinate parameters; The radius of the cavity is used to accommodate the internal light source; The length of the cavity is to accommodate the internal light source; This refers to the minimum thickness of the light source housing. The fixed forming angle used for the semi-rotation forming of the light source cover. ; The first positioning parameter for the light source cover on the fin indicates the installation position along the first reference direction of the fin; The second positioning parameter for the light source cover on the fin indicates the installation position along the second reference direction of the fin; This is the mounting angle along the length of the light source cover relative to the reference direction of the fin.

[0073] Of the variables mentioned above, the total length of the bottom is... Used to determine the baseline and rear boundary position of the two-dimensional section; maximum radial height. and control points , The coordinates are used to determine the length of the first curved segment and the second straight segment. To accommodate the internal light source cavity and the flat rear area; internal cavity radius Internal cavity length and minimum shell thickness Used to determine the space for housing the light source assembly; half-rotation forming angle Used to determine the lateral envelope of the three-dimensional shell; first positioning parameter Second positioning parameters and installation offset Used to determine the mounting position and orientation of the light source cover on the fin.

[0074] Step 2: Determining the datum for 2D cross-section modeling First, using the fin plane as the sketching plane for the two-dimensional section, establish a two-dimensional section coordinate system for the light source cover within this plane. Let the total length of the bottom of the light source cover be... Then the two-dimensional cross-sectional baseline is:

[0075] This baseline serves as both the mounting reference boundary between the light source cover and the fin and the reference axis for the semi-rotation forming.

[0076] Step 3: Parametric determination of the mounting position on the fin plate Establish a local coordinate system in the plane of the fins. Based on the field of view requirements of the docking optics, the available installation area of ​​the fins, and the wiring space, the positioning parameters are selected. and The reference point for installing the light source cover is indicated as follows:

[0077] When it is necessary to change the position of the light source cover on the fin, simply change and When it is necessary to change the angle between the length direction of the light source cover and the reference direction of the fin, change the mounting offset angle. The unit vector along the length of the light source cover is:

[0078] In determining and Subsequently, the two-dimensional cross-section drawing and semi-rotation forming are all based on this position. As a result, the light source cover can be positioned at different locations on the fin plate according to actual needs, rather than being fixed at a single mounting point.

[0079] Step 4: Establishing the front curved segment and the rear straight segment of the upper surface In a two-dimensional cross-section, the upper surface of the light source cover consists of a front curved segment and a rear straight segment. Let the starting point of the front curved segment be:

[0080] The endpoint of the first curved segment and the starting point of the second straight segment are:

[0081] The endpoint of the latter straight segment is:

[0082] The two control points of the first curve segment are:

[0083]

[0084] The front upper surface curve is generated using a cubic Bézier curve:

[0085] in, By changing the control points and The position can change the curvature and upward trend of the upper surface curve; by changing The size can be adjusted to change the length of the rear straight section to accommodate different optical device installation requirements and different requirements for the rear flat area.

[0086] Step 5: Generation of 3D Shell Based on Fixed Forming Angle The two-dimensional cross-sectional outline region is defined by the two-dimensional cross-sectional baseline, the front curved segment, the rear straight segment, and the rear boundary. :

[0087] The two-dimensional cross-sectional contour area Around the forming axis Forming angle according to a fixed value Perform semi-rotation forming, wherein:

[0088] This directly yields the three-dimensional outer shell of the light source cover. For any point on the upper surface contour, the formed outer surface parameters are expressed as:

[0089] in:

[0090] Step 6: Establishment of the internal light source housing cavity In this embodiment, a cylindrical or near-cylindrical cavity is provided inside the light source cover. Let the outer envelope radius of the light source assembly be... The axial length of the light source assembly is The radius and length of the internal cavity are taken as follows:

[0091]

[0092] Simultaneously satisfy:

[0093] When it is necessary to increase the rear mounting space for internal optics, this can be achieved by appropriately increasing... This allows for a longer, flat top area, providing more structural space behind the light source cover.

