Bionic underwater unmanned vehicle

Abstract

The utility model provides a kind of bionic underwater unmanned vehicle, belong to underwater vehicle technical field. Including main part and the side wing being arranged in the both sides of main part and being integrally formed with main part, two symmetrical transverse ducts are set on the main part, two the vertical duct is set on the side wing, and the propeller is engaged and connected in the inside of vertical duct and transverse duct. The utility model adopts the streamlined body of imitating devil fish and side wing integrated structure, and the distributed propeller layout of cooperation transverse duct and vertical duct, can be through differentiating control propeller rotating speed and steering, realize linear motion, rotation, lift, turn over and other diversification vector motion, avoid the problem that traditional underwater unmanned vehicle exists large turning radius, poor vertical lift ability etc. due to single propeller propulsion design.

Description

Technical Field

[0001] This utility model relates to the field of underwater vehicle technology, and in particular to a biomimetic underwater drone. Background Technology

[0002] In the field of underwater vehicle technology, underwater drones, as important exploration tools, are being widely used in many fields such as marine scientific research, resource exploration, underwater facility inspection, and reconnaissance.

[0003] Traditional underwater drones mostly use propeller propulsion, which is highly susceptible to interference in complex underwater environments. When encountering turbulent currents or strong ocean currents, the direction and magnitude of the thrust generated by the propeller are difficult to maintain stably, causing the drone to lose control of its course and fail to follow the intended path. In narrow underwater canyons or coral reef areas, the propeller is also prone to colliding with surrounding obstacles, causing equipment damage. Furthermore, when operating in complex underwater terrain, such as rugged underwater mountains or deep underwater canyons, traditional propeller-driven underwater drones exhibit significantly insufficient maneuverability. Their large turning radius and poor vertical take-off and landing capabilities prevent them from quickly and accurately reaching target locations, severely impacting operational efficiency.

[0004] Therefore, this application provides a biomimetic underwater drone to meet the requirements. Utility Model Content

[0005] The technical problem to be solved by this utility model is to provide a biomimetic underwater drone that can prevent the traditional underwater drones, which mostly use propeller propulsion, from being easily interfered with in complex water flow environments.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0007] A biomimetic underwater drone includes a main body and side wings that are integrally formed with the main body and located on both sides of the main body;

[0008] The main body has two symmetrical transverse ducts, and each of the two side wings has a vertical duct.

[0009] The thruster is engaged with the interior of the vertical duct and the transverse duct.

[0010] By incorporating integrally molded side wings with the main body, and establishing lateral and vertical ducts on both the main body and side wings respectively, the propellers are securely connected within these ducts. This effectively solves the problems of traditional underwater drone propellers being exposed and susceptible to water flow interference and collisions with obstacles. The integrated main body and side wing structure enhances the overall streamlined effect and reduces drag. The multi-duct distributed propeller layout allows for flexible movement through coordinated control, significantly improving the drone's maneuverability in complex underwater terrain compared to traditional single-propeller propulsion, and reducing directional control issues caused by water flow interference.

[0011] Optionally, both of the transverse ducts have transverse slots inside, and both of the vertical ducts have vertical slots inside. The thruster includes a housing, and a locking block is fixed to the outside of the housing. The locking block matches the vertical slots and transverse slots. A motor compartment is fixed inside the housing, and a brushless motor is installed inside the motor compartment. A propeller is installed at the output end of the brushless motor.

[0012] The matching structure of the horizontal and vertical slots with the thruster blocks enables quick disassembly and assembly of the thruster and facilitates universal installation, solving the problem of cumbersome maintenance and replacement of traditional underwater drone power components. The powerful brushless motor built into the motor bay, combined with the efficient propulsion structure of the propeller, provides more stable thrust output and is less affected by water flow compared to traditional propellers. At the same time, the modular design of the thruster allows for the replacement of power units with different parameters according to operational needs, improving the adaptability of the equipment.

[0013] Optionally, the support leg is located at the bottom of the main body, and the end of the support leg has an arc-shaped structure.

