Unmanned underwater vehicle and operation method therefor

Abstract

An unmanned underwater vehicle and an operation method therefor, the unmanned underwater vehicle comprising a hull (1), a float (2) and a position adjustment structure (3), wherein the hull (1) comprises an outer casing (101) and a placement space (R) located in the outer casing (101), and the placement space (R) is configured to receive an underwater robot (4); the float (2) is arranged on the outside of the hull (1); and the position adjustment structure (3) is connected to the float (2) and the hull (1), and is configured to adjust the position of the float (2) in a heightwise direction so as to facilitate submerging or floating of the hull (1); the unmanned underwater vehicle is configured to control the position adjustment structure (3) to adjust the float (2) so as to drive the hull (1) to submerge below the water surface, and to drive the underwater robot (4) in the hull (1) to be deployed / retrieved from under the water surface; and the float (2) is adjusted by means of the position adjustment structure (3) so as to drive the hull (1) to float above the water surface, and to drive the hull (1) to sail on the water surface. The unmanned underwater vehicle can realize a simpler and more stable deployment / retrieval process for the underwater robot, and avoids the influence of a harsh on-water environment.

Description

Unmanned underwater vehicle and operation method thereof

[0001] This application claims priority to Chinese patent application No. 202311506761.X filed on November 13, 2023. The contents of the above-mentioned Chinese patent application disclosure are hereby incorporated by reference in their entirety as a part of this application. Technical Field

[0002] Embodiments of the present disclosure relate to an unmanned underwater vehicle and an operating method thereof. Background Art

[0003] An unmanned underwater vehicle (UUV) is an unmanned vehicle that navigates underwater without a human operator and relies on remote control or automatic control. It can be used to deploy / recover underwater robots, enabling them to perform deep-sea operations in specific locations, such as marine scientific surveys and the construction of seabed observation networks.

[0004] Summary of the Invention

[0005] The embodiments of the present disclosure provide a multifunctional autonomous unmanned underwater vehicle and an operating method thereof, which can solve the problems existing in conventional technologies such as the difficulty in deploying and recovering underwater robots.

[0006] At least one embodiment of the present disclosure provides an unmanned underwater vehicle, which includes a cabin, a float and a position adjustment structure; the cabin includes an outer shell and a placement space located within the outer shell, wherein the placement space is configured to accommodate an underwater robot; the float is arranged on the outside of the cabin; the position adjustment structure connects the float and the cabin, and is configured to adjust the position of the float along the height direction to facilitate the diving or floating of the cabin; the unmanned underwater vehicle is configured to control the position adjustment structure to adjust the float to drive the cabin to dive below the water surface, and drive the underwater robot in the cabin to be deployed / recovered under the water surface; and adjust the float through the position adjustment structure to drive the cabin to float above the water surface, and drive the cabin to sail on the water surface.

[0007] For example, in the unmanned underwater vehicle provided in at least one embodiment of the present disclosure, the position adjustment structure includes a driving device and a connecting rod mechanism, the connecting rod mechanism is connected to the driving device and the floating body, and is configured to drive the connecting rod mechanism to move through the driving device to adjust the position of the floating body along the height direction.

[0008] For example, in the unmanned underwater vehicle provided in at least one embodiment of the present disclosure, a bracket is provided in the cabin, the driving device and the connecting rod mechanism are connected to the bracket, and the connecting rod mechanism passes through the outer shell and is connected to the floating body.

[0009] For example, in the unmanned underwater vehicle provided in at least one embodiment of the present disclosure, the connecting rod mechanism includes a main connecting rod, a first hinged rod and a second hinged rod, the two ends of the main connecting rod are respectively hinged to the floating body and one end of the first hinged rod, the other end of the first hinged rod is hinged to the driving device, and one end of the second hinged rod is hinged to the main connecting rod, and the other end is hinged to the bracket.

[0010] For example, in the unmanned underwater vehicle provided in at least one embodiment of the present disclosure, the driving device is a linear driving device.

[0011] For example, in the unmanned underwater vehicle provided in at least one embodiment of the present disclosure, there are two floats, and the two floats are symmetrically arranged on both sides of the cabin, and each float is connected to the cabin through two or more connecting rod mechanisms.

[0012] For example, in the unmanned underwater vehicle provided in at least one embodiment of the present disclosure, each of the connecting rod mechanisms is connected to a driving device; the driving device is a linear screw motor, an electric push rod or a hydraulic driving device.

