CN118182788A - Underwater unmanned underwater vehicle for detection and hidden fusion large-scale expansion - Google Patents

Abstract

The invention discloses a large-scale telescopic underwater unmanned submersible vehicle for detection and hidden fusion, which comprises a plurality of cabin sections and cables for connecting two adjacent cabin sections, wherein each cabin section carries a navigation power mechanism, the cabin sections at least comprise a central cabin section, an end cabin section and a plurality of middle cabin sections, a control center is arranged in the central cabin section, the middle cabin section and the end cabin sections are both provided with cable winding and unwinding mechanisms for controlling the winding and unwinding of the cables between the adjacent cabin sections, the cables are flexible cables, and communication cables are arranged in the cables for information transmission and exchange between the adjacent cabin sections or between the central cabin section and the rest cabin sections; the end tank section is provided with a chain anchor mechanism for anchoring the entire submersible vehicle to the sea floor. The invention realizes large-scale detection and small-scale stealth through the expansion and the cabin section pose transformation. The invention can be used for carrying the towed line array sonar, has wider detection range, better stealth effect and relatively low cost.

Description

Underwater unmanned underwater vehicle for detection and hidden fusion large-scale expansion

Technical Field

The invention belongs to the field of underwater detection, relates to underwater detection equipment, and particularly relates to an underwater unmanned underwater vehicle for detection and hidden fusion large-scale extension.

Background

The exploration and hidden fusion is a cross subject for researching the interrelation, change rule, operation mode, data support and integral optimization between comprehensive stealth and underwater exploration and sensing of the submarine under the multi-element coupling constraint of platform overall resources, system coordination, attack and defense countermeasure, marine environment and the like in the development and use process of the naval vessel.

Large scale detection is an important content of marine research, such as low frequency underwater sound detection, vortex detection, etc., all of which require platform scale requirements of hundreds to thousands of meters. The mode commonly adopted at present is mainly a towing line array, and large-scale signal detection is realized through the arrangement of a water surface or underwater platform. However, the towing line array depends on a water surface or underwater platform which is expensive, and 1 line array can only be used for 1 to 2 lines, so that the long-term detection in a large range is high in cost. The adoption of unmanned underwater vehicle to realize towing line array is an emerging technical direction at present, but the single unmanned underwater vehicle platform is smaller at present, and the defense arrangement requirement of the scale above hundred meters is difficult to realize.

The prior art CN112357020A discloses an unmanned submersible vehicle formation and control method based on an underwater train, which comprises a line guiding unmanned submersible vehicle, a plurality of working unmanned submersible vehicles, a cable winding and unwinding device and a connector, wherein the cable winding and unwinding device comprises a towing cable, a towing cable fixing mechanism and a winding and unwinding winch, the line guiding unmanned submersible vehicle is connected with a mother boat through the towing cable, the plurality of working unmanned submersible vehicles and the line guiding unmanned submersible vehicle are respectively connected with each other through the connector, the winding and unwinding winch is arranged in the mother boat, and the towing cable is wound and unwound on the winding and unwinding winch. The invention realizes intensive underwater remote efficient delivery, recovery and operation control of large-scale medium-and-small-sized unmanned underwater vehicle, and effectively improves the use efficiency of the unmanned underwater vehicle in the process of remote carrying. The technology has the advantages that the towing cable is released by means of the mother boat, the underwater monitoring is realized by utilizing the mother boat retraction winch, in addition, when the underwater operation is performed, all unmanned underwater vehicles are connected or scattered through the connector, only cluster detection can be performed during the scattering, large-scale detection of a linear array cannot be formed, if large-scale linear arrangement is forcefully performed, the underwater vehicles are extremely easy to lose control, small-scale hiding cannot be performed due to the fact that other mother boats are required, and therefore the large-scale detection and the small-scale hiding cannot be realized through multi-form transformation.

