Integrated UUV (Unmanned Underwater Vehicle) navigation body

Abstract

The utility model provides an integrated UUV (Unmanned Underwater Vehicle) navigation body, which comprises a main UUV and secondary UUVs, the release emission of a plurality of secondary UUVs can be realized through the main UUV, the communication and related tasks can be executed through the secondary UUVs, and the main UUV only passively receives the return information of the secondary UUVs to realize the position information hiding of the main UUV. The cylindrical sealed cabin is arranged on the middle side of the main UUV, the second spherical sealed cabin and the third spherical sealed cabin are arranged at the front end and the rear end of the cylindrical sealed cabin, the first cylindrical sealed cabin is arranged at the front end of the main UUV, the single-beam sonar and the multi-beam sonar are arranged on the front portion of the shell, and the radio frequency communication antenna and the GPS antenna are arranged on the rear portion of the shell. The broadside sonar is arranged on the two sides of the middle of the shell, and the side scanning sonar is arranged at the bottom end of the middle of the shell. The propelling device and the operating device are arranged at the tail of the shell, the release launching device is arranged in the middle of the main UUV, and the secondary UUV is placed in the release launching device.

Description

Technical Field

[0001] The utility model belongs to the field of underwater robots, and particularly relates to an integrated UUV vehicle body. Background Art

[0002] Most of the existing UUV underwater vehicles are of a single-body type, and data collection and information sending and receiving transmissions are all completed by the single-body vehicle. There is a problem that the target position of the vehicle itself is exposed when sending information. The integrated UUV underwater vehicle is equipped with two secondary UUVs by the main UUV. The data collected and processed by the main UUV is downloaded to the secondary UUVs, and the secondary UUVs are released to perform data transmission and reception. The main UUV only responsible for passively receiving the transmitted information of the secondary UUVs, thereby avoiding the problem of the target position of the main UUV being exposed. Content of the Utility Model

[0003] In view of this, the utility model aims to propose an integrated UUV vehicle body to solve the problem that the target position of the underwater vehicle is exposed when sending information.

[0004] To achieve the above object, the utility model adopts the following technical solutions:

[0005] An integrated UUV vehicle body includes a main UUV and secondary UUVs. The main UUV includes a housing, a cylindrical sealed cabin, a first spherical sealed cabin, a second spherical sealed cabin, a third spherical sealed cabin, a single-beam sonar, a multi-beam sonar, a radio frequency communication antenna, a GPS antenna, a side sonar, a sidescan sonar, a propulsion device, a steering device, and a release and launch device; the cylindrical sealed cabin is arranged in the middle side of the main UUV, the second spherical sealed cabin and the third spherical sealed cabin are arranged at the front and rear ends of the cylindrical sealed cabin, the first cylindrical sealed cabin is arranged at the front end of the main UUV, the single-beam sonar and the multi-beam sonar are arranged at the front part of the housing, the radio frequency communication antenna and the GPS antenna are arranged at the rear part of the housing, the side sonar is arranged on both sides of the middle part of the housing, and the sidescan sonar is arranged at the bottom end of the middle part of the housing; the propulsion device and the steering device are arranged at the tail of the housing, the release and launch device is arranged in the middle of the main UUV, and the secondary UUVs are placed in the release and launch device.

[0006] Furthermore, the housing is a segmented splicing structure, and vertical ducts penetrate and connect to the housing at the front and rear of the main UUV. Vertical thrusters are installed in the vertical duct; a partition board, a communication processing module, a digital signal processor, a CTD thermosalinograph, a first controller, a second controller, and a battery are placed in the cylindrical sealed cabin; the partition board divides the space of the cylindrical sealed cabin into two parts along the length axis direction, the battery is fixedly installed on one side of the partition board, and the communication processing module, the digital signal processor, the CTD thermosalinograph, the first controller, and the second controller are installed on the other side of the partition board.

[0007] Further, a forward-looking sonar and a depth sounder are installed inside the first spherical sealed cabin, a gyroscope is installed inside the second spherical sealed cabin, and a navigation calculator is installed inside the third spherical sealed cabin.

