CN118144966A - Underwater submarine vehicle capable of being separated from main and sub vehicles and control method - Google Patents
Underwater submarine vehicle capable of being separated from main and sub vehicles and control method Download PDFInfo
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- 238000003032 molecular docking Methods 0.000 claims description 44
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- 210000000078 claw Anatomy 0.000 claims description 26
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- 239000000835 fiber Substances 0.000 claims description 7
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Abstract
The invention discloses a submarine submersible vehicle capable of being separated from a mother machine and a child machine and a control method thereof, belonging to the technical field of submarine submersible vehicles, wherein the submarine submersible vehicle comprises a mother machine and a child machine which can be combined to form a complete torpedo type submarine vehicle body structure, the mother machine is provided with a mother machine propeller, and the child machine is provided with a child machine propeller; the bow of the sub-machine is provided with a camera, a sonar and an illuminating lamp; an optical fiber release mechanism wound with a first optical fiber is arranged on the inner side of the bow of the main machine, the head end of the first optical fiber wound is connected with a main machine controller in the main machine, a free terminal machine controller wound by the first optical fiber is connected, and a sub machine controller is connected with a camera and a sonar; an optical fiber winch is arranged in the main machine, and a second optical fiber which can be connected with the ground station is wound on the optical fiber winch. The main machine and the sub machine form a complete torpedo type submarine body structure when being combined, so that the streamline structure of the submarine body after being combined is ensured, and the navigation resistance after being combined is reduced.
Description
Technical Field
The invention belongs to the technical field of underwater submarines, and particularly relates to an underwater submarines capable of being separated from a parent and a child and a control method.
Background
The unmanned underwater vehicle is used as a high-integration product, and needs each system to cooperate to complete the whole operation flow, so that the unmanned underwater vehicle is widely applied to the fields of mineral resource exploration, marine organism investigation, ship sinking search and rescue and the like.
The sub-mother separated underwater vehicle comprises a main machine and a sub machine, when the sub machine is separated from the main machine, the remote detection can be carried out, and the sea area with complex narrow topography can be detected, so that the operation radius of the underwater vehicle is enlarged, and the detection operation precision is effectively improved.
However, the existing primary-secondary separation type underwater vehicle has some problems: the main machine usually adopts a flat aircraft structure, and the auxiliary machine is embedded into the main machine body through a fixing mechanism. When the main machine and the auxiliary machine are combined, the arrangement of the auxiliary machine can damage the surface integrity of the main machine, and the navigation resistance of the underwater vehicle is increased. When the host computer independently navigates, the docking space of the carrying sub-computer is reserved, so that the overall structure of the host computer is not streamline, hydrodynamic resistance can be increased, and the range and cruising ability are affected.
Therefore, it is necessary to design a novel primary-secondary separation type underwater vehicle to solve the problem of poor resistance performance in the prior art.
Based on the problems, the underwater vehicle capable of being separated from a mother machine and a son machine and the control method thereof are provided, a complete torpedo type underwater vehicle body structure is formed when the mother machine and the son machine are combined, the streamline structure of the underwater vehicle after the combination is ensured, the total resistance of the son machine and the mother machine is smaller than the sum of the total resistance of the son machine and the mother machine when the son machine and the mother machine are independently sailed, the son machine is still the torpedo type vehicle body structure, and good hydrodynamic performance can be ensured when the son machine and the mother machine are independently operated.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a submarine craft capable of being separated from a mother and a son and a control method.
In order to achieve the above purpose, the invention adopts the following technical scheme:
The underwater vehicle capable of being separated from the mother and the son comprises a mother machine and a son machine which can be combined to form a complete torpedo type vehicle body structure, wherein a mother machine propeller is arranged on the mother machine, and a son machine propeller is arranged on the son machine;
the body of the son machine is of a torpedo type submarine body structure;
The bow of the sub-machine is provided with a camera, a sonar and an illuminating lamp;
an optical fiber release mechanism wound with a first optical fiber is arranged on the inner side of the bow of the main machine, the head end of the first optical fiber wound is connected with a main machine controller in the main machine, the free end of the first optical fiber wound is connected with a sub machine controller in the sub machine, and the sub machine controller is connected with a camera and a sonar;
a side-scan sonar is arranged on the outer side wall of the main machine and connected with a main machine controller;
The inside of master is provided with the optical fiber winch, the winding has the second optic fibre that can be connected with ground station on the optical fiber winch, second optic fibre winding's head end links to each other with the master controller.