Disclosure of Invention

The invention aims to provide a technology aspect of a large-scale telescopic underwater unmanned submersible vehicle for detection and hidden fusion based on low cost and large-scale requirements of current ocean exploration, and no related research and report are found at home and abroad at present. The invention realizes large-scale detection and small-scale stealth through the expansion and the cabin section pose transformation. The large-scale detection is realized by connecting all parts of unmanned submarine vehicle cabin sections through cables; the small-scale stealth is realized by winding and unwinding cables through a power reel in the cabin section. The invention mainly comprises four parts of a middle cabin section, an end cabin section, a central cabin section and a cable. The middle cabin section is mainly responsible for expanding the length of a cable, the end cabin section is mainly responsible for anchoring the end, the central cabin section is mainly responsible for navigation control and information processing of the unmanned underwater vehicle, and the cable is responsible for underwater detection and data transmission between cabin sections.

In order to solve the technical problems, the invention adopts the following technical scheme:

an underwater unmanned underwater vehicle for detecting and hiding fusion large-scale extension comprises

The plurality of cabin sections at least comprise a central cabin section, end cabin sections and a plurality of middle cabin sections;

the navigation power mechanism is arranged on each cabin section and drives each cabin section to independently move;

the control center is arranged in the central cabin section and used for controlling the movement of each cabin section and the information acquisition and processing;

The anchor chain mechanism is arranged at the end cabin section and can anchor the whole underwater unmanned submersible vehicle at the sea floor;

the cable is used for connecting adjacent cabin sections and transmitting information between the adjacent cabin sections; and

The cable winding and unwinding mechanism is used for driving the winding and unwinding of cables between adjacent cabin sections;

Each cabin section is driven to independently move underwater through a navigation power mechanism, the relative pose and the distance between a plurality of cabin sections are changed through the combination of a cable winding and unwinding mechanism and cable winding and unwinding, so that the underwater unmanned underwater vehicle is in an unfolded large-scale working form or a small-scale stealth form, and the scale transformation range of the underwater unmanned underwater vehicle can be realized through changing the number of the cabin sections.

The space between a plurality of cabin sections is increased (when the whole cabin is hundreds of meters or thousands of meters) by the cooperation of the navigation power mechanism and the cable retraction mechanism, and the towing line array sonar or other underwater detection equipment can be carried to perform underwater detection when the cabin sections are in a large-scale working form of a designed posture; when the interval between the cabin sections is smaller (the whole cabin section is within hundred meters or smaller), the cabin sections are in a stealth state, and reverse detection and discovery can be avoided.

According to the invention, through the retraction of the cable retraction mechanism, the single cabin body can realize 1-10 times of the degree conversion on the length, for example, the underwater unmanned underwater vehicle consisting of 1 central cabin section, 1 end cabin section and 1 middle cabin section, wherein the length of each cabin section is 2.5m, and the whole length of the underwater unmanned underwater vehicle can be changed to realize about 7.5 m to about 75 m of the degree conversion.

Before being put into water, the size scale change can be further adjusted by changing the number of the middle cabin sections, so that the maximum scale adjustment of hundreds of meters to kilometers is realized. After the unmanned underwater vehicle is put into use under water, each cabin section is driven to independently move under water through a navigation power mechanism, and the relative pose and the distance between the cabin sections are changed by the combination of the cable winding and unwinding mechanism and the cable winding and unwinding mechanism, so that the unmanned underwater vehicle can perform large-scale telescopic transformation and pose transformation on the length.

Preferably, the two end cabins are positioned at two ends of the central cabin, and the plurality of middle cabins are respectively positioned between the end cabins and the central cabin.

Preferably, the cable is a flexible cable, and a communication cable for information transmission and exchange between cabin sections is arranged in the cable.

Preferably, the power mechanism comprises a plurality of underwater propellers arranged outside the cabin sections, and each cabin section is controlled to independently move underwater through the underwater propellers.

Preferably, the underwater propeller is arranged on the cabin section through a rotation mechanism, and the recommended direction of the propeller is adjusted through the rotation mechanism, so that underwater omnidirectional propulsion is realized.

Preferably, the underwater propulsion device is provided with two groups of 4 underwater propulsion devices, and the two groups of underwater propulsion devices are circumferentially and uniformly distributed around the cabin section.

