Reconfigurable Underwater Vehicle Capable of Far-Distance Cruising and Underwater Interactive Operation

This application is a continuation of international application of PCT application serial no. PCT/CN2024/136287, filed on Dec. 3, 2024, which is based upon and claims priority to Chinese Patent Application No. 202410240510.X, filed on Mar. 4, 2024, the entire contents of which are incorporated herein by reference.

The present disclosure relates to the technical field of underwater vehicles, and in particular to a reconfigurable underwater vehicle capable of far-distance cruising and underwater interactive operation.

With continuous progress of the marine development, the demands for underwater operations such as underwater ore sampling, underwater biological resource sampling, and underwater structure repairs and the like are on gradual increase. The underwater interactive operations are usually carried out by underwater vehicles. The underwater vehicles mainly include autonomous underwater vehicles (AUV) and remotely-operated vehicles (ROV). Although the conventional AUVs can autonomously navigate to carry out far-distance cruising and detection tasks by using sensors aboard, they have no capability to carry out underwater interactive operations. The conventional ROVs have the capability to carry out underwater interactive operations, but in order to have high hydrodynamic stability during operations, they have non-streamlined external appearance, leading to its inability to carry out far-distance cruising. Therefore, the ROVs are usually carried by dedicated surface ships with power positioning function to a designated sea waters for deployment and accompanied during operations while powered from the surface ships, resulting in extremely high costs. The low-cost underwater interactive operation is one of development trends of the future underwater vehicles, which requires, on the one hand, the underwater vehicles to have the far-distance cruising capability to cruise from a shore-based platform to a designated sea waters, and on the other hand, to have high hydrodynamic stability to maintain secure operation poses. In recent years, along with gradual increase of the battery energy density and gradual improvement of the autonomous capability of the underwater vehicles, there appear some trials of performing short-distance light-duty underwater operation tasks using AUV autonomy. In 2021, Kawasaki Heavy Industries successfully developed the world-first SPICE type AUV with a mechanical arm, which can carry out underwater pipe repair task autonomously. However, the SPICE is one whose mechanical arm is simply bound to the bottom side of the AUV, which, on the one hand, increases the cruising resistance which fails it to carry out long-distance cruising, on the other hand, causes it to have unstable pose in underwater interactive operations due to short distance between center of gravity and centre of buoyancy.

Therefore, it is urgent to address the above problems.

The object of the present disclosure: the object of the present disclosure is to provide a reconfigurable underwater vehicle capable of far-distance cruising and underwater interactive operation. With a reconfigurable structure, the underwater vehicle can adapt to double requirements of far-distance underwater cruising and underwater interactive operation at the same time, which solves the problems of the conventional autonomous underwater vehicles (AUVs) only performing detection tasks rather than underwater interactive operations and the problems of the conventional remotely-operated vehicles (ROVs) relying on the supports of those expensive dedicated surface ships with power positioning function.

Technical solution: in order to achieve the above object, the present disclosure provides a reconfigurable underwater vehicle capable of far-distance cruising and underwater interactive operation, which includes an operation compartment, two buoyancy compartments connected with the operation compartment through connection rods and a folding mechanism located within the buoyancy compartments and the connection rods to drive rotation of the connection rods to switch underwater vehicle working modes. The underwater vehicle working modes include an unfolded mode and a folded mode; in the unfolded mode, the two buoyancy compartments are unfolded along a axial direction of the operation compartment to both sides of the operation compartment, and the two buoyancy compartments and the operation compartment are in series-connected state; in the folded state, the two buoyancy compartments are folded above the operation compartment at an included angle, and the two buoyancy compartments are in parallel connected state.

The buoyancy compartments each include a buoyancy compartment housing, a buoyancy compartment housing supporting structure located within the buoyancy compartment housing, a propeller located at a fore or aft side, a propeller driving motor located within the buoyancy compartment housing to drive rotation of the propeller, and two channel thrusters symmetrically disposed on the buoyancy compartment housing along an axial direction; the buoyancy compartment housing supporting structure includes a fore supporting ring, a middle supporting ring and an aft supporting ring sequentially disposed along the buoyancy compartment.

Preferably, the operation compartment includes an operation compartment housing, an operation compartment housing supporting structure located within the operation compartment housing, an aft connection rod locking mechanism located within the operation compartment housing to lock up the connection rod, a mechanical arm connected with the operation compartment housing, a mechanical arm fairing located at a notch beneath the operation compartment housing, a mechanical arm fairing opening-closing mechanism for driving the mechanical arm fairing to open or close, and a power battery located within the operation compartment housing to provide power for the underwater vehicle.