Preferably, the optical fiber releasing mechanism comprises a releasing disc in running fit with the master, and the first optical fiber is wound on the releasing disc.
Preferably, the optical fiber winch comprises a winch motor fixedly arranged on the main machine body, a wire spool is fixedly arranged at the output end of the winch motor, and the second optical fiber is wound on the wire spool.
Preferably, a butting device is arranged between the master machine and the slave machine;
the docking device comprises a master docking assembly fixedly arranged on the master and a slave docking assembly fixedly arranged on the slave;
The main machine butt joint assembly comprises a first butt joint sleeve, and the first butt joint sleeve is fixedly connected with the inner side wall of the main machine through a main machine connecting piece; the inner end of the inner side wall of the first butt joint sleeve is provided with an annular step protruding inwards;
The sub-machine docking assembly comprises a second docking sleeve which can be inserted into the first docking sleeve, and the second docking sleeve is fixedly connected with the inner side wall of the sub-machine through a sub-machine connecting piece; the end part of the second butt joint sleeve is provided with a clamping claw part, the clamping claw part comprises a plurality of clamping claws which are uniformly arranged along the circumferential direction, and the radial outer end of the clamping claw far away from the second butt joint sleeve is provided with a clamping protrusion which is used for being matched with the annular step;
and a locking component used for pressing all the clamping protrusions on the annular step is arranged in the second butt joint sleeve.
Preferably, the master machine connecting piece is of a circular plate-shaped structure;
The first butt joint sleeve is coaxially and fixedly connected with the main machine connecting piece through a first flange piece;
The radial outer end of the main machine connecting piece is fixedly provided with a first connecting plate which is used for being connected with the inner side wall of the main machine.
Preferably, the sub-machine connecting piece is of a circular plate-shaped structure;
the second butt joint sleeve is coaxially and fixedly connected with the sub-machine connecting piece through a second flange piece;
the radial outer end of the son machine connecting piece is fixedly provided with a second connecting plate which is used for being connected with the inner side wall of the son machine.
Preferably, the inner side surface of the first butt joint sleeve is sequentially provided with a first main machine connecting surface, an annular step, a second main machine connecting surface and a third main machine connecting surface from the first flange plate outwards along the axial direction;
the first master machine connecting surface is of a cylindrical surface structure;
the third main machine connecting surface is of a round table surface structure, and the small end of the third main machine connecting surface is connected with the second main machine connecting surface.
Preferably, the locking assembly comprises a locking hydraulic cylinder fixedly arranged in the second butt joint sleeve, a locking block is fixedly arranged at the end part of a piston rod of the locking hydraulic cylinder, and the locking block and the claw part are coaxially arranged;
The locking block comprises a round platform part and a cylindrical part which are coaxially arranged, and the cylindrical part is far away from the sub-machine connecting piece;
The inner radial end of the claw far away from the second butt joint sleeve is inwards convex to form an outwards-expanding part;
When the claw parts are in a natural state, the diameter of the cylindrical surface tangent to the radial outer ends of all the clamping protrusions is larger than the diameter of the joint of the second main machine connecting surface and the annular step;
when the clamping convex is clamped on the annular step, the diameter of the cylindrical surface tangent to the radial inner ends of all the flaring parts is consistent with the diameter of the cylindrical part.
Preferably, when the clamping convex is clamped on the annular step, the clamping convex is in a round table surface structure towards the end face I of the annular step, and the small end of the end face I is close to the sub-machine connecting piece.
The invention also provides a control method of the underwater vehicle capable of separating the primary and secondary.
A control method of a submarine navigator capable of separating a main underwater vehicle from a sub underwater vehicle comprises the following steps:
Step 1: the main machine and the sub machine keep a combined state to form an underwater vehicle, and the free end of the second optical fiber is connected with the ground station;
Step 2: the ground station gives a navigation command, the master machine and the slave machine navigate to a preset operation area by means of a master machine propeller in a combined state, and meanwhile, the optical fiber winch is matched with the second optical fiber;
Step 3: after reaching a preset operation area, the side-scan sonar on the master machine scans the environment of the working area and transmits scanning information to the ground station through a second optical fiber;
step 4: when the side-scan sonar detects a target, the ground station controls the son machine to be separated from the mother machine, then the mother machine enters a hovering state, the son machine heading towards the target under the action of the son machine propeller, and in the process that the son machine is separated from the mother machine to navigate, the first optical fiber is released in a matching way;
step 5: after the son machine reaches a target, a camera and a sonar on the son machine acquire target environment parameters, and acquired information is transmitted to a mother machine controller through a first optical fiber and then transmitted to a ground station through a second optical fiber;
step 6: after the detection of the son machine is finished, the son machine sails to the mother machine under the action of the son machine propeller to realize the combination so as to wait for the next detection operation.