Preferably, each cabin section is also internally provided with an energy module, a motion control module and a calculation storage module, wherein the energy module is used for providing energy power, the motion control module is used for controlling a navigation power mechanism, and the calculation storage module is used for calculating and storing control information and acquisition information of each cabin section;

the central cabin section is internally provided with a central control module and a central storage module, the central control module controls the movement and information acquisition of the end cabin section and all middle cabin sections, and the central storage module is used for storing control instructions and acquisition data.

Preferably, each cabin section end is provided with a nine-axis sensor for detecting the pose of the cabin section end.

Preferably, the cable winding and unwinding mechanism comprises two power reels arranged in parallel, the cable is wound on one of the power reels after being fixed on the two power reels, and the end of the cable is connected with the data bus.

Preferably, the energy source module comprises an energy storage module and a power generation module, wherein the power generation module is connected with the underwater propeller and utilizes ocean currents to push the propeller to reversely rotate for power generation.

Preferably, the anchor chain mechanism comprises a fixed anchor, an anchor chain and an anchor chain reel, wherein the fixed anchor is connected with the anchor chain reel through an anchor chain, and the release and the collection of the fixed anchor are realized through the rolling-up of the anchor chain reel.

Compared with the prior art, the invention has the following beneficial effects:

the invention discloses a large-scale telescopic underwater unmanned submersible vehicle for detection and hidden fusion, which can realize large-scale detection and small-scale stealth through telescoping. The large-scale detection is realized by connecting all parts of unmanned submarine vehicle cabin sections through cables; the small-scale stealth is realized by winding and unwinding cables through a power reel in the cabin section. At present, no relevant disclosure report exists at home and abroad.

The invention mainly comprises four parts of a middle cabin section, an end cabin section, a central cabin section and a cable. The middle cabin section is mainly responsible for expanding the length of a cable, the end cabin section is mainly responsible for anchoring the end, the central cabin section is mainly responsible for navigation control and information processing of the unmanned underwater vehicle, and the cable is responsible for underwater detection and data transmission between cabin sections. The middle cabin section consists of 1 reel area, 2 power areas and 2 control areas, the end cabin section is formed by adding 1 anchor chain area at one end on the basis of the middle cabin section, and the central cabin section replaces the coiled plate area with the central control area.

The invention can realize the maximum and minimum scale change by adding and reducing the middle cabin section, and the single cabin section adopts 4 power spirals which are in a cross shape from end to end and can rotate by 90 degrees to realize the forward and backward movement, the upward floating and the downward submerging and the left and right transverse movement.

The invention adopts a micro positive buoyancy design, and controls the floating, the submerging and the hovering in water through the power propellers at the two sides in the horizontal direction. When the power propellers are anchored, the power propellers on two sides in the horizontal direction adjust steering, and the anchor chain is tensioned through slight positive buoyancy, so that charging in an anchored state is realized.

Drawings

Fig. 1 is a schematic diagram of an overall scheme of an extended state of an underwater unmanned submersible vehicle oriented to a detection fusion large-scale extension.

Fig. 2 is a longitudinal section area distribution diagram of an intermediate section according to an embodiment of the present invention.

Fig. 3 is a longitudinal layout of the intermediate deck section according to an embodiment of the present invention.

Figure 4 is a cross-sectional view of an intermediate deck reel area according to an embodiment of the present invention.

Fig. 5 is a cable exit layout of an intermediate bay in an embodiment of the present invention.

Fig. 6 is a longitudinal section area distribution diagram of a central compartment according to an embodiment of the invention.

Fig. 7 is a longitudinal layout of a central section of an embodiment of the present invention.

Fig. 8 is a longitudinal section area profile of an embodiment of the present invention.

Fig. 9 is a longitudinal layout of the end tanks of an embodiment of the invention.

Fig. 10 is a schematic diagram of a state of a middle deck section floating up and sinking down propeller according to an embodiment of the present invention.

Fig. 11 is a schematic view of a forward and backward propeller state of a middle deck according to an embodiment of the present invention.

Fig. 12 is a schematic view of a state of a right-left lateral movement propeller of a middle cabin section according to an embodiment of the present invention.

Fig. 13 is a schematic view of a retraction state of the underwater unmanned submersible vehicle according to the embodiment of the invention.

Fig. 14 is a schematic diagram of a state of charge of the underwater unmanned submersible vehicle according to an embodiment of the present invention.