[0094] Step 7: Installation of the light source cover and fins After completing the modeling of the light source cover's shape and internal cavity, the light source cover is installed on the... , and The predetermined position of the fins is determined. During installation, the axis of the internal cavity is aligned with the light emission direction of the light source assembly, and this light emission direction meets the docking guidance requirements. The light source cover is connected to the fins through its bottom mounting boundary; the connection method can be screwed, glued, snap-fit, or integrally molded. After the light source cover is installed, its outer surface forms a continuous transition with the outer surface of the fins, and the internal cavity accommodates and protects the auxiliary docking optics. When the field of view or installation space of the docking optics changes, it can be adjusted... , and The position and orientation of the light source cover on the fins were reconfigured.

[0095] Example 2 like Figure 6 , Figure 7 As shown, an AUV multi-body reconfiguration streamlined light source cover is designed using the design method of an AUV multi-body reconfiguration streamlined light source cover described in Example 1.

[0096] like Figure 4 As shown, several vertically arranged fins are evenly distributed around the outer circumference of the aircraft hull; a streamlined light source cover is installed on the same side of each fin, that is, all the streamlined light source covers face the same side of the fin circumference, so that the streamlined light source covers on adjacent fins are in the same lateral position, and the two maintain a gap and do not interfere with each other.

[0097] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. A design method for a streamlined light source cover for AUV multi-body reconstruction, characterized in that, Includes the following steps: Step 1: Establish the coordinate system of the light source cover and determine the set of parametric design variables for the light source cover; Step 2: Determine the installation position parameter constraints of the fin plane, and combine the parametric design variable set of the light source cover in Step 1 to draw the two-dimensional cross-section of the light source cover in the fin plane, including the two-dimensional cross-section baseline and the forming axis; Step 3: In the coordinate system of the light source cover established in Step 1, based on the set of parametric design variables of the light source cover in Step 1, establish the contour function h(x) of the upper surface of the light source cover; Step 4: The two-dimensional cross-sectional profile of the light source cover is formed by the two-dimensional cross-sectional baseline, the contour function h(x) of the upper surface of the light source cover, and the rear boundary. The outer surface is modeled by semi-rotation forming based on the fixed parameters of the two-dimensional cross-sectional profile. Step 5: Based on the geometric parameters of the light source component, model the internal cavity that houses the light source; Step 6: Form an integrated mounting structure for the light source cover and fins: After completing the modeling of the outer surface and internal cavity, connect the bottom mounting surface of the light source cover to the surface of the fins, and set rounded corners or transition surfaces at the bottom edge of the light source cover.

2. The design method of a streamlined light source cover for AUV multi-body reconstruction according to claim 1, characterized in that, In step 1, the fin plane is used as the reference plane for sketching the two-dimensional cross-section of the light source cover, and a two-dimensional cross-sectional coordinate system is established; wherein, the x-axis is along the length direction of the light source cover or the axial direction of the light source device, and the z-axis is the radial direction away from the forming axis within the cross-section; the third direction formed after forming is obtained by semi-rotation forming.

3. The design method of a streamlined light source cover for AUV multi-body reconstruction according to claim 1, characterized in that, In step 2, the specific process of determining the installation position parameter constraints of the fin plane includes: Establish a local coordinate system for the fins within the fin plane. ;in, The preset installation reference origin on the fin plate, shaft and The axes are set along two non-parallel reference directions within the plane of the fin; the mounting position of the light source cover on the fin is determined by positioning parameters. and Determine its installation reference point. Represented as: in, and In the local coordinate system of the fins shaft and The unit direction vector of the axis; the length direction of the light source cover relative to the fins. The installation offset angle of the shaft is denoted as Then the unit vector along the length of the light source cover Represented as: 。 4. The design method of a streamlined light source cover for AUV multi-body reconstruction according to claim 3, characterized in that, In step 2, the installation reference point is determined. Then, draw the two-dimensional cross-section of the light source cover in the plane of the fin plate; The two-dimensional cross-sectional baseline is not a separate rectangular projection area, but rather the installation reference boundary between the two-dimensional cross-section of the light source cover and the fin plane, and also serves as the reference boundary for subsequent semi-rotation forming; let the local front end point and local rear end point of the two-dimensional cross-sectional baseline be: The two-dimensional cross-sectional reference line is the line segment of the bottom mounting surface of the light source cover in the two-dimensional cross-section. It represents both the mounting reference boundary where the light source cover connects to the fin surface and serves as the positioning reference for the forming axis in the subsequent semi-rotation forming. It is not a rectangular projection area representing the overall shape of the light source cover. Let the local front end point and local rear end point of the two-dimensional cross-sectional reference line be: Then, within the local two-dimensional cross-sectional coordinate system of the light source cover, the two-dimensional cross-sectional baseline can be represented as: In the local coordinate system of the fin, the spatial position of this baseline can be represented as: in, Indicates forming shaft The point on top.