[0014] The support legs at the bottom of the main body and the arc-shaped structure at the ends effectively solve the problem of traditional underwater drones being easily damaged by impacts and scratched by underwater objects when placed or landed on the seabed. The arc-shaped end design disperses the contact pressure, reducing damage to the underwater environment (such as coral reefs and seabed sediments); the support of the support legs keeps the drone stable when stationary, preventing the main body from directly contacting underwater debris and protecting the duct and propulsion structure.

[0015] Optionally, the guide hole is formed on the surface of the support leg, and the axis of the guide hole forms an angle of 30°-60° with the direction of water flow.

[0016] The guide holes on the support surface are distributed at an angle of 30°-60°, which guides the water flow smoothly and solves the problem of water resistance and reduced navigation stability caused by traditional underwater drone support structures. The guide holes divert the water flow passing through the support, avoiding local water accumulation and turbulence, making the drone move more smoothly in complex water currents. Especially in environments such as narrow underwater canyons, it reduces the interference of resistance on the course and improves operational efficiency.

[0017] Optionally, the wiring port is located on the top of the main body and has a waterproof sealing structure. The wiring port is electrically connected to the control circuit of the thruster.

[0018] The wiring connection ports on the top of the main body adopt a waterproof and sealed structure, solving the problem of water leakage and circuit failure caused by traditional underwater equipment interfaces. The waterproof and sealed design ensures the stability of underwater power and signal transmission, so that the thruster control circuit is not affected by water leakage when operating in deep water areas; at the same time, the convenience of connecting external control equipment improves operational flexibility, and it is easier to debug equipment and expand functions compared to traditional integrated control structures.

[0019] Optionally, the pod interface is located below the main body for mounting the detection pod.

[0020] The pod interface solves the problem of traditional underwater drones having limited functionality and being unable to meet diverse operational needs. By mounting different detection pods (such as water quality monitoring and underwater cameras), the drone can flexibly switch operational modes to adapt to diverse scenarios such as marine scientific research and resource exploration. The interface design does not require modification of the main structure, significantly reducing equipment costs and improving the efficiency of functional expansion compared to traditional customized functional drones.

[0021] Optionally, the motor housing is waterproofed using a fluororubber sealing ring, and the propeller blades are made of high-strength composite material.

[0022] The fluororubber sealing rings in the motor compartment are waterproofed, solving the problem of traditional underwater motors being easily damaged by water leakage. The improved sealing level ensures long-term stable operation of the equipment in deep water. The propeller is made of high-strength composite material, which is lighter and more corrosion-resistant than traditional metal blades, reducing the risk of deformation under water flow impact and extending its service life.

[0023] Optionally, the main body and side wings are made of silicone composite material and have a biomimetic texture structure on the surface.

[0024] The silicone composite material and biomimetic texture (mimicking the body structure of a manta ray) of the main body and side wings solve the problems of insufficient flexibility and high water resistance in traditional underwater drone shells. The flexibility of the silicone material improves the device's adaptability to complex terrain (such as cushioning protection during collisions), and its corrosion resistance ensures long-term use in salt spray and sewage environments. The biomimetic texture disrupts the water boundary layer, reducing turbulent resistance. Compared with traditional smooth shells, the flight efficiency is significantly improved and energy consumption is reduced.

[0025] Compared with the prior art, this utility model has at least the following beneficial effects:

[0026] This invention adopts a streamlined, manta ray-inspired integrated structure with side wings, combined with a distributed thruster layout using horizontal and vertical ducts. By differentially controlling the thruster speed and direction, it achieves diverse vector movements such as linear motion, rotation, ascent and descent, and rollover. This avoids the problems of large turning radius and poor vertical take-off and descent capabilities inherent in traditional underwater drones with single-propeller propulsion designs. By engaging the thrusters within the ducts, the duct structure constrains and guides the water flow, reducing direct interference from external water currents on the propellers. It also prevents damage caused by direct contact with obstacles, effectively solving the problem of traditional exposed propellers being susceptible to thrust instability or damage from turbulent water flow, and even loss of directional control. Attached Figure Description

[0027] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments of the present invention and, together with the specification, further serve to explain the principles of the present invention and enable those skilled in the art to implement and use the present invention.