Fig. 15 is a schematic view of a 5-bay underwater unmanned submersible vehicle.

Fig. 16 is a schematic view of a 9-bay underwater unmanned submersible vehicle.

100-Center bay, 200-middle bay, 210-reel area, 211-power reel;

220-power area, 221-power propeller, 222-battery module, 223-slewing mechanism;

230-control area, 231-motion control module, 232-calculation storage module;

240-pose detection area, 241-nine axis sensor;

250-central control area, 251-central control module, 252-central data storage module;

260-anchor chain region;

300-end deck section, 310-hawser mechanism, 311-anchor, 312-hawser, 313-hawser reel, 314-hawser drive mechanism;

500-cables, 510-data interfaces, 520-data buses, 600-seafloor.

Detailed Description

Embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

The embodiment of the underwater unmanned submersible vehicle facing the detection fusion large-scale telescopic type is described by taking a cable with the diameter of 30mm as an example with reference to the accompanying drawings, but the invention is not limited to the following examples:

As shown in fig. 1, the underwater unmanned submersible vehicle for the exploration and hidden fusion large-scale extension comprises 7 cabin sections and cables for connecting two adjacent cabin sections, wherein each cabin section carries a navigation power mechanism, the 7 cabin sections are divided into three types, namely 1 center cabin section 100, 2 end cabin sections 300 and 4 middle cabin sections 200, a control center is arranged in the center cabin section 100, the middle cabin sections 200 and the end cabin sections 300 are respectively provided with a cable retraction mechanism for controlling cable retraction between the adjacent cabin sections, and the end cabin sections 300 are provided with anchor chain mechanisms 310 for anchoring the whole submersible vehicle on the sea bottom. The 7 cabin sections can be wound and arranged into approximately linear straight lines by winding and unwinding the cables through the cable winding and unwinding mechanism, as shown in fig. 13; the cable is released through the cable releasing mechanism, 7 cabin sections can be sequentially arranged, large-scale distribution is carried out by means of the respective navigation power mechanism, and serpentine distribution can be formed as shown in figure 1; alternatively, after the submersible vehicle is deployed, the anchor chain mechanism 310 of one of the end tanks 300 is released and anchored to the sea floor, so as to form a linear floating distribution, as shown in fig. 14; an overall U-shaped distribution may also be formed. The specific distribution shape is determined according to task requirements. Each cabin section can carry the same or different monitoring equipment to monitor underwater, such as carrying sonar equipment, forming a towed line array sonar, and detecting, positioning and identifying navigation noise of submarines and surface vessels.

Illustratively, as shown in fig. 2, the intermediate deck section 200 of the submarine craft has a total length of about 2500mm, and the hull is a cylindrical shell with a diameter of about 400mm. The interior of the shell of the intermediate deck section 200 is functionally divided into 1 reel area 210, 2 power areas 220, and 2 control areas 230, and each power area 220 is provided with a set of underwater propellers, so that each intermediate deck section 200 can independently move.

As shown in fig. 3, the reel area 210 has two power reels 211, which take up cables in an elliptical ring shape, wherein one power reel 211 is fixed with the cable end, and the cable end is connected with a data bus 520 through a data interface 510 to form a complete data connection, and the data bus 520 is connected to a calculation storage module 232 for data communication and exchange; the power reel 211 is a winding reel carrying a driving force (such as a motor, not shown) and is implemented using the prior art. The 2 power areas 220 are located at two sides of the reel cabin, each power area 220 is provided with 2 battery modules 222 and 4 underwater propellers, in this embodiment, the underwater propellers are power propellers 221, the battery drives the power propellers 221 to rotate to form power during movement, in some embodiments, a power generation module can be further arranged, a shaft of the power propellers 221 is connected to a generator (not shown in the figure) through a clutch or a power distribution mechanism, when the unmanned underwater vehicle is in a non-sailing state, the power propellers 221 are driven by ocean current, and the rotation of the power propellers 221 generates power through the generator and is stored in the battery, so that self-power generation is realized, and the running time of the unmanned underwater vehicle is prolonged. The 2 control areas 230 are positioned at two sides of the power area 220, each control area 230 is provided with 1 motion control module 231 and 1 calculation storage module 232, the motion control module 231 obtains the cable tensioning state and the motion state of the adjacent cabin section through the data bus 520 and is used for controlling the working state of the propeller of the power area 220, the calculation storage module 232 is connected with the motion control module 231 and is responsible for assisting the motion control module 231 to perform the motion calculation, communication signal settlement and other works, and the detection information in the distributed storage cable; all data in the cable is accessed to the data bus 520 through the data interface 510 for communication between adjacent cabins, and the communication is realized by adopting the prior art.