[0008] Further, the propulsion device includes a driving motor, a drive shaft, and a propeller. One end of the drive shaft is connected to the driving motor, and the other end is connected to the propeller. The driving motor rotates to drive the drive shaft and the propeller to rotate; the steering device includes an X-shaped rudder and a steering gear. The X-shaped rudder is circumferentially arranged above the tail of the shell, and two steering gears control the X-shaped rudder to maneuver the UUV.

[0009] Further, a transverse plate, ribs, and support columns are connected inside the outer shell. The ribs are arranged in an array in the length direction of the main UUV, and the ribs are connected by support columns. The transverse plate is connected and fixed to the ribs at the central plane of the main UUV. The cylindrical sealed cabin, the first spherical sealed cabin, the second spherical sealed cabin, the third spherical sealed cabin, the single-beam sonar, the multi-beam sonar, the RF communication antenna, the GPS antenna, the propulsion device, and the steering gear are all fixedly installed on the transverse plate.

[0010] Further, the release and launch device includes a side surrounding outer shell, a release duct, and fixing bolts; the side surrounding outer shell is fixedly installed in the middle of the main UUV outer shell, and the release duct is included inside the side surrounding outer shell; the release and launch device is symmetrically arranged on both sides of the middle of the shell. The secondary UUV is placed in the release ducts of the release and launch devices on both sides and is fixedly connected to the main UUV via fixing bolts. Internal information transmission between the secondary UUV and the main UUV is achieved through serial communication.

[0011] Further, the single-beam sonar, the multi-beam sonar, the side sonar, the sidescan sonar, the RF communication antenna, and the GPS antenna all have a dry end and a wet end. The dry end is inside the shell; the wet end penetrates the shell to contact seawater. The wet ends of the single-beam sonar and the multi-beam sonar are located on the lower side of the shell; the wet ends of the RF communication antenna and the GPS antenna are located on the upper side of the shell; the dry end of the side sonar is located inside the middle of the shell, and the wet end is located outside the middle of the shell. The dry end of the sidescan sonar is located inside the bottom of the shell, and the wet end is located outside the bottom of the shell.

[0012] Further, the single-beam sonar, the multi-beam sonar, the side sonar, the sidescan sonar, the CTD thermosalinograph, the digital signal processor, the forward-looking sonar, the depth sounder, the gyroscope, the RF communication antenna, the communication processing module, the navigation calculator, and the GPS antenna are all controlled by a first controller, and the propulsion device and the steering device are controlled by a second controller.

[0013] Furthermore, the secondary UUV includes a secondary UUV housing, a secondary UUV sealed cabin, a secondary UUV battery, a control module, a water pump, a water tank, a conduit, a communication device, a motor, an output shaft, and a propulsion propeller. The secondary UUV sealed cabin is placed at the front side inside the secondary UUV housing. The secondary UUV battery and the control module are fixedly installed inside the secondary UUV sealed cabin. The water pump and the water tank are placed at the rear side inside the secondary UUV housing. The water pump and the water tank are connected by a conduit. The motor, the output shaft, and the propulsion propeller are arranged at the tail inside the secondary UUV housing. One end of the output shaft is connected to the motor and the other end is connected to the propulsion propeller. The communication device is fixedly installed at the front end of the secondary UUV housing, and the signal transmitting and receiving end of the communication device penetrates the secondary UUV housing and is located outside the secondary UUV housing.

[0014] Beneficial effects:

[0015] The present utility model provides an integrated UUV vehicle body. The integrated UUV underwater vehicle carries two secondary UUVs by the main UUV, downloads the data collected and processed by the main UUV to the secondary UUVs, and performs data transmission and reception by releasing the secondary UUVs. The main UUV only responsible for passively receiving the emission information of the secondary UUVs, thereby avoiding the problem of the main UUV's target position being exposed. Description of the drawings

[0016] Figure 1 It is a three-dimensional structure schematic diagram of an integrated UUV vehicle body according to the present utility model;

[0017] Figure 2 It is a rear view of an integrated UUV vehicle body according to the present utility model;

[0018] Figure 3 It is a side view of an integrated UUV vehicle body according to the present utility model;

[0019] Figure 4 It is a bottom view of an integrated UUV vehicle body according to the present utility model;

