CN117719658A - Range extender for unmanned underwater vehicle - Google Patents
Range extender for unmanned underwater vehicle Download PDFInfo
- Publication number
- CN117719658A CN117719658A CN202311425006.9A CN202311425006A CN117719658A CN 117719658 A CN117719658 A CN 117719658A CN 202311425006 A CN202311425006 A CN 202311425006A CN 117719658 A CN117719658 A CN 117719658A
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- carrying
- unmanned underwater
- underwater vehicle
- range extender
- box
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- 239000004606 Fillers/Extenders Substances 0.000 title claims abstract description 78
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 36
- 238000002347 injection Methods 0.000 claims description 18
- 239000007924 injection Substances 0.000 claims description 18
- 230000008602 contraction Effects 0.000 claims description 6
- 238000007667 floating Methods 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 2
- 239000013535 sea water Substances 0.000 description 5
- 239000000243 solution Substances 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 239000002699 waste material Substances 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 208000028752 abnormal posture Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of unmanned underwater vehicles, and provides a range extender of an unmanned underwater vehicle, which comprises: the device comprises a bow structure, a carrying structure and a stern structure, wherein the bow structure, the carrying structure and the stern structure are sequentially connected; the carrying structure comprises a plurality of carrying boxes, the carrying boxes can be connected in a side-by-side mode or in a head-to-tail mode sequentially, and each carrying box is used for carrying an unmanned underwater vehicle so as to release the unmanned underwater vehicle when the range extender reaches the vicinity of a designated position. According to the range extender for the unmanned underwater vehicle, the carrying structure is arranged to be the plurality of carrying boxes, the plurality of carrying boxes are connected in the clamping mode, and corresponding carrying boxes can be selected for splicing according to the types and the number of the unmanned underwater vehicles to be carried, so that the range extender can carry the plurality of unmanned underwater vehicles to the vicinity of the designated position at one time, and the carrying capacity and the carrying efficiency of the range extender are improved.
Description
Technical Field
The invention relates to the technical field of unmanned underwater vehicles, in particular to a range extender of an unmanned underwater vehicle.
Background
The unmanned underwater vehicle is an underwater robot with unmanned control, self-contained energy, autonomous navigation and control, automatic power pushing and autonomous operation, and can be widely applied to various aspects such as reconnaissance monitoring, information collection, tracking, early warning, communication relay, underwater attack and the like.
The microminiature unmanned underwater vehicle is usually small in size, and the installed energy is limited, so that the endurance capacity of the microminiature unmanned underwater vehicle is limited. In order to prolong the working time as much as possible, the microminiature unmanned underwater vehicle is carried to the vicinity of the working position by personnel, and then put into the sea to perform work, and the unmanned underwater vehicle is put into the sea by manpower, so that great waste of manpower resources is caused.
Disclosure of Invention
The invention provides a range extender for an unmanned underwater vehicle, which is used for solving the defect that the unmanned underwater vehicle in the prior art needs to rely on manpower for throwing, so that the manpower resource is wasted.
The invention provides a range extender for an unmanned underwater vehicle, which comprises: the device comprises a bow structure, a carrying structure and a stern structure, wherein the bow structure, the carrying structure and the stern structure are sequentially connected; the carrying structure comprises a plurality of carrying boxes, the carrying boxes can be connected in a side-by-side mode or in a head-to-tail mode sequentially, and each carrying box is used for carrying an unmanned underwater vehicle so as to release the unmanned underwater vehicle when the range extender reaches the vicinity of a designated position.
According to the range extender for the unmanned underwater vehicle, provided by the invention, the number of the carrying structures is multiple, and the carrying structures are sequentially clamped head and tail; wherein, every the carrying structure a plurality of carrying case side by side joint.
According to the range extender of the unmanned underwater vehicle, each carrying box comprises a box body, and first clamping structures matched with each other are arranged at two ends of each box body so that a plurality of box bodies are connected end to end in sequence; the surface of the box body is provided with a second clamping structure matched with the box body, so that a plurality of box bodies are clamped side by side.
According to the range extender for the unmanned underwater vehicle, provided by the invention, the first box door and the second box door are arranged on the two opposite surfaces of the box body, and the first box door and the second box door can be opened or closed so as to release or bear the unmanned underwater vehicle.