As shown in fig. 4, taking the middle cabin section 200 as an example, each group of underwater propellers adopts a cross-shaped power propeller 221, a power reel 211 is installed in a reel area 210, the diameter of the reel is about 260mm, and the cable with the diameter of 30mm can be stored for not less than 3 circles.

As shown in fig. 5, in some embodiments, a pose detection area 240 is provided on the cabin, and a nine-axis sensor 241 is further provided on the pose detection area, for detecting pose information of each cabin, feeding back and correcting pose information of ocean current disturbance through pose detection, and when the pose of a certain cabin deviates from a preset requirement, starting a corresponding underwater propeller to adjust, so that the form of the underwater unmanned underwater vehicle reaches the preset requirement. The invention also provides a posture correction method, as shown in fig. 13, in which the underwater unmanned underwater vehicle is in an initial state of being retracted, in this state, a world coordinate system is established by taking the center of the central cabin segment 100 as a coordinate origin, the coordinates of each cabin segment are known according to design size parameters of the underwater unmanned underwater vehicle, and then when the state is changed, the movement speed, acceleration, direction and current posture of each cabin segment are recorded in real time through the nine-axis sensor 241, and the coordinate change and posture change of the corresponding cabin segment are calculated in real time; thereby providing basis for the morphological change of the whole underwater unmanned submarine.

The nine-axis sensor 241 does not need to be located at a specific position, and may be provided at least one in each compartment.

As shown in fig. 6, is a central bay 100. With respect to intermediate deck section 200 (fig. 2), reel area 210 becomes central control area 250, which is generally sized to correspond with intermediate deck section 200.

As shown in fig. 7, an interior layout of the central compartment 100 is shown. With respect to the intermediate deck section 200 (fig. 3), other areas, except for the central control area 250, are consistent with the intermediate deck section 200 composition and function. The central control area 250 is provided with a central control module 251 and a central data storage module 252, the central control module 251 comprises a signal processing module, the signal processing module is responsible for processing signals detected in the cable, and the central data storage module 252 is responsible for storing data detected by each cabin section transmitted by the cable. At the same time, the central control module 251 also handles the tasks of the entire unmanned aerial vehicle, planning the route, controlling each bay, and controlling the monitoring devices carried on each bay.

As shown in fig. 8, is an end deck section 300. 1 anchor chain region 260 is added to the intermediate deck section 200 (see fig. 2), and the overall dimensions of the regions other than the anchor chain region 260 are identical to those of the intermediate deck section 200, and the anchor chain region 260 is a cylindrical space with a length of 400mm and a diameter of 200.

As shown in fig. 9, an interior layout of the end capsule 300 is shown. With respect to the intermediate deck section 200 (as shown in fig. 3), the anchor chain region 260 is formed by sequentially connecting an anchor chain reel 313, an anchor chain 312 and an exposed anchor 311, the anchor chain reel 313 is driven to rotate by an anchor chain driving mechanism 314 such as a motor to realize the retraction and the extension of the anchor chain, the total length of the anchor chain 312 is about 1500mm, and the anchor chain mechanism 310 is responsible for realizing underwater anchoring in a charged state.

In some embodiments, as shown in fig. 4, the power screw 221 is installed on the shell of the cabin through a swing mechanism 223, and the angle between the pushing direction of the power screw 221 and the axis of the cabin can be adjusted through the swing mechanism 223, so that the pushing direction is adjusted, and the cabin can move omnidirectionally to adapt to the multi-form change requirement of the underwater complex environment.