[0013] For example, in the unmanned underwater vehicle provided in at least one embodiment of the present disclosure, the float is an internal hollow structure, or the interior of the float is filled with foam material.

[0014] For example, in the unmanned underwater vehicle provided in at least one embodiment of the present disclosure, a propeller thruster is provided on the floating body.

[0015] For example, in the unmanned underwater vehicle provided in at least one embodiment of the present disclosure, a battery is provided in the float, and the battery is configured to supply power to at least the propeller thruster.

[0016] For example, in the unmanned underwater vehicle provided in at least one embodiment of the present disclosure, the outer shell includes an exit connected to the placement space, and an electric reel is provided on one side of the placement space, and the electric reel is configured to store the umbilical cable of the underwater robot.

[0017] For example, in the unmanned underwater vehicle provided in at least one embodiment of the present disclosure, a control cabin and a generator are provided in the cabin, the generator is configured to convert fuel into electrical energy, and a controller is provided in the control cabin.

[0018] For example, in the unmanned underwater vehicle provided in at least one embodiment of the present disclosure, an anchor windlass is provided in the cabin, and the anchor windlass is configured to implement an anchoring operation.

[0019] For example, in the unmanned underwater vehicle provided in at least one embodiment of the present disclosure, a gravity and buoyancy center adjustment device is provided in the cabin.

[0020] For example, in the unmanned underwater vehicle provided in at least one embodiment of the present disclosure, an antenna is provided on the cabin for data interaction.

[0021] For example, in the unmanned underwater vehicle provided in at least one embodiment of the present disclosure, the outer shell is a bionic shell.

[0022] At least one embodiment of the present disclosure provides an operating method for an unmanned underwater vehicle, wherein the unmanned underwater vehicle includes a cabin, a float and a position adjustment structure; the cabin includes an outer shell and a placement space located within the outer shell, wherein the placement space is configured to accommodate an underwater robot; the float is arranged on the outside of the cabin; the position adjustment structure connects the float and the cabin, and is configured to adjust the position of the float along the height direction to facilitate the diving or floating of the cabin; the operating method includes: controlling the position adjustment structure to adjust the float to drive the cabin to dive below the water surface, and drive the underwater robot in the cabin to be deployed / recovered under the water surface; and adjusting the float through the position adjustment structure to drive the cabin to float above the water surface, and drive the cabin to sail on the water surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present disclosure, rather than limiting the present disclosure.

[0024] FIG1 is a schematic structural diagram of an unmanned underwater vehicle provided by at least one embodiment of the present disclosure;

[0025] FIG2 is a schematic front view of an unmanned underwater vehicle in a floating state according to at least one embodiment of the present disclosure;

[0026] FIG3 is a schematic front view of an unmanned underwater vehicle in a submerged state according to at least one embodiment of the present disclosure;

[0027] FIG4 is a schematic front view of a position adjustment structure of an unmanned underwater vehicle according to at least one embodiment of the present disclosure;

[0028] FIG5 is a schematic structural diagram of a cabin of an unmanned underwater vehicle provided by at least one embodiment of the present disclosure;

[0029] FIG6 is a schematic front view of a cabin of an unmanned underwater vehicle according to at least one embodiment of the present disclosure;

[0030] FIG7 is a schematic top view of a cabin of an unmanned underwater vehicle according to at least one embodiment of the present disclosure;

[0031] FIG8 is a schematic structural diagram of a floating body of an unmanned underwater vehicle provided by at least one embodiment of the present disclosure; and

[0032] FIG9 is a schematic cross-sectional view of the floating body in FIG8 along the AA direction. DETAILED DESCRIPTION

[0033] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0034] Unless otherwise defined, the technical or scientific terms used in this disclosure should have the usual meanings understood by persons of ordinary skill in the field to which this disclosure belongs. The words "first", "second" and similar terms used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0035] For the deployment / recovery process of underwater robots, the general solution is to prepare a cage, and deploy and recover the underwater robot from the cabin through the cage; however, during the deployment / recovery process, the deployment process is carried out between the cabin and deployment equipment such as the cage, which causes the cage to shake; in some embodiments, a stabilizer can be added to the cage to reduce the problem of cage shaking; however, this solution cannot fundamentally skip the deployment and recovery process, and the process is greatly affected by the environment (wind, waves, etc.). For example, when the sea surface is windy and waves are strong, the cabin will cause violent shaking, and the posture of the underwater robot and deployment equipment such as the cabin and the cage will be uncontrollable. For example, the cabin and the underwater robot have different shaking frequencies and different fluctuation heights, which can easily cause collisions between the cabin and the underwater robot, making it difficult to dock the recovery, resulting in problems such as inability to recover.