According to the range extender for the unmanned underwater vehicle, the first box door and the second box door are telescopic pieces, a pair of sliding ways are respectively arranged on two opposite surfaces of the carrying box, the first end of each telescopic piece is connected with the box body, and the second end of each telescopic piece can slide along the pair of sliding ways; each telescopic member is provided with a switchable expansion state and a contraction state, the second end of each telescopic member is abutted with the box body under the condition that the telescopic member is in the expansion state so as to bear the unmanned underwater vehicle, and the second end of each telescopic member is separated from the box body under the condition that the telescopic member is in the contraction state so as to release the unmanned underwater vehicle.
According to the range extender for the unmanned underwater vehicle, each carrying box further comprises a plurality of pairs of electromagnets, each pair of electromagnets is respectively arranged at the second end of one telescopic piece and the box body, and magnetic repulsion force is arranged between each pair of electromagnets, so that the telescopic piece is in the contracted state.
According to the range extender of the unmanned underwater vehicle, the range extender further comprises a controller, wherein the controller is used for controlling the first box door and/or the second box door to be opened or closed.
The range extender of the unmanned underwater vehicle provided by the invention further comprises a buoyancy body, wherein the buoyancy body is arranged on the carrying structure and is used for providing buoyancy.
According to the range extender of the unmanned underwater vehicle, the bow structure is provided with the first water injection system, the stern structure is provided with the second water injection system, and the first water injection system and the second water injection system are used for adjusting the gravity of the range extender after the unmanned underwater vehicle is released, so that the range extender is prevented from floating out of the water surface or being abnormal in posture.
According to the range extender for the unmanned underwater vehicle provided by the invention, the stern structure comprises: the power module is connected with the carrying structure; and the propeller is connected with the power module.
According to the range extender for the unmanned underwater vehicle, the carrying structure is arranged into the carrying boxes, the carrying boxes are connected in the clamping mode, and the corresponding carrying boxes can be selected to be spliced according to the types and the number of the unmanned underwater vehicles to be carried, so that the range extender can carry the unmanned underwater vehicles to the vicinity of a designated position at one time, manpower is not required to be put in, waste of manpower resources is avoided, meanwhile, the water surface weather condition can be disregarded by adopting an underwater transportation mode, and the carrying capacity and efficiency of the range extender are improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a range extender for an unmanned underwater vehicle provided by the invention;
reference numerals:
10: a bow structure; 20: a carrying case; 21: a telescoping member; 31: a power module; 32: a propeller.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The features of the invention "first", "second" and the like in the description and in the claims may be used for the explicit or implicit inclusion of one or more such features. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
The range extender of the unmanned underwater vehicle of the present invention is described below with reference to fig. 1.
As shown in fig. 1, an embodiment of the present invention provides a range extender for an unmanned underwater vehicle, including: a bow structure 10, a carrying structure and a stern structure. The bow structure 10, the carrying structure and the stern structure are connected in sequence, the carrying structure comprises a plurality of carrying boxes 20, the carrying boxes 20 can be connected in parallel or connected in a head-to-tail mode in sequence, and each carrying box 20 is used for carrying an unmanned underwater vehicle so as to release the unmanned underwater vehicle when the range extender reaches the vicinity of a designated position.
Specifically, the bow structure 10, the carrying structure and the stern structure are sequentially connected to form the range extender, and a navigation system, a control system and a communication system are arranged in the bow structure 10 so that the range extender can navigate according to a set route. The stern structure is internally provided with an energy management system and a motion execution system for providing power for the range extender so that the range extender can navigate in water.
The carrying structure is used for carrying unmanned underwater vehicles, in this embodiment, the carrying structure includes a plurality of carrying cases 20, and carrying cases 20 are equipped with multiple specifications according to the model of the unmanned underwater vehicle to be carried, and when carrying at every time, corresponding carrying cases 20 are selected according to the model and the quantity of the unmanned underwater vehicle to be carried, and the plurality of carrying cases 20 are clamped and then connected with the bow structure 10 and the stern structure, so as to carry the plurality of unmanned underwater vehicles to the vicinity of the designated position.
Further, in the present embodiment, when the size of the carrying case 20 is small, the carrying cases 20 may be clamped side by side, and when the size of the carrying case 20 is large, the carrying cases 20 may be clamped end to end.