5. The design method of a streamlined light source cover for AUV multi-body reconstruction according to claim 1, characterized in that, Step 3 specifically includes the following process: The upper surface profile consists of a front curved segment and a rear straight segment; Let the starting point of the first curve segment be: Let the endpoint of the first curve segment, which is also the starting point of the second straight line segment, be: in, Given the length of the straight segment at the rear of the upper surface, the endpoint of the straight segment at the rear is: The first curved section is represented by a cubic Bézier curve, with its two control points being: And satisfy: The above starting point ,end and control points , Together they define the front curve segment; among which, This is the connection point between the front and bottom edges of the light source cover. This is the point where the front curved segment reaches its maximum radial height Hc and connects with the rear straight segment. and This is used to control the curvature and rising trend of the front curve segment as it gradually rises from the bottom edge to Hc. The cubic Bézier curve is fixed... and And adjust and The aforementioned control point coordinate constraints are combined to ensure that the front curved segment extends continuously along the length and radial directions of the light source cover, and together with the rear straight segment, forms a streamlined upper surface suitable for mounting on the fin plate surface.

6. The design method of a streamlined light source cover for AUV multi-body reconstruction according to claim 1, characterized in that, Step 4 specifically includes the following process: The two-dimensional cross-sectional contour region It can be represented as: The two-dimensional cross-sectional contour region Around the forming axis Forming angle according to a fixed value A semi-rotational forming process is performed to obtain the three-dimensional outer shell of the light source cover; the preferred constant forming angle is: For any point on the upper surface profile The outer surface generated by its semi-rotation can be expressed in parametric form as follows: in: Therefore, the lateral envelope width of the light source cover It can be represented as: when At that time, the lateral envelope width of the light source cover satisfies: Using this fixed parameter semi-rotation forming method, the three-dimensional shell of the light source cover is directly generated from the two-dimensional cross-sectional profile.

7. The design method of a streamlined light source cover for AUV multi-body reconstruction according to claim 1, characterized in that, Step 5 specifically includes the following process: Let the outer envelope radius of the light source component be... The axial length of the light source assembly is Radial assembly allowance is Axial assembly allowance is Then the radius of the internal cavity and internal cavity length They respectively satisfy: To ensure that the light source cover still has the necessary shell thickness after the cavity is formed, the internal cavity parameters should also meet the following requirements: in, The minimum thickness of the light source housing is specified above. These constraints indicate that the cavity accommodating the light source cannot exceed the height and length limits allowed by the shape of the light source housing, while maintaining the necessary housing thickness. Length of the rear straight segment The length of the cavity can be accommodated according to the internal light source. The thickness of the rear-end retaining shell is determined together.

8. The design method of a streamlined light source cover for AUV multi-body reconstruction according to claim 1, characterized in that, In step 5, the central axis of the internal light source housing cavity preferably coincides with the light emission axis of the light source assembly; let the direction of the light emission axis of the light source assembly be... The preset optical guidance direction for docking is Then the preferred option between the two satisfies: in, The allowable deviation angle of the light output direction.

9. The design method of a streamlined light source cover for AUV multi-body reconstruction according to claim 1, characterized in that, In step 6, the bottom edge of the light source cover is provided with rounded corners or a transition surface, and the transition radius is denoted as . And satisfy: in, This is the minimum transition radius determined based on processing capacity and structural dimensions.

10. A streamlined light source cover for AUV multi-body reconstruction, characterized in that, The streamlined light source cover for AUV multibody reconstruction, as described in any one of claims 1-9, was designed.

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