[0036] An embodiment of the present disclosure provides an unmanned underwater vehicle and an operating method thereof, wherein the unmanned underwater vehicle includes a cabin, a float and a position adjustment structure; the cabin includes an outer shell and a placement space located within the outer shell, wherein the placement space is configured to accommodate an underwater robot; the float is arranged on the outside of the cabin; the position adjustment structure connects the float and the cabin, and is configured to adjust the position of the float along the height direction to facilitate the diving or floating of the cabin; the unmanned underwater vehicle is configured to control the position adjustment structure to adjust the float to drive the cabin to dive below the water surface, and drive the underwater robot in the cabin to be deployed / recovered under the water surface; and to adjust the float through the position adjustment structure to drive the cabin to float above the water surface, and drive the cabin to sail on the water surface.

[0037] The embodiments of the present disclosure combine an unmanned underwater vehicle (UUV) with an underwater robot (AUV). By providing a float and a position adjustment structure on the UUV, the cabin can be controlled to rise and dive for deployment / recovery of the AUV. When deployment is required, the position adjustment structure is controlled to adjust the height of the float upward, causing the cabin to dive, and the AUV is deployed underwater. This process skips the traditional hoisting process for deployment / recovery, and the deployment / recovery process does not require other hoisting equipment. In addition, underwater deployment and recovery can place the UUV and AUV in substantially the same underwater environment, such as at substantially the same vibration frequency and substantially the same height of fluctuation. This fundamentally solves the problem of shaking during deployment and recovery caused by harsh marine environments, avoids the impact of wind and waves on the AUV during deployment and recovery on the sea surface, and avoids the problems of difficulty in deployment of the AUV, collision with the cabin due to shaking during deployment / recovery, difficulty in accurate deployment, and difficulty in recovery in traditional technologies. This effectively avoids the impact of wind and waves on deployment / recovery, and effectively achieves stable and accurate deployment / recovery. When deployment is complete, the position adjustment structure can be controlled to adjust the height of the float downward, so that the cabin can float up and the cabin can sail on the surface for a long time. In this way, the unmanned underwater vehicle can be realized as a multifunctional autonomous unmanned underwater vehicle.

[0038] The following describes in detail the unmanned underwater vehicle and its operation method provided by the embodiments of the present disclosure through several specific embodiments.

[0039] An embodiment of the present disclosure provides an unmanned submersible, Figure 1 shows a schematic structural diagram of the unmanned submersible, Figure 2 shows a schematic front view of the unmanned submersible in a floating state; Figure 3 shows a schematic front view of the unmanned submersible in a submerged state; Figure 4 shows a schematic front view of the position adjustment structure of the unmanned submersible; and Figure 5 shows a schematic structural diagram of the cabin of the unmanned submersible.

[0040] As shown in Figures 1 to 5, the unmanned underwater vehicle includes a cabin 1, a float 2, and a position adjustment structure 3. Referring to Figures 1 and 5, the cabin 1 includes an outer shell 101 and a placement space R located inside the outer shell 101. The placement space R is configured to accommodate an underwater robot 4. For example, an exit hatch 103 connected to the placement space R is formed on the outer shell 101, and the underwater robot 4 accommodated in the placement space R can be deployed / recovered through the exit hatch 103; the float 2 is arranged on the outside of the cabin 1 and can provide a certain buoyancy; the position adjustment structure 3 connects the float 2 and the cabin 1, and is configured to adjust the position of the float 2 along the height direction to facilitate the diving or floating of the cabin 1.

[0041] When performing deployment / recovery work, the unmanned submersible is configured to control the position adjustment structure 3 to adjust the float 2 to drive the cabin 1 to dive below the water surface, and drive the underwater robot in the cabin 1 to perform deployment / recovery under the water surface; for example, after completing the deployment / recovery, the unmanned submersible is configured to adjust the float 2 through the position adjustment structure 3 to drive the cabin 1 to float above the water surface, and drive the cabin 1 to sail on the water surface.