According to the range extender for the unmanned underwater vehicle, the carrying structure is arranged to be the plurality of carrying boxes, the plurality of carrying boxes are connected in the clamping mode, and the corresponding carrying boxes can be selected to be spliced according to the types and the number of the unmanned underwater vehicles to be carried, so that the range extender can carry the plurality of unmanned underwater vehicles to the vicinity of a designated position at one time, manpower is not required to be put in, waste of manpower resources is avoided, meanwhile, the water surface weather condition can be disregarded by adopting an underwater transportation mode, and the carrying capacity and the efficiency of the range extender are improved.
Further, in the embodiment of the present invention, the number of carrying structures is plural, and the plurality of carrying structures are connected end to end in sequence, wherein the plurality of carrying boxes 20 of each carrying structure are clamped side by side.
Specifically, in the embodiment shown in fig. 1, the number of carrying structures is one, and when the number of carrying structures is plural, the plurality of carrying structures are sequentially clamped head and tail, and the plurality of carrying structures are flexibly arranged according to the number of unmanned underwater vehicles to be carried just like the carriages of a train. Further, each carrying structure comprises a plurality of carrying boxes 20, and the carrying boxes 20 are clamped side by side, so that the range extender can carry a plurality of unmanned underwater vehicles at a time.
Further, in the embodiment of the present invention, each carrying case 20 includes a case body, and two ends of the case body are provided with a first clamping structure for matching use, so that a plurality of case bodies are connected end to end in sequence. The surface of the box body is provided with a second clamping structure matched with the box body so as to enable the box bodies to be clamped side by side.
Specifically, the box body is a frame structure, two ends of each box body are respectively provided with a first clamping structure matched with the box body, the bow part structure 10 and the stern part structure of the range-extending device are also provided with first clamping structures matched with the box body, for example, if the first clamping structures comprise clamping grooves and clamping hooks, two ends of each box body are respectively provided with the clamping grooves and the clamping hooks, the bow part structure 10 of the range-extending device is provided with the clamping grooves, the stern part structure is provided with the clamping hooks, the clamping hooks of the box body are clamped with the clamping grooves of the bow part structure 10, and the clamping grooves of the box body are clamped with the clamping hooks of the stern part structure; when the number of the boxes is multiple, after the multiple boxes are sequentially clamped, two boxes at two ends are respectively clamped with the bow structure 10 and the stern structure.
Correspondingly, the frame of the box body is also respectively provided with a clamping structure matched with the box body, if the bottom surface of the frame is provided with a clamping groove, one side of the frame is provided with a clamping buckle, and the clamping buckle is clamped with the clamping groove so that a plurality of box bodies are spliced together. In the embodiment shown in fig. 1, 4 boxes are spliced into a carrying structure, and correspondingly, two boxes can be spliced into a carrying structure.
According to the range extender for the unmanned underwater vehicle, the carrying boxes are modularized, so that the corresponding carrying boxes can be selected according to the types and the number of the unmanned underwater vehicles to be carried, and then the carrying boxes are longitudinally overlapped or clamped side by side, so that the range extender can carry a plurality of unmanned underwater vehicles in a single range, and the deployment efficiency of the unmanned underwater vehicles is improved.
In an embodiment of the invention, the two opposite surfaces of the box body are provided with a first box door and a second box door, and the first box door and the second box door can be opened or closed so as to release or bear the unmanned underwater vehicle.
Specifically, when the unmanned underwater vehicle sails according to the set course and depth, the first box door and the second box door are closed, so that the unmanned underwater vehicle is prevented from falling out; and when reaching the vicinity of the designated location, the first door and/or the second door may be controlled to open to release the unmanned underwater vehicle. Specifically, taking the case that the first box door is positioned on the lower surface of the box body and the second box door is positioned on the upper surface of the box body as an example, when the box body is only provided with one layer, the first box door is controlled to be opened so as to throw the unmanned underwater vehicle into water; when the box body is provided with two layers, the first box door of the box body positioned below is controlled to be opened, the unmanned underwater vehicle in the lower box body is automatically thrown into water, and then the second box door of the lower box body and the first box door of the upper box body are opened, so that the unmanned underwater vehicle in the upper box body falls into water after passing through the lower box body.