[0028] Figure 1 This is a schematic diagram of the structure of a biomimetic underwater drone;

[0029] Figure 2 This is a top-view structural diagram of a biomimetic underwater drone.

[0030] Figure 3 A schematic diagram of the main body and side wing structure of a biomimetic underwater drone;

[0031] Figure 4 This is a schematic diagram of the propulsion structure of a biomimetic underwater drone.

[0032] [Figure Labels]

[0033] 1. Main body; 2. Side wings; 3. Vertical duct; 31. Vertical slot; 4. Horizontal duct; 41. Horizontal slot; 5. Thruster; 51. Shell; 52. Locking block; 53. Motor compartment; 54. Propeller; 6. Support legs; 7. Flow guide hole; 8. Wiring connection port; 9. Pod interface.

[0034] As shown in the figure, specific structures and devices are marked in the figure to clearly illustrate the structure of the embodiment of this utility model. However, this is only for illustrative purposes and is not intended to limit this utility model to this specific structure, device and environment. Those skilled in the art can adjust or modify these devices and environments according to specific needs. Detailed Implementation

[0035] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0037] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this technology based on the specific circumstances.

[0038] In the description of this application, spatial relation terms such as "below," "under," "below," "below," "above," "over," etc., are used herein to describe the relationship between one element or feature shown in the figures and other elements or features. It should be understood that, in addition to the orientation shown in the figures, spatial relation terms also include different orientations of the device in use and operation. For example, if the device in the figures is flipped, an element or feature described as "below" or "under" or "below" of other elements or features will be oriented "above" other elements or features. Therefore, the exemplary terms "below" and "under" can include both upper and lower orientations. Furthermore, the device may also include other orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptive terms used herein are interpreted accordingly.

[0039] In the description of this application, the term "for example" is used to mean "used as an example, illustration, or description." Any embodiment described as "for example" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to implement and use the present invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the present invention can be implemented without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the present invention with unnecessary detail. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0040] This embodiment discloses a biomimetic underwater drone. Its overall structure draws inspiration from the morphological characteristics of aquatic organisms (manta rays), aiming to improve the flexibility and stability of underwater navigation. It is suitable for scenarios such as ocean exploration and underwater operations. It mainly consists of a main body 1, side wings 2, a vertical duct 3, a horizontal duct 4, a thruster 5, outriggers 6, a flow guide 7, a wiring connection port 8, and a pod interface 9. These components work together to achieve underwater navigation and operational functions.

[0041] like Figures 1-4 As shown, an embodiment of this utility model provides a biomimetic underwater drone, such as... Figure 1-3 As shown, it includes a main body 1, which features a streamlined design and an overall spindle-shaped structure (mimicking the body structure of a manta ray). The main body is 80-120cm long and 50-70cm wide, made of silicone composite material, possessing good flexibility and corrosion resistance, allowing it to adapt to complex underwater environments. Side wings 2 are located on both sides of the main body 1, and are integrally constructed with the main body 1. The side wings 2 extend outwards in an arc shape, slightly shorter than the main body 1. The surface of the side wings 2 features a biomimetic texture structure (not shown in the figure), with a texture depth of 0.5-1mm, which reduces water resistance and improves navigation efficiency. Figure 3As shown, two transverse ducts 4 are symmetrically arranged on the main body 1. The transverse ducts 4 run through the length of the main body 1, with an inner diameter of 10-15cm. The center-to-center distance between the two transverse ducts 4 is 30-40cm. Each transverse duct 4 has a transverse groove 41 on its inner wall. The transverse groove 41 is a strip-shaped groove with a width of 2-3cm and a depth of 1-1.5cm. Each of the two side wings 2 has a vertical duct 3. The vertical duct 3 is arranged along the thickness direction of the side wing 2, with an inner diameter of 8-12cm. Its inner wall has a vertical groove 31. The size of the vertical groove 31 is adapted to the transverse groove 41. A thruster 5 is engaged and connected inside both the vertical duct 3 and the transverse duct 4. By creating the vertical groove 31 and the transverse groove 41 inside the vertical duct 3 and the transverse duct 4, it is convenient to universally install the thruster 5.