[0042] For example, the unmanned underwater vehicle includes a controller, which is communicatively connected to the position adjustment structure 3 to control the position adjustment structure 3 to perform corresponding actions.

[0043] In the embodiments of the present disclosure, an unmanned submersible (UUV) is combined with an underwater robot (AUV), and a float 2 and position adjustment structure 3 are provided on the UUV. This allows the deployment and recovery of the AUV 4 below the water surface by submerging the cabin 1. Specifically, when deployment is required, the position adjustment structure 3 is controlled to adjust the height of the float 2 upward, causing the cabin 1 to dive, and the AUV is deployed. For example, once submerged, the AUV can be launched autonomously. After completing its operation, the AUV automatically returns to the submerged cabin 1 for recovery, allowing the UUV to travel at low speed underwater. When deployment and recovery are complete, the position adjustment structure 3 is controlled to adjust the height of the float 2 downward, causing the cabin 1 to rise, allowing the cabin 1 to continue its long-term surface navigation.

[0044] Therefore, the unmanned underwater vehicle provided by the embodiment of the present disclosure can skip the traditional deployment / recovery hoisting process. The underwater robot is set inside the cabin 1 and does not require other hoisting equipment, which can effectively reduce the impact of wind and waves on deployment / recovery.

[0045] For example, in some embodiments, the position adjustment structure 3 may adopt a connecting rod mechanism, and the cabin 1 and the floating body 2 are connected by the connecting rod structure to control the movement of the floating body 2.

[0046] For example, in some examples, the position adjustment structure 3 includes a driving device 301 and a connecting rod mechanism, which is connected to the driving device 301 and the floating body 2 and is configured to drive the connecting rod mechanism through the driving device 301 to adjust the position of the floating body 2 along the height direction.

[0047] For example, as shown in Figure 1, hull 1 further includes a bracket 102 disposed within outer shell 101, a drive device 301 and a connecting rod mechanism connected to bracket 102, and the connecting rod mechanism passes through outer shell 101 and is connected to buoy 2. Thus, one end of the connecting rod mechanism is fixed to bracket 102 within outer shell 101. This arrangement provides a stable connection, while also connecting to drive device 301 and serving as the driving end of the connecting rod mechanism. Positioning the driving end within outer shell 101 protects it from the influence of the external water environment, thereby improving the stability of altitude adjustment.

[0048] For example, in some embodiments, the shape of the outer shell 101 is designed to reduce sailing resistance. For example, in the embodiment of FIG. 5 , the outer shell 101 is shaped like an ellipsoid. In other embodiments, the outer shell 101 may also adopt other shapes that can reduce sailing resistance. The outer shell 101 can also serve a protective function. For example, electrical components such as a controller and a battery pack can be housed within the outer shell 101. These components can be waterproof to adapt to the application environment.

[0049] For example, in some embodiments, as shown in FIG4 , the linkage mechanism includes a main link 302, a first hinged rod 303, and a second hinged rod 304. The main link 302 is longer, for example, longer than the first hinged rod 303 and the second hinged rod 304, and therefore may also be referred to as a long link. The main link 302 is hingedly connected to the floating body 2 and one end of the first hinged rod 303 at its ends, respectively. The other end of the first hinged rod 303 is hingedly connected to the drive device 301. The second hinged rod 304 is hingedly connected to the main link 302 at one end and to the support 102 at the other end. For example, the drive device 301 is a linear drive device whose output end can be extended or shortened. The other end of the first hinged rod 303 is hingedly connected to the output end of the drive device 301. Thus, with the support 102 as the support point, when the output end is extended or shortened, the main link 302 can rotate relative to the hinge point between the main link 302 and the second hinged rod 304, thereby adjusting the height of the floating body 2.

[0050] For example, as shown in Figure 4, when the output end of the linear drive device is shortened and the drive device 301 pulls the first hinged rod 303 downward, the end of the main link 302 connected to the first hinged rod 303 moves downward, and the end of the main link 302 connected to the floating body 2 moves upward. Figure 4 shows the situation where the position of the float 2 on the left is lifted up, and Figure 3 shows the situation where the positions of the two floats 2 are lifted up. At this time, the cabin 1 can be in a diving state; when the output end of the linear drive device is extended and the drive device 301 pushes the first hinged rod 303 upward, the end of the main link 302 connected to the first hinged rod 303 moves upward, and the end of the main link 302 connected to the floating body 2 moves downward. Figure 4 shows that the position of the float 2 on the right is lowered, and Figure 2 shows that the positions of the two floats 2 are lowered. At this time, the cabin 1 can be in a floating state.