[0020] Figure 5 It is a top view of an integrated UUV vehicle body according to the present utility model;

[0021] Figure 6 It is an axonometric view of the internal structure of an integrated UUV vehicle body according to the present utility model;

[0022] Figure 7 It is a top view of the internal structure of an integrated UUV vehicle body according to the present utility model;

[0023] Figure 8 It is a structural diagram of the cylindrical sealed cabin of an integrated UUV vehicle body according to the present utility model;

[0024] Figure 9 Isometric view of the release and launch device of an integrated UUV vehicle according to the present utility model;

[0025] Figure 10 Side view of the release and launch device of an integrated UUV vehicle according to the present utility model;

[0026] Figure 11 Sectional view of the release and launch device of an integrated UUV vehicle according to the present utility model;

[0027] Figure 12 Structure diagram of the secondary UUV of an integrated UUV vehicle according to the present utility model;

[0028] Figure 13 Isometric view of the internal structure of the secondary UUV of an integrated UUV vehicle according to the present utility model;

[0029] Figure 14 Sectional view of the secondary UUV of an integrated UUV vehicle according to the present utility model.

[0030] Figure 15 Main UUV control flow chart of an integrated UUV vehicle according to the present utility model.

[0031] Description of the marks in the figure:

[0032] 1 - Outer shell, 2 - Vertical thrust duct, 3 - Vertical thruster, 4 - Cylindrical sealed cabin, 5 - Partition board, 6 - Communication processing module, 7 - Digital signal processor, 8 - CTD thermosalinograph, 9 - First controller, 10 - Second controller, 11 - Battery, 12 - First spherical sealed cabin, 13 - Forward-looking sonar, 14 - Depth sounder, 15 - Second spherical sealed cabin, 16 - Gyroscope, 17 - Third spherical sealed cabin, 18 - Navigation calculator, 19 - Single-beam sonar, 20 - Multi-beam sonar, 21 - Radio frequency communication antenna, 22 - GPS antenna, 23 - Side sonar, 24 - Side-scan sonar, 25 - Transverse board, 26 - Rib, 27 - Support column, 28 - Driving motor, 29 - Driving shaft, 30 - Propeller, 31 - X-type rudder, 32 - Rudder servo, 33 - Side surrounding outer shell, 34 - Release duct, 35 - Fixed bolt, 36 - Secondary UUV shell, 37 - Secondary UUV sealed cabin, 38 - Secondary UUV battery, 39 - Control module, 40 - Water pump, 41 - Water tank, 42 - Duct, 43 - Communicator, 44 - Motor, 45 - Output shaft, 46 - Propelling propeller. Specific implementation method

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts belong to the scope of protection of the present invention.

[0034] In the description of the present invention, it should be understood that the terms "upper", "middle", "outer", "inner", etc. indicating orientation or positional relationships are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0035] See Figures 1 - 15 Describing this embodiment, an integrated UUV vehicle body includes a main UUV and a secondary UUV. The main UUV includes a hull 1, a cylindrical sealed cabin 4, a first spherical sealed cabin 12, a second spherical sealed cabin 15, a third spherical sealed cabin 17, a single-beam sonar 19, a multi-beam sonar 20, a radio frequency communication antenna 21, a GPS antenna 22, a side sonar 23, a sidescan sonar 24, a propulsion device, a steering device, and a release and launch device. The cylindrical sealed cabin 4 is arranged in the middle side of the main UUV. The second spherical sealed cabin 15 and the third spherical sealed cabin 17 are arranged at the front and rear ends of the cylindrical sealed cabin 4. The first cylindrical sealed cabin 4 is arranged at the front end of the main UUV. The single-beam sonar 19 and the multi-beam sonar 20 are arranged at the front of the hull 1. The radio frequency communication antenna 21 and the GPS antenna 22 are arranged at the rear of the hull 1. The side sonar 23 is arranged on both sides of the middle of the hull 1. The sidescan sonar 24 is arranged at the bottom of the middle of the hull 1. The propulsion device and the steering device are arranged at the tail of the hull 1. The release and launch device is arranged in the middle of the main UUV. The secondary UUV is placed in the release and launch device.