As shown in fig. 10, a top view of a state of the propeller with the cabin floating and submerged is shown, and the state of the cabin is a first typical state in which the power propeller 221 is pushed. Wherein, 4 power propellers 221 in the horizontal direction on two sides of the cabin section are rotated by 90 degrees through a slewing mechanism 223, the propulsion direction is vertical to the axis of the cabin section, the cabin section is pushed to submerge or hover during forward rotation, the cabin section is pushed to float during reverse rotation, and at the moment, the propulsion directions of two power propellers 221 on the upper part of the cabin section and two power propellers 221 on the lower part of the cabin section are parallel to the axis of the cabin section, so that forward or backward propulsion can be performed.

As shown in fig. 11, a top view of the state of the propeller with the cabin being advanced and retracted is schematically shown, and the state of the cabin is a second typical state in which the power propeller 221 is advanced. Wherein 2 power propellers 221 in front and back of two sides of the cabin section rotate for 0 degrees, the pushing directions of 8 power propellers 221 are parallel to the axis of the shell of the cabin section, and forward movement is realized when the power propellers 221 rotate in the forward direction, and backward movement is realized when the power propellers rotate in the reverse direction.

As shown in fig. 12, a top view of a state of the propeller with the nacelle horizontally moving from side to side is schematically shown, and the third exemplary state of the propeller 221 is shown in the nacelle in this state. Wherein the 4 power propellers 221 in the vertical direction rotate by 90 degrees, so that the propulsion direction of the four power propellers 221 in the up-down direction is vertical to the axis of the cabin section, and the four power propellers 221 in the up-down direction rotate positively to realize left translation; the four power propellers 221 in the up-down direction reversely rotate to realize rightward translation.

Combining the exemplary states of the three powered propellers 221 shown in fig. 10, 11, 12, more complex motion states may be achieved, including, but not limited to, forward or reverse during ascent or descent, side-to-side translation during forward or reverse, and roll over.

As shown in fig. 13, the 7-bay unmanned submersible vehicle reel is in a state of reeling up the cable. The drawing comprises 1 central cabin section 100, 4 middle cabin sections 200 and 2 end cabin sections 300, the exposed length of cables between the cabin sections is about 500mm, and the total length of the unmanned submarine vehicle in the retracted state is about 20.5 m. The corresponding figure 1 shows the state of the 7-bay unmanned submersible vehicle reel release cable, the total length of the unmanned submersible vehicle in the release state being about 140m.

As shown in fig. 14, a charge state diagram is shown. The anchor chain is embedded into the seabed to be fixed, the anchor chain pulls the unmanned submersible vehicle which floats slightly, the unmanned submersible vehicle power propeller 221 is in a charging state, and the water flow drives the blades to rotate so as to push the generator to charge the battery module 222.

Fig. 15 is a schematic view of a 5-bay unmanned submersible vehicle, and fig. 16 is a schematic view of a 9-bay submersible vehicle. The change in unmanned submersible vehicle dimensions may be achieved by adding or subtracting intermediate deck section 200. The total length of the 5-cabin unmanned submarine cable is about 100m, and the total length of the 9-cabin unmanned submarine cable is about 200m. According to the pushing, the unmanned submersible vehicle with the 1000m scale is adopted as the unmanned submersible vehicle with the 46 cabin sections.

If a 20mm diameter cable is used, the corresponding release length increases. The maximum dimension of the unmanned submarine in the 5 cabin reaches 192m, the maximum dimension of the 7 cabin reaches 284 m, the dimension of the 9 cabin reaches 382m, and the maximum dimension of the 22 cabin reaches 1000 m.

It should be noted that, the cable is a flexible cable, and a communication cable is arranged in the cable, and specifically, a drag chain cable can be adopted. The communication between the cabin sections can be realized by adopting a signal converter or a signal relay module and by adopting other means, so that the signal transmission and exchange of each end cabin section 300, the middle cabin section 200 and the central cabin section 100 can be ensured; the method is realized by adopting the prior art.

The cable releasing and releasing mechanism can be additionally provided with a cable anti-loosening mechanism in the prior art, and the cable is timely wound when the cable is loosened; the position and speed information of the cabin section can be monitored through a nine-axis sensor, and the power reel can be started to reel and pay-off the cable in time according to the position and speed change, so that the cable is kept in a micro-tensioning state.