Further, in the embodiment of the present invention, the first door and the second door are both telescopic members 21, two opposite surfaces of the carrying case 20 are respectively provided with a pair of slides, a first end of each telescopic member 21 is connected with the case body, and a second end of each telescopic member 21 can slide along the pair of slides; wherein, each telescopic member 21 has a switchable expansion state and a contraction state, and when the telescopic member 21 is in the expansion state, the second end of the telescopic member 21 is abutted with the box body so as to bear the unmanned underwater vehicle, and when the telescopic member 21 is in the contraction state, the second end of the telescopic member 21 is separated from the box body so as to release the unmanned underwater vehicle.
Specifically, in the present embodiment, the telescopic member 21 includes a plurality of bending portions, each of which includes a first body portion and a second body portion, which is disposed obliquely to the first body portion, and which is hinged to the first body portion, so that the telescopic member 21 has an expanded state and a contracted state.
Further, each carrying case 20 further includes a plurality of pairs of electromagnets, each pair of electromagnets being disposed at the second end of one of the expansion members 21 and the case, respectively, and having a magnetic repulsive force therebetween, so that the expansion members 21 are in a contracted state.
Specifically, one of the electromagnets of each pair is disposed in the case, the other is disposed at the second end of the telescopic member 21, and the two electromagnets are disposed opposite to each other. Under the condition that the two electromagnets are in power failure, magnetic repulsive force between the two electromagnets disappears, the telescopic piece 21 is in an expanded state, and the second end of the telescopic piece 21 is abutted with the box body so as to accommodate the unmanned underwater vehicle in the box body; when the unmanned underwater vehicle needs to be thrown in, the two electromagnets are electrified, magnetic repulsive force is generated between the two electromagnets, the second end of the telescopic piece 21 slides along the slideway, and the first box door and/or the second box door are/is in an opened state, so that the unmanned underwater vehicle is thrown in water.
Further, in an embodiment of the present invention, the range extender of the unmanned underwater vehicle further includes a controller, and the controller is configured to control the first door and/or the second door to open or close. Specifically, the controller is used for controlling the two pairs of electromagnets to be powered on or powered off so as to control the telescopic piece 21 to stretch and retract.
In an embodiment of the invention, the range extender of the unmanned underwater vehicle further comprises a buoyancy body, wherein the buoyancy body is arranged on the carrying structure and is used for providing buoyancy.
Specifically, when the number of unmanned underwater vehicles carried by the range extender is large, the self weight of the range extender is heavy, and the submerged depth is deep, so that the unmanned underwater vehicle cannot navigate at the set depth, at this time, the buoyancy body can be adapted according to the self weight of the range extender to increase the buoyancy of the range extender, so that the unmanned underwater vehicle can navigate at the set depth.
Further, in the present embodiment, the buoyant body is a member made of various buoyant materials.
According to the range extender for the unmanned underwater vehicle, provided by the embodiment of the invention, the buoyancy of the range extender can be increased when the range extender carries a plurality of unmanned underwater vehicles, so that the range extender can navigate at a set depth, and the unmanned underwater vehicle is thrown at the set depth.
Further, in the embodiment of the present invention, the bow structure 10 is provided with a first water injection system, the stern structure is provided with a second water injection system, and the first water injection system and the second water injection system are used for adjusting the gravity of the range extender after the unmanned underwater vehicle is released, so as to avoid the range extender from floating out of the water surface or having abnormal posture.
Specifically, when the unmanned underwater vehicle is more in carrying, after the unmanned underwater vehicle is released, the dead weight of the range extender is greatly reduced, in order to prevent the range extender from floating out of the water surface, the first water injection system of the bow structure 10 and the second water injection system of the stern structure are started, and seawater enters the bow structure 10 and the stern structure to increase the dead weight of the range extender, so that the gravity and the buoyancy are relatively balanced.
Further, the water injection system comprises a water storage container and a pump, one end of the water storage container can be opened or closed, when water needs to be injected, the one end of the water storage container is opened, seawater automatically enters the water storage container to increase the dead weight of the range extender, and the pump is used for pumping the seawater in the water storage container and discharging the seawater into the sea to adjust the dead weight of the range extender, so that the dead weight and the buoyancy of the range extender are balanced. In the process that the range extender carries the unmanned underwater vehicle to navigate, the water storage container is in a closed state so as to prevent seawater from entering, and the dead weight of the range extender is further increased.
According to the range extender for the unmanned underwater vehicle, provided by the embodiment of the invention, through the arrangement of the first water injection system and the second water injection system, the dead weight of the range extender can be automatically adjusted after the unmanned underwater vehicle is put in, so that the gravity and the buoyancy are relatively balanced, and the range extender returns according to a set route.