[0036] In this embodiment, the hull 1 is a segmented splicing structure. The vertical duct penetrates and connects to the hull 1 at the front and rear of the main UUV. A vertical thruster 3 is installed in the vertical thrust duct 2. A partition plate 5, a communication processing module 6, a digital signal processor 7, a CTD thermosalinograph 8, a first controller 9, a second controller 10, and a battery 11 are placed in the cylindrical sealed cabin 4. The partition plate 5 divides the space of the cylindrical sealed cabin 4 into two parts along the length axis direction. The battery 11 is fixedly installed on one side of the partition plate 5. The communication processing module 6, the digital signal processor 7, the CTD thermosalinograph 8, the first controller 9, and the second controller 10 are installed on the other side of the partition plate 5.

[0037] In this embodiment, a forward-looking sonar 13 and a depth sounder 14 are installed in the first spherical sealing cabin 12, a gyroscope 16 is installed in the second spherical sealing cabin 15, and a navigation computer 18 is installed in the third spherical sealing cabin 17. The propulsion device includes a drive motor 28, a drive shaft 29, and a propeller 30. One end of the drive shaft 29 is connected to the drive motor 28, and the other end is connected to the propeller 30. When the drive motor 28 rotates, it drives the drive shaft 29 and the propeller 30 to rotate. The steering device includes an X-shaped rudder 31 and a steering gear 32. The X-shaped rudder 31 is circumferentially arranged above the tail of the outer shell 1, and two steering gears 32 control the X-shaped rudder 31 to maneuver the UUV.

[0038] In this embodiment, a transverse plate 25, ribs 26, and support columns 27 are connected inside the outer shell 1. The ribs 26 are arranged in an array in the longitudinal direction of the main UUV. The ribs 26 are connected by the support columns 27. The transverse plate 25 is connected and fixed to the ribs 26 at the central plane of the main UUV. The cylindrical sealing cabin 4, the first spherical sealing cabin 12, the second spherical sealing cabin 15, the third spherical sealing cabin 17, the single-beam sonar 19, the multi-beam sonar 20, the radio frequency communication antenna 21, the GPS antenna 22, the propulsion device, and the steering gear 32 are all fixedly installed on the transverse plate 25.

[0039] In this embodiment, the release and launch device includes a side surrounding outer shell 1331, a release duct 34, and a fixing bolt 35. The side surrounding outer shell 1331 is fixedly installed in the middle of the main UUV outer shell 1, and the release duct 34 is contained inside the side surrounding outer shell 1331. The release and launch device is symmetrically arranged on both sides of the middle of the outer shell 1. The secondary UUV is placed in the release ducts 34 of the release and launch devices on both sides and is fixedly connected to the main UUV via the fixing bolt 35. Internal information transmission between the secondary UUV and the main UUV is achieved through serial communication.

[0040] In this embodiment, the single-beam sonar 19, the multi-beam sonar 20, the side sonar 23, the sidescan sonar 24, the radio frequency communication antenna 21, and the GPS antenna 22 all have a dry end and a wet end. The dry end is inside the outer shell 1. The wet end penetrates the outer shell 1 to contact seawater. The wet ends of the single-beam sonar 19 and the multi-beam sonar 20 are located on the lower side of the outer shell 1. The wet ends of the radio frequency communication antenna 21 and the GPS antenna 22 are located on the upper side of the outer shell 1. The dry end of the side sonar 23 is located on the inner side of the middle of the outer shell 1, and the wet end is located on the outer side of the middle of the outer shell 1. The dry end of the sidescan sonar 24 is located on the inner side of the bottom of the outer shell 1, and the wet end is located on the outer side of the bottom of the outer shell 1.