The beneficial effects of the invention are as follows:
(1) According to the invention, a complete torpedo type submarine body structure is formed when the main machine and the auxiliary machine are combined, so that the streamline structure of the submarine after the combination is ensured, the total resistance of the auxiliary machine and the main machine is smaller than the sum of the total resistance of the auxiliary machine and the main machine when the auxiliary machine and the main machine are independently sailed, and the auxiliary machine is still of the torpedo type submarine body structure, and good hydrodynamic performance can be ensured when the auxiliary machine and the main machine are independently operated;
(2) The invention adopts a primary-secondary separation design, ensures the rapid detection of a large-scale sea area during the combination, can realize the detection operation of a key target area after the secondary machine is separated, and can cooperatively work with the primary machine and the secondary machine, and a proper combination detection or split detection mode can be selected according to the actual environment and the operation requirement, thereby improving the working efficiency;
(3) According to the invention, the master machine and the slave machines are connected through the first optical fiber, and the second optical fiber which can be connected with the ground station is arranged on the master machine, so that the interactive transmission rate and stability of information are greatly improved;
(4) The semen cassiae has strong mobility and can effectively adapt to complex terrains.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.
FIG. 1 is a schematic view of the structure of the underwater vehicle assembly of the present invention with the capability of being separated from the main and sub assembly;
FIG. 2 is a schematic diagram of the structure of the submersible vehicle of the invention when separated from each other;
FIG. 3 is a schematic view of a docking mechanism according to the present invention;
FIG. 4 is a schematic diagram of the cooperation of the sub-machine docking assembly and the parent machine docking assembly after docking;
FIG. 5 is an enlarged view of a portion of FIG. 4A;
FIG. 6 is a schematic illustration of the engagement of the sub-machine docking assembly of the present invention to be disengaged from the parent machine docking assembly;
FIG. 7 is a schematic view of the construction of a second docking sleeve in accordance with the present invention;
FIG. 8 is a schematic view of the construction of the first docking sleeve of the present invention;
FIG. 9 is a schematic diagram of the connection of the second docking sleeve to the sub-machine connection in accordance with the present invention;
FIG. 10 is a schematic illustration of the connection of the first docking sleeve to the female connector in accordance with the present invention;
FIG. 11 is a schematic diagram of a child and parent machine when docked or undocked by a docking device;
FIG. 12 is a schematic view of the operation of the submersible vehicle of the present invention with the capability of being separated from the main and sub;
Wherein:
01-mother machine, 011-side scan sonar, 02-son machine, 021-camera, 022-sonar, 023-lighting lamp, 03-first optical fiber, 031-optical fiber through hole, 04-optical fiber release mechanism, 05-second optical fiber and 06-optical fiber winch;
1-a master butt joint assembly, 11-a first butt joint sleeve, 111-a first flange piece, 112-a first master connecting surface, 113-a second master connecting surface, 114-a third master connecting surface, 12-a master connecting piece, 121-a first connecting plate and 13-an annular step;
The device comprises a 2-submachine butt joint assembly, a 21-second butt joint sleeve, a 211-second flange piece, a 22-submachine connecting piece, a 221-second connecting plate, a 23-clamping claw part, a 231-clamping claw, a 232-clamping protrusion, 2321-an end face I and a 233-flaring part;
3-locking assembly, 31-locking hydraulic cylinder, 32-locking block, 321-round platform portion, 322-cylinder portion.
Detailed Description
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
In the present invention, the terms such as "upper", "lower", "bottom", "top", and the like refer to the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are merely relational terms used for convenience in describing the structural relationships of the various components or elements of the present invention, and are not meant to designate any one component or element of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "connected," "connected," and the like are to be construed broadly and mean either fixedly connected or integrally connected or detachably connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in the present invention can be determined according to circumstances by a person skilled in the relevant art or the art, and is not to be construed as limiting the present invention.
The invention will be further described with reference to the drawings and examples.