[0051] For example, as shown in Figures 2 and 3, the main connecting rod 302 passes through the outer shell 101, and the outer shell 101 is provided with a corresponding hole to avoid the main connecting rod 302. When the UUV sinks, seawater will enter the outer shell 101. In some examples, at least some components inside the outer shell 101 can be waterproofed to adapt to the application environment.

[0052] For example, in some embodiments, there are multiple floats 2, symmetrically arranged on both sides of the hull 1, and each float 2 is connected to the hull 1 via two or more linkage mechanisms to improve the stability of the drive of the floats 2. For example, in the examples of Figures 2 and 3, there are two floats 2, and the two floats 2 are symmetrically arranged on both sides of the hull 1. This can improve the stability of the buoyancy provided by the floats 2 and the stability of the linkage mechanism driving each float 2, thereby achieving stability in the ascent and descent of the unmanned underwater vehicle.

[0053] For example, in some embodiments, each connecting rod mechanism is connected to a driving device 301. For example, each driving device 301 can be a linear screw hollow waterproof motor, an electric push rod, or a hydraulic driving device, as long as the driving device 301 can drive the first articulated rod 303 to move in the form of linear output.

[0054] For example, in some embodiments, the floating body 2 is a hollow structure, or the interior of the floating body 2 is filled with foam material to provide buoyancy. For example, in some embodiments, the floating body 2 is provided with a propeller thruster 21 to drive the floating body 2 to move, and the floating body 2 is realized as a power unit.

[0055] For example, Figure 6 shows a schematic diagram of the main view of the cabin of the unmanned underwater vehicle; Figure 7 shows a schematic diagram of the top view of the cabin of the unmanned underwater vehicle; in some embodiments, as shown in Figures 5-7, the placement space R of the underwater robot 4 is set close to the hatch 103, and the underwater robot 4 can be an underwater robot ROV or an underwater robot AUV. An electric reel 5 is provided on one side of the placement space R, and the electric reel 5 is configured to store the umbilical cable of the underwater robot 4.

[0056] For example, the electric reel 5 can adopt a traditional structure, and the electric reel 5 can have a control module, which can be remotely controlled and used in conjunction with an underwater robot (ROV). For example, the electric reel 5 is mainly composed of a motor, gears, a gear wheel, mechanical components, etc., and has the advantages of small size, light weight, easy operation, excellent performance, and stable operation.

[0057] For example, an underwater vehicle (ROV) is a remotely controlled underwater machine, also known as an underwater drone or underwater robot. ROVs are designed for deep-sea resource exploration and operations, as well as for marine scientific surveys and the construction of seabed observation networks. ROVs can be equipped with a variety of equipment, including underwater cameras, underwater lighting, pan / tilt heads, sonar, depth gauges, altimeters, compasses, manipulators, and control systems. ROVs offer advantages such as high operational capabilities, unlimited operating time without energy constraints, no risk to personnel, and the ability to perform complex and arduous tasks on the seabed for extended periods, making them a key piece of equipment for underwater operations, particularly deep-sea operations.

[0058] For example, in some embodiments, as shown in Figures 6 and 7, a gravity center adjustment device 11 is provided within the hull 1 to facilitate deep-water navigation. For example, in some examples, the gravity center adjustment device 11 includes a cavity and an adjustment mechanism for adjusting the size of the cavity, such as a piston. By changing the size of the cavity by the piston, the displacement volume is changed, thereby changing the buoyancy provided, thereby assisting the device in surfacing and diving, and assisting the device in deep-water navigation.

[0059] For example, in some embodiments, as shown in FIG1 , an antenna 9 is provided on the cabin 1. The antenna 9 is used for the unmanned submersible to interact with a remote control center for data, video transmission, and control command transmission through wireless communication technology (4G / 5G / radio frequency, etc.); and is used to transmit the data of the underwater robot ROV (acoustic, optical, magnetic, motion parameters, etc.) to the remote control center, thereby realizing long-distance unmanned control of the unmanned submersible.