[0042] like Figure 4 As shown, the thruster 5 includes a housing 51, which is a cylindrical structure made of a rigid material (such as engineering plastic). Its diameter matches the inner diameter of the duct. A locking block 52 is fixed to the outside of the housing 51. The shape and size of the locking block 52 match the vertical locking slot 31 and the horizontal locking slot 41, respectively, ensuring the thruster 5 is securely installed and easily replaceable (inserted or pulled out). Inside the housing 51 is a motor housing 53, made of stainless steel. A high-speed brushless motor with a power of 500-800W is installed inside the motor housing 53, providing strong power. The motor housing 53 is waterproofed using a fluororubber sealing ring to prevent underwater water leakage from damaging the motor. The output end of the brushless motor extends outside the motor housing 53. A propeller 54 is installed at the end of the brushless motor. The blades of the propeller 54 are made of high-strength composite material (such as carbon fiber reinforced resin), with 3-4 blades and a length of 15-20cm, enabling efficient rotation in water to generate thrust.

[0043] like Figure 2 As shown, the bottom of the main body 1 has four support legs 6. The support legs 6 are made of the same silicone composite material as the main body 1, and are 15-20cm in length. Figure 3 As shown, the ends of the support legs 6 are curved, with an arc of R5-R8, which reduces the impact force when the drone is placed or landed underwater, and also prevents it from scratching underwater objects. Figure 1 As shown, the surface of the support leg 6 is provided with a flow guide hole 7, which is a circular through hole with a diameter of 2-3 cm. The axis of the flow guide hole 7 forms an angle of 30°-60° with the direction of water flow. When the UAV moves in the water, the water can flow smoothly through the flow guide hole 7, reducing the resistance of the water flow to the support leg 6 and improving the navigation stability of the UAV.

[0044] like Figure 1As shown, the top of the main body 1 is provided with a wiring connection port 8. The wiring connection port 8 adopts a waterproof plug structure, and a rubber sealing ring is provided on the outside of the wiring connection port 8 to ensure underwater sealing performance. The wiring connection port 8 is electrically connected to the brushless motor control circuit of the thruster 5 through internal wires, and can be connected to external control equipment or power supply to realize the speed adjustment and operation control of the thruster 5.

[0045] like Figure 2 As shown, the main body 1 has a pod interface 9 at its lower part, which can be used to mount various detection pods (such as water quality detection pods, underwater camera pods, etc.). Through the pod interface 9, pods with different functions can be flexibly replaced according to actual operational needs, thus expanding the application range.

[0046] It is worth noting that the main body 1 and the side wings 2 are made of silicone composite material. This silicone composite material has a certain degree of elasticity and flexibility. When the thruster 5's locking block 52 is engaged in the vertical locking slot 31 and the horizontal locking slot 41, the silicone material will deform slightly, generating a wrapping force on the locking block 52, increasing friction. This can buffer the vibration generated by the thrust, reduce loosening of the connection due to use, and lower the risk of the thruster 5 detaching.

[0047] Working principle

[0048] like Figures 1-4 As shown, after the control signal and power are connected through the line connection port 8, the commands issued by the control device are transmitted to the brushless motor of the thruster 5 via the internal circuitry. After the motor starts, it drives the propeller 54 to rotate at high speed, generating directional thrust using the reaction force of the water flow. The distributed layout of the thruster 5 within the transverse duct 4 and the vertical duct 3 allows for differentiated control to achieve diverse vector motions. Specifically:

[0049] When the thrusters 5 in the straight line and the two transverse ducts 4 rotate in the same direction and at the same speed, they rotate synchronously in the forward or reverse direction. The horizontal thrust they generate is superimposed along the axis of the main body 1, which drives the UAV to move forward or backward in a straight line.

[0050] When the thrusters 5 inside the two transverse ducts 4 rotate at different speeds, the horizontal thrust on both sides creates a torque difference, causing the UAV to rotate to the left or right around its own central axis.