As shown in fig. 1, in an embodiment of the present invention, a stern structure includes: a power module 31 and a propeller 32. The power module 31 is connected with the carrying structure, and the propeller 32 is connected with the power module 31.
Specifically, an energy pipeline system, a motion execution system and a second water injection system are arranged in the power module 31, and the power execution system and the propeller 32 work cooperatively to drive the range extender to advance or steer.
The range extender for the unmanned underwater vehicle provided by the embodiment of the invention can be used in severe sea conditions, a plurality of unmanned underwater vehicles can be rapidly deployed by a single course, and the unmanned underwater vehicles can be deployed remotely by operators, so that the unmanned underwater vehicle can be remotely and automatically deployed.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A range extender for an unmanned underwater vehicle, comprising: the device comprises a bow structure, a carrying structure and a stern structure, wherein the bow structure, the carrying structure and the stern structure are sequentially connected;
the carrying structure comprises a plurality of carrying boxes, the carrying boxes can be connected in a side-by-side mode or in a head-to-tail mode sequentially, and each carrying box is used for carrying an unmanned underwater vehicle so as to release the unmanned underwater vehicle when the range extender reaches the vicinity of a designated position.
2. The range extender of the unmanned underwater vehicle of claim 1, wherein the number of the carrying structures is plural, and the plurality of carrying structures are sequentially clamped head to tail;
wherein, every the carrying structure a plurality of carrying case side by side joint.
3. The range extender of the unmanned underwater vehicle according to claim 1, wherein each carrying case comprises a case body, and first clamping structures matched with each other are arranged at two ends of the case body so as to enable a plurality of case bodies to be connected end to end in sequence;
the surface of the box body is provided with a second clamping structure matched with the box body, so that a plurality of box bodies are clamped side by side.
4. A range extender for an unmanned underwater vehicle as claimed in claim 3 wherein the opposite surfaces of the housing are provided with a first door and a second door which can be opened or closed to release or carry the unmanned underwater vehicle.
5. The range extender of the unmanned underwater vehicle of claim 4, wherein the first box door and the second box door are telescopic members, a pair of sliding ways are respectively arranged on two opposite surfaces of the carrying box, a first end of each telescopic member is connected with the box body, and a second end of each telescopic member can slide along the pair of sliding ways;
each telescopic member is provided with a switchable expansion state and a contraction state, the second end of each telescopic member is abutted with the box body under the condition that the telescopic member is in the expansion state so as to bear the unmanned underwater vehicle, and the second end of each telescopic member is separated from the box body under the condition that the telescopic member is in the contraction state so as to release the unmanned underwater vehicle.
6. The unmanned underwater vehicle range extender of claim 5, wherein each of the carrier boxes further comprises a plurality of pairs of electromagnets, each pair of electromagnets being disposed at the second end of one of the telescoping members and the box body, respectively, with a magnetic repulsion force between each pair of electromagnets to place the telescoping members in the contracted state.
7. The range extender of claim 4, further comprising a controller for controlling the first and/or second doors to open or close.
8. The unmanned underwater vehicle range extender of claim 1, further comprising a buoyancy body disposed in the carrier structure, the buoyancy body for providing buoyancy.
9. The range extender of claim 1, wherein the bow structure is provided with a first water injection system and the stern structure is provided with a second water injection system, the first water injection system and the second water injection system being configured to adjust the weight of the range extender after release of the unmanned underwater vehicle to avoid the range extender from floating out of the water or having an abnormal attitude.
10. The range extender device for an unmanned underwater vehicle of claim 1, wherein the stern structure comprises:
the power module is connected with the carrying structure;
and the propeller is connected with the power module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311425006.9A CN117719658A (en) | 2023-10-30 | 2023-10-30 | Range extender for unmanned underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311425006.9A CN117719658A (en) | 2023-10-30 | 2023-10-30 | Range extender for unmanned underwater vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117719658A true CN117719658A (en) | 2024-03-19 |
Family
ID=90205980
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311425006.9A Pending CN117719658A (en) | 2023-10-30 | 2023-10-30 | Range extender for unmanned underwater vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117719658A (en) |
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2023
- 2023-10-30 CN CN202311425006.9A patent/CN117719658A/en active Pending
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