Example 1:
As shown in fig. 1-2, an underwater vehicle capable of being separated from a mother machine and a child machine comprises a mother machine 01 and a child machine 02 which can be combined to form a complete torpedo type vehicle body structure, so that a streamline structure of the combined vehicle is ensured, a mother machine propeller is arranged on the mother machine 01, a child machine propeller is arranged on the child machine 02, the mother machine propeller and the child machine propeller can be realized by adopting the prior art, the specific structure of the mother machine propeller and the child machine propeller is not shown in the drawing;
the body of the sub-aircraft 02 is of a torpedo type submarine body structure, and good hydrodynamic performance can be ensured during independent operation;
a camera 021, a sonar 022 and an illuminating lamp 023 are arranged at the bow of the sub-machine 02;
an optical fiber release mechanism 04 wound with a first optical fiber 03 is arranged on the inner side of the bow of the main machine 01, the winding head end of the first optical fiber 03 is connected with a main machine controller in the main machine 01, the winding free end of the first optical fiber 03 is connected with a sub machine controller in the sub machine 02, and the sub machine controller is connected with a camera 021 and a sonar 022;
A side-scan sonar 011 is arranged on the outer side wall of the mother machine 01, and the side-scan sonar 011 is connected with a mother machine controller;
The inside of the master 01 is provided with an optical fiber winch 06, a second optical fiber 05 which can be connected with a ground station is wound on the optical fiber winch 06, and the winding head end of the second optical fiber 05 is connected with a master controller. According to the application, when the free end of the second optical fiber 05 passes through the mother machine 01 and is connected with the ground station, the cable control of the ground station on the underwater vehicle can be realized, and when the free end of the second optical fiber 05 is not connected with the ground station, the autonomous navigation of the underwater vehicle can be realized. Specifically, the master controller is also connected to the fiber winch 06 to control the release and recovery of the second optical fiber 05.
Preferably, the optical fiber releasing mechanism 04 includes a releasing disc in a rotating fit with the host 01, and the first optical fiber 03 is wound on the releasing disc.
Preferably, the optical fiber winch 06 comprises a winch motor fixedly arranged on the main machine 01 body, a wire spool is fixedly arranged at the output end of the winch motor, and the second optical fiber 05 is wound on the wire spool. Specifically, the master controller is connected with a winch motor.
Preferably, a docking device is arranged between the master machine 01 and the slave machine 02; specifically, a butt joint device is arranged between the bow part of the main machine 01 and the stern part of the sub machine 02;
The docking device comprises a master docking assembly 1 fixedly arranged on a master 01 and a slave docking assembly 2 fixedly arranged on a slave 02;
As shown in fig. 4 and 6, the master docking assembly 1 includes a first docking sleeve 11, and the first docking sleeve 11 is fixedly connected with the inner side wall of the master 01 through a master connecting piece 12; as shown in fig. 8, an inner end of the inner side wall of the first butt joint sleeve 11 is provided with an annular step 13 protruding inwards;
As shown in fig. 4 and 6, the sub-machine docking assembly 2 includes a second docking sleeve 21 capable of being inserted into the first docking sleeve 11, wherein the second docking sleeve 21 penetrates out of the stern of the sub-machine 02, and the second docking sleeve 21 is fixedly connected with the inner side wall of the sub-machine 02 through a sub-machine connecting piece 22; as shown in fig. 7, the end of the second butt joint 21 is provided with a claw portion 23, the claw portion 23 includes a plurality of claws 231 uniformly arranged along the circumferential direction, and the radially outer end of the claw 231 away from the second butt joint 21 is provided with a claw 232 for matching with the annular step 13;
a locking assembly 3 is arranged in the second butt joint 21 for pressing all the snap lugs 232 against the annular step 13.
Preferably, as shown in fig. 10, the master connector 12 has a circular plate structure;
The first butt joint sleeve 11 is coaxially and fixedly connected with the main machine connecting piece 12 through a first flange piece 111;
the radially outer end of the main machine connecting piece 12 is fixedly provided with a first connecting plate 121 for connecting with the inner side wall of the main machine 01. Wherein the female connector 12 is provided with an optical fiber through hole 031 through which the first optical fiber 03 passes.
Preferably, as shown in fig. 9, the sub-machine connecting piece 22 has a circular plate structure;
the second butt joint sleeve 21 is coaxially and fixedly connected with the sub-machine connecting piece 22 through a second flange piece 211;
The radial outer end of the sub-machine connecting piece 22 is fixedly provided with a second connecting plate 221 for connecting with the inner side wall of the sub-machine 02.