[0051] When the thrusters 5 inside the vertical ducts 3 of the two side wings 2 rotate in the same direction and at the same speed, they rotate synchronously forward or backward. The vertical thrust generated can overcome the buoyancy and gravity of the water, enabling the UAV to rise or dive.

[0052] When the thruster 5 of the vertical duct 3 on one side rotates at a higher speed than the other side, the vertical thrust on both sides forms an asymmetrical torque, which drives the UAV to turn around the central axis of the main body 1, flexibly adjusting the detection angle or avoiding obstacles.

[0053] During navigation, the streamlined structure of the main body 1 and the side wings 2 guides water flow smoothly along the surface, reducing turbulence interference; the biomimetic texture structure on the surface of the side wings 2 further reduces frictional resistance by disrupting the boundary layer water flow state. At the same time, the guide holes 7 on the surface of the legs 6 are distributed at an angle of 30°-60°, which can divert and guide the water flowing through the legs 6, avoid local water accumulation and the formation of resistance, and significantly improve the movement stability of the UAV in complex water flow environments.

[0054] The detection pods, such as water quality sensors and high-definition cameras, mounted via pod interface 9, can collect underwater environmental data or images in real time during the drone's movement. The collected information is fed back to an external control terminal via internal data transmission lines and thruster control lines arranged in parallel. Operators can monitor the data in real time through the terminal, enabling precise control over marine scientific research, resource exploration, and other operational scenarios.

[0055] While embodiments or examples of this disclosure have been described with reference to the accompanying drawings, it should be understood that the above embodiments are merely exemplary embodiments or examples, and the scope of this utility model is not limited by these embodiments or examples, but only by the granted claims and their equivalents. Various elements in the embodiments or examples may be omitted or replaced by their equivalents. Furthermore, the steps may be performed in a different order than that described in this disclosure. Further, various elements in the embodiments or examples may be combined in various ways. Importantly, as the technology evolves, many elements described herein can be replaced by equivalents that appear after this disclosure.

Claims

1. A biomimetic underwater drone, characterized in that, include: The main body (1), the legs (6), the flow guide hole (7), the line connection port (8) and the pod interface (9), and the side wings (2) set on both sides of the main body (1) and integrally formed with the main body (1); The main body (1) has two symmetrical transverse ducts (4), and the two side wings (2) each have vertical ducts (3). The thruster (5) is engaged inside the vertical duct (3) and the transverse duct (4).

2. The biomimetic underwater drone according to claim 1, characterized in that, The interior of each of the two transverse ducts (4) is provided with a transverse slot (41), and the interior of each of the two vertical ducts (3) is provided with a vertical slot (31). The thruster (5) includes a housing (51), and a locking block (52) is fixed on the outside of the housing (51). The locking block (52) matches the vertical slot (31) and the transverse slot (41). The interior of the housing (51) is provided with a motor compartment (53), and a brushless motor is installed inside the motor compartment (53). A propeller (54) is installed at the output end of the brushless motor.

3. The biomimetic underwater drone according to claim 1, characterized in that, The support leg (6) is located at the bottom of the main body (1), and the end of the support leg (6) is an arc-shaped structure.

4. The biomimetic underwater drone according to claim 3, characterized in that, The guide hole (7) is opened on the surface of the support (6), and the axis of the guide hole (7) forms an angle of 30°-60° with the direction of water flow.

5. The biomimetic underwater drone according to claim 1, characterized in that, The line connection port (8) is located on the top of the main body (1) and adopts a waterproof sealing structure. The line connection port (8) is electrically connected to the control line of the thruster (5).

6. The biomimetic underwater drone according to claim 1, characterized in that, The pod interface (9) is located below the main body (1) and is used to mount the detection pod.

7. The biomimetic underwater drone according to claim 2, characterized in that, The motor housing (53) is waterproofed by using a fluororubber sealing ring, and the blades of the propeller (54) are made of high-strength composite material.

8. The biomimetic underwater drone according to claim 1, characterized in that, The main body (1) and the side wings (2) are made of silicone composite material and have a biomimetic texture structure on the surface.

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