It should be noted that, each cabin section of the invention needs to be designed with a counterweight, so that the density of each cabin section is slightly lower than the density of seawater, thereby saving energy to the greatest extent; of course, sea water bins can be additionally arranged on each cabin section, the weight of the cabin section is changed in a water filling and draining mode, and unpowered hiding is carried out after the navigation power mechanism floats upwards or is submerged.

The above embodiments are only for illustrating the present invention, and are not limiting of the present invention. While the invention has been described in detail with reference to the embodiments, those skilled in the art will appreciate that various combinations, modifications, and substitutions can be made thereto without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. The utility model provides a unmanned underwater vehicle of large scale telescopic that fuses towards spy, which characterized in that includes

The plurality of cabin sections at least comprise a central cabin section, end cabin sections and a plurality of middle cabin sections;

the navigation power mechanism is arranged on each cabin section and drives each cabin section to independently move;

the control center is arranged in the central cabin section and used for controlling the movement of each cabin section and the information acquisition and processing;

The anchor chain mechanism is arranged at the end cabin section and can anchor the whole underwater unmanned submersible vehicle at the sea floor;

the cable is used for connecting adjacent cabin sections and transmitting information between the adjacent cabin sections; and

The cable winding and unwinding mechanism is used for driving the winding and unwinding of cables between adjacent cabin sections;

Each cabin section is driven to independently move underwater through a navigation power mechanism, the relative pose and the distance between a plurality of cabin sections are changed through the combination of a cable winding and unwinding mechanism and cable winding and unwinding, so that the underwater unmanned underwater vehicle is in an unfolded large-scale working form or a small-scale stealth form, and the scale transformation range of the underwater unmanned underwater vehicle can be realized through changing the number of the cabin sections.

2. The underwater unmanned submersible vehicle of claim 1, wherein: the two end cabins are positioned at two ends of the central cabin, and the plurality of middle cabins are respectively positioned between the end cabins and the central cabin.

3. The underwater unmanned submersible vehicle of claim 2, wherein: the power mechanism comprises a plurality of underwater propellers arranged outside the cabin sections, and each cabin section is controlled to independently move underwater through the underwater propellers.

4. An underwater unmanned submersible vehicle as claimed in claim 3, wherein: the underwater propeller is arranged on the cabin section through the rotating mechanism, and the recommended direction of the propeller is adjusted through the rotating mechanism, so that underwater omnidirectional propulsion is realized.

5. The underwater unmanned submarine according to claim 4, wherein: the cable is a flexible cable, and a communication cable used for information transmission and exchange between cabin sections is arranged in the cable.

6. An underwater unmanned submersible vehicle as claimed in claim 3, wherein: each cabin section is internally provided with an energy module, a motion control module and a calculation storage module, wherein the energy module is used for providing energy power, the motion control module is used for controlling a navigation power mechanism, and the calculation storage module is used for calculating and storing control information and acquisition information of each cabin section;

the central cabin section is internally provided with a central control module and a central storage module, the central control module controls the movement and information acquisition of the end cabin section and all middle cabin sections, and the central storage module is used for storing control instructions and acquisition data.

7. The underwater unmanned submarine according to claim 6, wherein: nine-axis sensors for detecting the pose of each cabin are arranged at the end of each cabin.

8. The underwater unmanned submarine according to claim 6, wherein: the cable winding and unwinding mechanism comprises two power reels which are arranged in parallel, the cable is fixed on one of the power reels and then wound on the two power reels, and the end part of the cable is connected with the data bus.

9. The underwater unmanned submarine according to claim 6, wherein: the energy module comprises an energy storage module and a power generation module, wherein the power generation module is connected with the underwater propeller and utilizes ocean currents to push the propeller to reversely rotate for power generation.

10. The underwater unmanned submarine according to claim 6, wherein: the anchor chain mechanism comprises a fixed anchor, an anchor chain and an anchor chain reel, wherein the fixed anchor is connected with the anchor chain reel through an anchor chain, and the release and the collection of the fixed anchor are realized through the coiling of the anchor chain reel.