Furthermore, the operation compartment housing supporting structure includes two operation compartment supporting rings symmetrically distributed along an axis of the operation compartment housing and opposite in direction; each operation compartment supporting ring is provided with a fore connection rod mounting seat and an aft connection rod mounting seat.

Furthermore, the aft connection rod locking mechanism includes a locking electric push rod and a locking hook fixed on the aft connection rod mounting seat; one end of the locking hook is shaped like hook, one end of the locking hook is provided with a sliding groove and slidably connected with a mounting shaft on an output shaft of the locking electric push rod, and a middle position of the locking hook is hinged with the aft connection rod mounting seat.

Preferably, the mechanical arm fairing opening-closing mechanism includes a mounting plate located on a cross section of the operation compartment, an opening-closing driving motor on the mounting plate, a worm screw connected with an output shaft of the opening-closing driving motor, a worm gear meshed with the worm screw, a linkage rod fixedly connected with the worm gear, a sliding block sleeved on the linkage rod, a rack disposed on the linkage rod, a pinion penetrated through the sliding block and meshed with the rack, a big gear penetrated through the sliding block and meshed with the pinion, a cam disposed in coaxiality with the big gear, and a mechanical arm fairing support connected with the sliding block and slidable in a slide groove of the cam; a protruding column is disposed on both sides of the sliding block respectively, where an inner column is used for slide within a slide groove of the mounting plate, and an outer column is used as a rotary shaft of the mechanical arm fairing support to connect with the mechanical arm fairing support.

Furthermore, the connection rods include fore connection rods and aft connection rods; each of the fore connection rods includes a fore connection rod body, a fore connection rod proximal shaft, and a fore connection rod distal shaft; each of the aft connection rods includes an aft connection rod body and an aft connection rod proximal shaft; in the unfolded mode, the fore connection rods and the aft connection rods all are parallel to an axis of the underwater vehicle; the fore connection rods connect the operation compartment with two buoyancy compartments at both sides respectively, and the fore connection rods and the aft connection rods are all received in the corresponding buoyancy compartments; in the folded mode, the fore connection rods and the aft connection rods all are perpendicular to the axis of the underwater vehicle, and the fore connection rods and the aft connection rods all connect the operation compartment with the corresponding buoyancy compartments.

Furthermore, the folding mechanism includes a folding driving motor, a rope driving mechanism and a gear driving mechanism; the folding driving motor drives, through the rope driving mechanism and the gear driving mechanism, the fore connection rod proximal shaft, the fore connection rod distal shaft, and the aft connection rod proximal shaft to move.

Preferably, the rope driving mechanism includes a fore gear shaft rope driving mechanism, a fore connection rod distal shaft rope driving mechanism and an aft gear shaft rope driving mechanism,

Furthermore, the gear driving mechanism includes a fore connection rod proximal shaft gear driving mechanism and an aft connection rod proximal shaft gear driving mechanism,

Beneficial effects: compared with the prior arts, the present disclosure has the following obvious advantages: with the reconfigurable structure design method in the present disclosure, the underwater vehicles can adapt to double structural requirements of far-distance underwater cruising and underwater interactive operation at the same time, which solves the problems of the conventional autonomous underwater vehicles (AUVs) only performing detection tasks rather than underwater interactive operations and the problems of the conventional remotely-operated vehicles (ROVs) relying on the supports of those expensive dedicated surface ships with power positioning function, so as to make it possible to perform low-cost far-distance underwater interactive operation tasks with the underwater vehicles.

The numerals of the drawings are described below:

The technical solutions of the present disclosure will be further described in combination with the drawings.

The present disclosure provides a reconfigurable underwater vehicle capable of far-distance cruising and underwater interactive operation, which includes two buoyancy compartments, an operation compartment, connection rods, and a folding mechanism. The two buoyancy compartments are connected with the operation compartment through the connection rods respectively. The underwater vehicle has two working modes, namely, a cruising mode and an operation mode, as shown in. As shown in, the cruising mode is also referred to as unfolded mode in which two buoyancy compartments of the underwater vehicle are unfolded along an axial direction of the operation compartment to both sides of the operation compartment to be in a series-connected state, forming an entire smooth streamlined and slim external contour of the underwater vehicle, and thus having a low cruising resistance and providing a structural condition for far-distance cruising of the underwater vehicle. As shown in, the operation mode is also referred to as folded mode in which two buoyancy compartments of the underwater vehicle are folded above the operation compartment at an included angle to be in a parallel-connected state. Since the operation compartment holds a heavy load while the buoyancy compartments mainly provide buoyancy, a distance between the center of gravity and the center of buoyancy of the entire underwater vehicle is large, providing stable supporting platform for underwater interactive operation of a mechanical arm in the operation compartment. The two modes of the underwater vehicle can be switched by the folding mechanism in the buoyancy compartments and the connection rods.