[0041] In this embodiment, the secondary UUV includes a secondary UUV housing 36, a secondary UUV sealed cabin 37, a secondary UUV battery 38, a control module 39, a water pump 40, a water tank 41, a conduit 42, a communication device 43, a motor 44, an output shaft 45, and a propulsion propeller 46. The secondary UUV sealed cabin 37 is placed at the front side inside the secondary UUV housing 36. The secondary UUV battery 38 and the control module 39 are fixedly installed inside the secondary UUV sealed cabin 37. The water pump 40 and the water tank 41 are placed at the rear side inside the secondary UUV housing 36. The water pump 40 and the water tank 41 are connected by the conduit 42. The motor 44, the output shaft 45, and the propulsion propeller 46 are arranged at the tail inside the secondary UUV housing 36. One end of the output shaft 45 is connected to the motor 44 and the other end is connected to the propulsion propeller 46. The communication device 43 is fixedly installed at the front end of the secondary UUV housing 36. The signal transmitting and receiving end of the communication device 43 penetrates the secondary UUV housing 36 and is located outside the secondary UUV housing 36.

[0042] In this embodiment, the main UUV can collect underwater terrain information through the single-beam sonar 19, multi-beam sonar 20, side sonar 23, and side-scan sonar 24, and collect hydrological environment information through the CTD instrument 8. The information data collected is processed by the digital signal processor 7 in the cylindrical sealed cabin 4. The forward-looking sonar 13 is responsible for detecting obstacles at the front end. The depth finder 14 is responsible for measuring the distance from the seabed. The gyroscope 16 is responsible for measuring the motion information of the object in the relative inertial space. The data of the forward-looking sonar 13, the depth finder 14, the gyroscope 16, and the information data collected and processed by the digital signal processor 7 are all subjected to communication modulation and coding processing through the communication signal processing module. The data processed by the communication processing module 6 is downloaded to the secondary UUV through the serial port. The secondary UUV is released to make it float to the water surface, and the data information collected and processed by the main UUV is sent via the communication device 43 of the secondary UUV. The navigation computer 18 is directly connected to the GPS antenna 22 for solving navigation data.

[0043] The secondary UUV sends the data information of the main UUV to the shore end through the communication device 43 and receives the return data information from the shore end. At this time, the secondary UUV, as a communication middle end, sends the data information returned from the shore base to the main UUV. The RF communication antenna 21 and the GPS antenna 22 of the main UUV receive data instructions and GPS positioning information.

[0044] In this embodiment, the single-beam sonar 19, multi-beam sonar 20, side sonar 23, side-scan sonar 24, CTD instrument 8, digital signal processor 7, forward-looking sonar 13, depth finder 14, gyroscope 16, RF communication antenna 21, communication processing module 6, navigation computer 18, and GPS antenna 22 are all controlled by the first controller 9. The propulsion device and the steering device are controlled by the second controller 10.

[0045] In the description of this specification, the descriptions referring to the terms "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0046] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and utilize the present invention well. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. An integrated UUV vehicle, characterized in that: The invention comprises a main UUV and a secondary UUV, wherein the main UUV comprises an outer shell, a cylindrical sealed cabin, a first spherical sealed cabin, a second spherical sealed cabin, a third spherical sealed cabin, a single-beam sonar, a multi-beam sonar, a radio frequency communication antenna, a GPS antenna, a broadside sonar, a side-scan sonar, a propulsion device, a control device, and a release and launch device; the cylindrical sealed cabin is arranged at the middle side of the main UUV, the second spherical sealed cabin and the third spherical sealed cabin are arranged at the front and rear ends of the cylindrical sealed cabin, the first cylindrical sealed cabin is arranged at the front end of the main UUV, the single-beam sonar and the multi-beam sonar are arranged at the front of the shell, the radio frequency communication antenna and the GPS antenna are arranged at the rear of the shell, the broadside sonars are arranged on both sides of the middle of the shell, and the side-scan sonar is arranged at the bottom of the middle of the shell; the propulsion device and the control device are arranged at the tail of the shell, the release and launch device is arranged in the middle of the main UUV, and the secondary UUV is placed in the release and launch device.

2. The integrated UUV vehicle according to claim 1, characterized in that: The outer shell is a segmented splicing structure, and the vertical duct runs through the front and rear of the main UUV and is connected to the outer shell, and a vertical thruster is installed in the vertical thrust duct; a partition plate, a communication processing module, a digital signal processor, a CTD temperature, salinity and depth instrument, a first controller, a second controller and a battery are placed in the columnar sealed cabin; the partition plate divides the columnar sealed cabin space into two parts along the length axis direction, the battery is fixedly installed on one side of the partition plate, and the communication processing module, the digital signal processor, the CTD temperature, salinity and depth instrument, the first controller and the second controller are installed on the other side of the partition plate.