Preferably, as shown in fig. 8, the inner side surface of the first butt joint 11 is sequentially provided with a first female machine connecting surface 112, an annular step 13, a second female machine connecting surface 113 and a third female machine connecting surface 114 from the first flange 111 to the outside along the axial direction;
the first master connecting surface 112 is in a cylindrical surface structure;
The third master connection surface 114 has a truncated cone structure, and a small end of the third master connection surface 114 is connected with the second master connection surface 113.
In the application, the truncated cone structure of the third female machine connecting surface 114 is arranged to enable the first butt joint sleeve 11 to form a tapered insertion hole, so that the second butt joint sleeve 21 is convenient to insert into the first butt joint sleeve 11.
The second master connecting surface 113 may have a cylindrical surface structure or a truncated cone surface structure.
Preferably, as shown in fig. 7, the locking assembly 3 includes a locking hydraulic cylinder 31 fixedly disposed inside the second docking sleeve 21, a locking block 32 is fixedly disposed at the end of a piston rod of the locking hydraulic cylinder 31, and the locking block 32 is disposed coaxially with the click portion 23;
the locking block 32 comprises a round platform portion 321 and a cylindrical portion 322 which are coaxially arranged, and the cylindrical portion 322 is far away from the sub-machine connecting piece 22;
The radially inner end of the claw 231 far from the second butt joint sleeve 21 is internally convex to form an outward-expanding part 233;
when the clamping claw parts 23 are in a natural state, the diameter of the cylindrical surface tangent to the radial outer ends of all the clamping protrusions 232 is larger than the diameter of the joint of the second female machine connecting surface 113 and the annular step 13;
when the engaging projections 232 engage the annular step 13, the diameter of the cylindrical surface tangential to the radially inner ends of all the flared portions 233 corresponds to the diameter of the cylindrical portion 322.
Preferably, as shown in fig. 5, when the locking protrusion 232 is locked on the annular step 13, an end surface 2321 of the locking protrusion 232 facing the annular step 13 has a truncated cone structure, and a small end of the end surface 2321 is close to the sub-machine connector 22.
When the sub-machine 02 drives the sub-machine docking assembly 2 to be separated from the first docking sleeve 11 outwards, the round table surface structure of the end surface 2321 is arranged, so that the clamping protrusion 232 is separated from the annular step 13 outwards.
Specifically, the locking cylinder 31 is provided with a pressure sensor for monitoring the pressure in the locking cylinder 31.
The method for combining the sub-machine 02 and the main machine 01 into a connector comprises the following steps:
Under the action of the son machine propeller, the second docking sleeve 21 is inserted into the first docking sleeve 11, during the insertion process, the end part of the clamping claw part 23 where the clamping protrusion 232 is located is compressed inwards, when the clamping protrusion 232 reaches the annular step 13, the clamping protrusion 232 releases the clamping to the annular step 13 radially outwards, then the locking hydraulic cylinder 31 controls the locking block 32 to retract inwards from the outer side of the clamping claw part 23 until the outer wall of the cylindrical part 322 of the locking block 32 is pressed on the flaring part 233, so that the clamping protrusion 232 is clamped on the annular step 13, and the son machine 02 and the mother machine 01 are mechanically locked, as shown in fig. 4.
In the application, when the locking between the sub-machine 02 and the main machine 01 is released, the locking hydraulic cylinder 31 controls the cylindrical part 322 to extend outwards from the state of pressing the outer expanding part 233, as shown in fig. 6, the compression relation of the cylindrical part 322 to the clamping convex 232 is released, then the sub-machine 02 pulls the sub-machine butting assembly 2 outwards under the action of the sub-machine propeller, the end part where the clamping convex 232 on the claw 231 is positioned is contracted inwards to be separated from the annular step 13, then the sub-machine butting assembly 2 is separated from the main machine butting assembly 1, and the locking relation between the sub-machine 02 and the main machine 01 is further released.
The butt joint device provided by the application can realize quick and accurate butt joint between the son machine 02 and the mother machine 01 through the integral structure arrangement, and is simple in structure and convenient to operate.