[0060] For example, in some embodiments, as shown in Figures 6 and 7, an anchor windlass 8 is provided in the cabin 1. The anchor windlass 8 has the function of automatically retracting and releasing the cable, which can meet the need for the device to anchor after reaching a designated target point, allowing the device to remain in the designated area for a long time. The embodiments of the present disclosure do not limit the specific structure of the anchor windlass 8, and reference may be made to related technologies.

[0061] For example, in some embodiments, the outer shell 101 is a bionic shell, which has good concealment and can also be used as a tourist landmark building.

[0062] For example, in some embodiments, as shown in Figures 6 and 7, a control cabin 6 and a generator 7 are located within the cabin 1. The generator 7 converts fuel into electricity for the UUV, thereby increasing the device's endurance and enabling operations at more remote locations. The control cabin 6 houses a controller, which can, for example, control the movement of the position adjustment structure 3. The control cabin serves as the control brain of the underwater vehicle. The UUV's automated control circuits and software code can be stored within the control cabin 6, enabling remote control of the UUV.

[0063] For example, Figure 8 shows a schematic diagram of the structure of the floating body of an unmanned underwater vehicle; Figure 9 is a schematic cross-sectional view of the floating body in Figure 8 along the AA direction. As shown in Figures 8 and 9, a battery 10 is disposed within the floating body 2. The battery 10 can be connected to at least the propeller 21 to provide power to the propeller 21 and other components.

[0064] At least one embodiment of the present disclosure also provides an operating method for an unmanned underwater vehicle. Referring to the above embodiment, the unmanned underwater vehicle includes a cabin, a float and a position adjustment structure; the cabin includes an outer shell and a placement space located inside the outer shell, and the placement space is configured to accommodate an underwater robot; the float is arranged on the outside of the cabin; the position adjustment structure connects the float and the cabin, and is configured to adjust the position of the float along the height direction to facilitate the diving or floating of the cabin; the operating method includes: controlling the position adjustment structure to adjust the float to drive the cabin to dive below the water surface, and drive the underwater robot in the cabin to be deployed / recovered under the water surface; adjusting the float through the position adjustment structure to drive the cabin to float above the water surface, and drive the cabin to sail on the water surface.

[0065] For example, when the underwater robot needs to be deployed / recovered, the position adjustment structure is controlled to adjust the float to drive the cabin to dive below the water surface, and drive the underwater robot in the cabin to be deployed / recovered under the water surface; when the deployment / recovery of the underwater robot is completed, the position adjustment structure is used to adjust the float to drive the cabin to float above the water surface, and drive the cabin to sail on the water surface.

[0066] For more specific structures of the unmanned underwater vehicle, please refer to the above embodiments and will not be repeated here.

[0067] Therefore, in the operating method provided in the embodiment of the present disclosure, an unmanned underwater vehicle is combined with an underwater robot. By providing a float and a position adjustment structure on the unmanned underwater vehicle, the cabin can be controlled to rise and dive to facilitate the deployment / recovery of the underwater robot. When deployment is required, the position adjustment structure is controlled to adjust the height of the float upward, the cabin dives, and the underwater robot is deployed underwater. This process skips the traditional deployment / recovery hoisting process, and the deployment / recovery process does not require other hoisting equipment. In addition, underwater deployment and recovery can place the unmanned underwater vehicle and the underwater robot in a substantially identical underwater environment, such as at a substantially identical vibration frequency and substantially identical undulation height, thereby fundamentally solving the problem of shaking during deployment and recovery caused by harsh marine environments, avoiding the impact of wind and waves on the underwater robot during deployment and recovery on the sea surface, and avoiding the problems of difficulty in deployment of the underwater robot in traditional technologies, collision with the cabin due to shaking during deployment / recovery, difficulty in accurate deployment, and difficulty in recovery. This effectively avoids the impact of wind and waves on deployment / recovery, and effectively achieves stable and accurate deployment / recovery. When the deployment is completed, the position adjustment structure can be controlled to adjust the height of the float downward, so that the cabin can float up and the cabin can sail on the water surface for a long time.

[0068] In the description of the present invention, it should be noted that, unless otherwise specified, the term "plurality" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "head," "tail," etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific direction, be constructed, or operate in a specific direction, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0069] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention depending on the specific circumstances.