3. The integrated UUV vehicle according to claim 2, characterized in that: The first spherical sealed cabin is equipped with a forward-looking sonar and a depth sounder, the second spherical sealed cabin is equipped with a gyroscope, and the third spherical sealed cabin is equipped with a navigation calculator.

4. The integrated UUV vehicle according to claim 3, characterized in that: The propulsion device includes a drive motor, a drive shaft and a propeller. One end of the drive shaft is connected to the drive motor, and the other end is connected to the propeller. The drive shaft and the propeller are driven to rotate when the drive motor rotates. The control device includes an X-shaped rudder and a steering gear. The X-shaped rudder is circumferentially arranged on the tail of the shell. The two steering gears control the X-shaped rudder to control the UUV.

5. The integrated UUV vehicle according to claim 4, characterized in that: The shell is internally connected with a transverse plate, ribs and support columns, the ribs are arranged in an array in the length direction of the main UUV, the ribs are connected by support columns, the transverse plate is connected and fixed to the ribs at the center plane of the main UUV, and the columnar sealed cabin, the first spherical sealed cabin, the second spherical sealed cabin, the third spherical sealed cabin, the single-beam sonar, the multi-beam sonar, the radio frequency communication antenna, the GPS antenna, the propulsion device and the steering gear are all fixedly installed on the transverse plate.

6. The integrated UUV vehicle according to claim 5, characterized in that: The release and launch device includes a side surrounding shell, a release duct, and a fixing bolt; the side surrounding shell is fixedly installed in the middle of the main UUV shell, and the side surrounding shell contains the release duct; the release and launch devices are symmetrically arranged on both sides of the middle of the shell, and the secondary UUV is placed in the release ducts of the release and launch devices on both sides, and is fixedly connected to the main UUV via the fixing bolt, and internal information transmission is realized between the secondary UUV and the main UUV through serial port communication.

7. The integrated UUV vehicle according to claim 5, characterized in that: The single-beam sonar, multi-beam sonar, broadside sonar, side-scan sonar, radio frequency communication antenna and GPS antenna all have a dry end and a wet end, and the dry end is inside the shell; the wet end penetrates the shell and contacts the seawater, and the single-beam sonar and multi-beam sonar wet ends are located on the lower side of the shell; the radio frequency communication antenna and GPS antenna wet ends are located on the upper side of the shell; the broadside sonar dry end is located on the inner side of the middle part of the shell, and the wet end is located on the outer side of the middle part of the shell; the side-scan sonar dry end is located on the inner side of the bottom of the shell, and the wet end is located on the outer side of the bottom of the shell.

8. The integrated UUV vehicle according to claim 7, characterized in that: The single-beam sonar, multi-beam sonar, broadside sonar, side-scan sonar, CTD temperature-salinity-depth instrument, digital signal processor, forward-looking sonar, depth sounder, gyroscope, radio frequency communication antenna, communication processing module, navigation calculator, and GPS antenna are all controlled by a first controller, and the propulsion device and the control device are controlled by a second controller.

9. The integrated UUV vehicle according to claim 8, characterized in that: The secondary UUV comprises a secondary UUV shell, a secondary UUV sealed cabin, a secondary UUV battery, a control module, a water pump, a water tank, a conduit, a communicator, a motor, an output shaft and a propulsion propeller. The secondary UUV sealed cabin is placed on the front side of the secondary UUV shell, the secondary UUV battery and the control module are fixedly installed inside the secondary UUV sealed cabin, the water pump and the water tank are placed on the rear side of the secondary UUV shell, the water pump and the water tank are connected by a conduit, the motor, the output shaft and the propulsion propeller are arranged at the rear of the secondary UUV shell, one end of the output shaft is connected to the motor and the other end is connected to the propulsion propeller, the communicator is fixedly installed at the front end of the secondary UUV shell, and the signal transmitting and receiving end of the communicator passes through the secondary UUV shell and is located outside the secondary UUV shell.

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