Example 2:
The control method of the underwater vehicle capable of separating the main and sub in embodiment 1, as shown in fig. 12, comprises the following steps:
Step 1: the main machine 01 and the auxiliary machine 02 keep a combined state to form an underwater submarine, and the free end of the second optical fiber 05 is connected with a ground station;
Step 2: the ground station gives a navigation command, the master machine 01 and the slave machine 02 navigate to a preset operation area by means of a master machine propeller in a combined state, and simultaneously the optical fiber winch 06 cooperates to release the second optical fiber 05;
Step 3: after reaching a preset working area, the side scan sonar 011 on the host 01 scans the environment of the working area and transmits scanning information to a ground station through a second optical fiber 05;
Step 4: when the side-scan sonar 011 detects a target, the ground station controls the son machine 02 to separate from the mother machine 01, then the mother machine 01 enters a hovering state, the son machine 02 heading towards the target under the action of the son machine propeller, and the first optical fiber 03 is matched and released in the process that the son machine 02 separates from the mother machine 01 to navigate;
Step 5: after the son machine 02 reaches a target, a camera 021 and a sonar 022 on the son machine 02 acquire target environment parameters, and acquired information is transmitted to a mother machine controller through a first optical fiber 03 and then transmitted to a ground station through a second optical fiber 05;
step 6: after the detection of the slave machine 02 is finished, the slave machine can navigate to the master machine 01 under the action of the slave machine propeller to realize the combination so as to wait for the next detection operation.
According to the invention, a complete torpedo type submarine body structure is formed when the main machine 01 and the auxiliary machine 02 are combined, so that a streamline structure of the submarine after the combination is ensured, the total resistance of the auxiliary machine 02 and the main machine 01 is smaller than the sum of the total resistance of the auxiliary machine 02 and the main machine 01 when the auxiliary machine 01 are combined for navigation, the auxiliary machine 02 is still the torpedo type submarine body structure, and good hydrodynamic performance can be ensured when the auxiliary machine 02 and the main machine 01 are independently used for navigation.
The invention adopts a primary-secondary separation design, ensures the rapid detection of a large-scale sea area during the combination, can realize the detection operation of a key target area after the secondary machine 02 is separated, and the secondary machine 02 and the primary machine 01 work cooperatively, can select a proper combination detection or split detection mode according to the actual environment and operation requirements, and improves the working efficiency; the master machine 01 and the slave machine 02 are connected through the first optical fiber 03, and the second optical fiber 05 which can be connected with the ground station is arranged on the master machine 01, so that the interactive transmission rate and the stability of information are greatly improved; the sub-machine 02 has strong maneuverability and can be effectively adapted to complex terrains.
While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (10)
1. The underwater submarine vehicle capable of being separated from a mother and a child is characterized by comprising a mother machine and a child machine which can be combined to form a complete torpedo type submarine vehicle body structure, wherein a mother machine propeller is arranged on the mother machine, and a child machine propeller is arranged on the child machine;
the body of the son machine is of a torpedo type submarine body structure;
The bow of the sub-machine is provided with a camera, a sonar and an illuminating lamp;
An optical fiber release mechanism wound with a first optical fiber is arranged on the inner side of the bow of the main machine, the head end of the first optical fiber winding is connected with a main machine controller in the main machine, a sub machine controller in a free terminal machine wound with the first optical fiber is connected, and the sub machine controller is connected with a camera and a sonar;
a side-scan sonar is arranged on the outer side wall of the main machine and connected with a main machine controller;
The inside of master is provided with the optical fiber winch, the winding has the second optic fibre that can be connected with ground station on the optical fiber winch, second optic fibre winding's head end links to each other with the master controller.
2. The submersible vehicle of claim 1, wherein the fiber release mechanism comprises a release disc in rotational engagement with the base unit, the first fiber being wound around the release disc.
3. The underwater vehicle capable of being separated from the mother and child according to claim 1, wherein the optical fiber winch comprises a winch motor fixedly arranged on the main machine body, a wire spool is fixedly arranged at an output end of the winch motor, and the second optical fiber is wound on the wire spool.