[0070] Throughout this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "an example" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0071] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. An unmanned underwater vehicle, comprising: A cabin, comprising an outer shell and a placement space located within the outer shell, wherein the placement space is configured to accommodate an underwater robot; A floating body is arranged outside the cabin; and A position adjustment structure, connecting the floating body and the cabin, configured to adjust the position of the floating body in the height direction so as to achieve the diving or floating of the cabin; The unmanned submersible is configured to control the position adjustment structure to adjust the float to drive the cabin to dive below the water surface, and drive the underwater robot in the cabin to deploy / recover under the water surface; and adjust the float through the position adjustment structure to drive the cabin to float above the water surface, and drive the cabin to sail on the water surface.

2. The unmanned underwater vehicle according to claim 1, wherein: The position adjustment structure comprises: drive device, and The connecting rod mechanism is connected to the driving device and the floating body, and is configured to drive the connecting rod mechanism to move through the driving device to adjust the position of the floating body along the height direction.

3. The unmanned underwater vehicle according to claim 2, wherein: A bracket is arranged in the cabin, the driving device and the connecting rod mechanism are connected to the bracket, and the connecting rod mechanism passes through the outer shell and is connected to the floating body.

4. The unmanned underwater vehicle according to claim 3, wherein: The connecting rod mechanism includes a main connecting rod, a first hinged rod and a second hinged rod. The two ends of the main connecting rod are respectively hinged to the floating body and one end of the first hinged rod. The other end of the first hinged rod is hinged to the driving device. One end of the second hinged rod is hinged to the main connecting rod, and the other end is hinged to the bracket.

5. The unmanned underwater vehicle according to claim 4, wherein: The driving device is a linear driving device.

6. The unmanned underwater vehicle according to any one of claims 2 to 5, wherein: There are two floating bodies, and the two floating bodies are symmetrically arranged on both sides of the cabin, and each of the floating bodies is connected to the cabin through more than two connecting rod mechanisms.

7. The unmanned underwater vehicle according to claim 6, wherein: Each of the connecting rod mechanisms is connected to a driving device; The driving device is a linear screw motor, an electric push rod or a hydraulic driving device.

8. The unmanned underwater vehicle according to any one of claims 1 to 7, wherein: The floating body is an internal hollow structure, or the interior of the floating body is filled with foam material.

9. The unmanned underwater vehicle according to any one of claims 1 to 8, wherein: A propeller propeller is arranged on the floating body.

10. The unmanned underwater vehicle according to claim 9, wherein: A battery is disposed in the buoyancy body, and the battery is configured to supply power to at least the propeller thruster.

11. The unmanned underwater vehicle according to any one of claims 1 to 10, wherein: The outer shell includes an exit port connected to the placement space. An electric wire reel is provided on one side of the placement space. The electric wire reel is configured to store the umbilical cable of the underwater robot.

12. The unmanned underwater vehicle according to any one of claims 1 to 11, wherein: A control cabin and a generator are arranged in the cabin. The generator is configured to convert fuel oil into electrical energy, A controller is arranged in the control cabin.

13. The multifunctional autonomous unmanned underwater vehicle according to any one of claims 1 to 12, wherein: An anchor windlass is arranged in the cabin, and the anchor windlass is configured to realize anchoring operation.

14. The unmanned underwater vehicle according to any one of claims 1 to 13, wherein: A gravity and buoyancy center adjusting device is arranged in the cabin.

15. The unmanned underwater vehicle according to any one of claims 1 to 14, wherein: The cabin is provided with an antenna for data exchange.

16. The unmanned underwater vehicle according to any one of claims 1 to 15, wherein: The outer shell is a bionic shell.

17. A method for operating an unmanned underwater vehicle, wherein: The unmanned underwater vehicle comprises: A cabin, comprising an outer shell and a placement space located within the outer shell, wherein the placement space is configured to accommodate an underwater robot; A floating body is arranged outside the cabin; and A position adjustment structure, connecting the floating body and the cabin, configured to adjust the position of the floating body in the height direction so as to achieve the diving or floating of the cabin; The operation method comprises: Controlling the position adjustment structure to adjust the float to drive the cabin to dive below the water surface, and driving the underwater robot in the cabin to be deployed / recovered under the water surface; and The floating body is adjusted by the position adjustment structure to drive the cabin to float above the water surface. And drive the cabin to sail on the water surface.

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