AUV Manipulator Retraction and Propeller Layout for Stable Hovering
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Solution Overview
Problem
Conventional operation type autonomous underwater vehicles (AUVs) face challenges with high energy consumption, limited operation range, and stability issues under complex sea conditions due to their complex structure and hydrodynamic resistance, particularly when operating with manipulators.
Innovation Solution
The AUV design features a manipulator lifting device in the middle section with retractable manipulators, a unique propeller configuration including horizontal and vertical channel propellers, and a counterweight module to stabilize the vehicle, enhancing stability and reducing resistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the manipulator is mounted outside the AUV body close to the bow, then the manipulator can be easily accessed and operated, but the hydrodynamic resistance increases significantly and energy consumption increases
Solution Approach 1:
The manipulator is nested within the AUV body during cruising, retracting into the hollow structure to maintain streamlined form and reduce hydrodynamic resistance. During operation, it can be extended outward through openings in the body, allowing easy access while minimizing resistance during non-operational phases.
Solution Approach 2:
The manipulator mounting system is made dynamic rather than fixed, allowing it to transition between retracted and extended positions. This dynamic configuration enables the manipulator to be positioned optimally during different operational phases - retracted during cruising to reduce drag, and extended during manipulation tasks for accessibility.
2Adaptability or versatility
If the manipulator structure is made complex to achieve five functions with four degrees of freedom, then the manipulator capability is improved, but the overall resistance increases and cruising speed becomes difficult to increase
Solution Approach 1:
The complex manipulator structure with four degrees of freedom and five functions is nested within the AUV body during cruising, preventing it from increasing hydrodynamic resistance. The manipulator's complexity is concealed during non-operational phases, allowing the AUV to maintain streamlined form and achieve higher cruising speeds.
Solution Approach 2:
The manipulator system is segmented into multiple independent joints (two rotative joints and two pendulum joints), allowing each segment to be optimized for specific functions while the overall structure remains compact and retractable, minimizing its impact on hydrodynamic resistance during cruising.
3Stability of the object's composition
If the AUV hovers stably under complex sea conditions, then the stability is improved, but the resistance increases and energy saving is compromised
Solution Approach 1:
A counterweight module is introduced to balance the AUV's center of gravity, enabling stable hovering without requiring continuous energy input from the propulsion system. The counterweight compensates for gravitational and hydrodynamic forces, allowing the AUV to maintain position with minimal energy consumption even under complex sea conditions.
Solution Approach 2:
The AUV employs passive stability mechanisms that automatically adjust to sea conditions without requiring active control input. The counterweight system and hull design work together to provide self-correcting stability, reducing the need for energy-intensive active stabilization systems.
4Use of energy by moving object
If the shell thickness in vertical face is made smaller than in horizontal face, then the energy saving and resistance reduction is improved, but the structural strength and pressure resistance may be compromised
Solution Approach 1:
The shell structure employs local quality variation, with different thicknesses in different orientations - thinner in vertical faces to reduce drag and energy consumption, and thicker in horizontal faces to maintain structural strength and pressure resistance. This anisotropic shell design optimizes the balance between hydrodynamic efficiency and mechanical integrity.
Solution Approach 2:
The pressure-resistant control cabin shell uses composite material construction with multiple layers (column shell, ribs, upper and lower shell plates, and pressure reduction layer) that provide enhanced strength-to-weight ratio, allowing thinner vertical sections for drag reduction while maintaining overall pressure resistance through strategic material distribution and composite structure.
Data Source
AI summary
The present disclosure relates to the technical field of autonomous underwater vehicles, in particular to an unmanned cable-free operation type autonomous underwater vehicle. The unmanned cable-free operation type autonomous underwater vehicle includes a bow, a middle and a stern, each of the bow, the middle and the stern is of a hollow structure, the middle is provided with a manipulator lifting device and a cabin door opening and closing mechanism, the bow is provided with a first horizontal channel propeller and a first vertical channel propeller, and the stern is provided with two second vertical channel propellers and four main propellers. High-speed cruising of the unmanned cable-free operation type autonomous underwater vehicle can be achieved, and stable and precise hovering needed by the operation of the unmanned cable-free operation type autonomous underwater vehicle can also be achieved.