4. The underwater vehicle capable of being separated from the mother and child according to claim 1, wherein a docking device is arranged between the mother machine and the child machine;
the docking device comprises a master docking assembly fixedly arranged on the master and a slave docking assembly fixedly arranged on the slave;
The main machine butt joint assembly comprises a first butt joint sleeve, and the first butt joint sleeve is fixedly connected with the inner side wall of the main machine through a main machine connecting piece; the inner end of the inner side wall of the first butt joint sleeve is provided with an annular step protruding inwards;
The sub-machine docking assembly comprises a second docking sleeve which can be inserted into the first docking sleeve, and the second docking sleeve is fixedly connected with the inner side wall of the sub-machine through a sub-machine connecting piece; the end part of the second butt joint sleeve is provided with a clamping claw part, the clamping claw part comprises a plurality of clamping claws which are uniformly arranged along the circumferential direction, and the radial outer end of the clamping claw far away from the second butt joint sleeve is provided with a clamping protrusion which is used for being matched with the annular step;
and a locking component used for pressing all the clamping protrusions on the annular step is arranged in the second butt joint sleeve.
5. The underwater vehicle capable of being separated from the mother and child according to claim 4, wherein the mother-child connector is of a circular plate-shaped structure;
The first butt joint sleeve is coaxially and fixedly connected with the main machine connecting piece through a first flange piece;
The radial outer end of the main machine connecting piece is fixedly provided with a first connecting plate which is used for being connected with the inner side wall of the main machine.
6. The underwater vehicle capable of being separated from the main and sub units as claimed in claim 4, wherein the sub-machine connecting piece is of a circular plate-shaped structure;
the second butt joint sleeve is coaxially and fixedly connected with the sub-machine connecting piece through a second flange piece;
the radial outer end of the son machine connecting piece is fixedly provided with a second connecting plate which is used for being connected with the inner side wall of the son machine.
7. The underwater vehicle capable of separating the main and sub units as claimed in claim 4, wherein the inner side surface of the first butt joint sleeve is sequentially provided with a first main machine connecting surface, an annular step, a second main machine connecting surface and a third main machine connecting surface from the first flange plate outwards along the axial direction;
the first master machine connecting surface is of a cylindrical surface structure;
the third main machine connecting surface is of a round table surface structure, and the small end of the third main machine connecting surface is connected with the second main machine connecting surface.
8. The underwater vehicle capable of being separated from the main body and the auxiliary body as claimed in claim 4, wherein the locking assembly comprises a locking hydraulic cylinder fixedly arranged in the second butt joint sleeve, a locking block is fixedly arranged at the end part of a piston rod of the locking hydraulic cylinder, and the locking block is coaxially arranged with the claw part;
The locking block comprises a round platform part and a cylindrical part which are coaxially arranged, and the cylindrical part is far away from the sub-machine connecting piece;
The inner radial end of the claw far away from the second butt joint sleeve is inwards convex to form an outwards-expanding part;
When the claw parts are in a natural state, the diameter of the cylindrical surface tangent to the radial outer ends of all the clamping protrusions is larger than the diameter of the joint of the second main machine connecting surface and the annular step;
when the clamping convex is clamped on the annular step, the diameter of the cylindrical surface tangent to the radial inner ends of all the flaring parts is consistent with the diameter of the cylindrical part.
9. The underwater vehicle capable of being separated from the mother and son as claimed in claim 4, wherein when the clamping convex is clamped on the annular step, the clamping convex is in a truncated cone surface structure towards the end face I of the annular step, and the small end of the end face I is close to the son-machine connecting piece.
10. The control method of the underwater vehicle capable of being separated from the mother and son according to any one of claims 1 to 9, comprising the steps of:
Step 1: the main machine and the sub machine keep a combined state to form an underwater vehicle, and the free end of the second optical fiber is connected with the ground station;
Step 2: the ground station gives a navigation command, the master machine and the slave machine navigate to a preset operation area by means of a master machine propeller in a combined state, and meanwhile, the optical fiber winch is matched with the second optical fiber;
Step 3: after reaching a preset operation area, the side-scan sonar on the master machine scans the environment of the working area and transmits scanning information to the ground station through a second optical fiber;
step 4: when the side-scan sonar detects a target, the ground station controls the son machine to be separated from the mother machine, then the mother machine enters a hovering state, the son machine heading towards the target under the action of the son machine propeller, and in the process that the son machine is separated from the mother machine to navigate, the first optical fiber is released in a matching way;
step 5: after the son machine reaches a target, a camera and a sonar on the son machine acquire target environment parameters, and acquired information is transmitted to a mother machine controller through a first optical fiber and then transmitted to a ground station through a second optical fiber;
step 6: after the detection of the son machine is finished, the son machine sails to the mother machine under the action of the son machine propeller to realize the combination so as to wait for the next detection operation.
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