The underwater vehicle works in the following process: at an initial working stage, the underwater vehicle is in the cruising mode and is deployed by a shore-based platform and cruises to a designated position based on a preset program, and then searches for an operation position using sensors in the underwater vehicle. After reaching the operation position, the underwater vehicle switches to the operation mode, opens a mechanical arm fairing to allow the mechanical arm to extend and perform underwater interactive operation task. After completing the operation, the mechanical arm bends and retracts into the underwater vehicle and the mechanical arm fairing is closed, and then the underwater vehicles restores to the cruising mode and cruises to the shore-based platform based on the preset program for recovery.

The present disclosure includes two buoyancy compartments, each of which includes a buoyancy compartment housing, a buoyancy compartment housing supporting structure, a propeller, a propeller driving motorand a channel thruster. The two buoyancy compartments differ only in that the propellers are mounted in opposite positions: one is at a fore side and the other is at an aft side. The purpose of this disposal is that: (1) when the underwater vehicle is in the unfolded mode, the propeller of one buoyancy compartment is received into the housing contour of the underwater vehicle whereas the propeller of the other buoyancy compartment remains outside the underwater vehicle, so as to ensure the propulsion force of the propeller is along an axial direction of the underwater vehicle; (2) when the underwater vehicle is in the folded mode, the propellers are at the same side of the underwater vehicle, which ensures the symmetry of the propulsion forces of the underwater vehicle within a horizontal plane, avoiding yawing moment.

The buoyancy compartment housinghas streamlined external contour, helping lower the cruising resistance. Further, the buoyancy compartment housingis provided with notches fitting with various connection rods so that when the underwater vehicle is in the unfolded mode, the connection rods are received into the housing contour of the underwater vehicle, avoiding increasing the resistance arising from protrusion structures on the housing of the underwater vehicle. Furthermore, the buoyancy compartment housing is provided with notches fitting with various channel thrusters for mounting the channel thrusters. The buoyancy compartment housing is fixedly connected with a buoyancy compartment housing supporting structure with high strength and rigidity to form a high-strength high-rigidity buoyancy compartment external contour.

The buoyancy compartment housing supporting structure includes a fore supporting ring, a middle supporting ring, and an aft supporting ring. The buoyancy compartment housing supporting structure is fixedly connected with the buoyancy compartment housing, increasing the strength and rigidity of the buoyancy compartment external contour. Further, the buoyancy compartment housing supporting structure also serves as a mounting platform for internal structural members of the buoyancy compartment. A fore connection rod proximal shaft gear driving mechanismand a fore transition wire wheelare mounted on the fore supporting ring. A mounting hole of a folding master driving wire wheel is opened on the middle supporting ring. An aft connection rod proximal shaft gear driving mechanismand an aft transition wire wheelare mounted on the aft supporting ring.

The propelleris a propeller type used for common underwater vehicles, which is sleeved onto and fixedly connected with an output shaft of the propeller driving motor. Driven by the propeller driving motor, the propeller rotates to provide a propulsion force desired by the underwater vehicle. The propeller driving motoris a direct current brushless motor type, whose output shaft is sleeved into and fixedly connected with the propeller, with its shell fixedly connected with the buoyancy compartment housing.

The channel thrusteris a jet pump type. Two channel thrustersare symmetrically disposed along an axial direction of each buoyancy compartment. The axes of the two channel thrusters are parallel to each other and its angle in a plane perpendicular to the axis of the buoyancy compartment should be reasonably set such that when the underwater vehicle is in the folded or unfolded mode, an included angle between the channel thrusters in the two buoyancy compartments is close todegrees, so as to efficiently provide the propulsion force perpendicular to the axial direction of the underwater vehicle, thereby realizing the maneuverability of the underwater vehicle and ensuring its sailing stability.

The operation compartmentincludes an operation compartment housing, an operation compartment housing supporting structure, an aft connection rod locking mechanism, a mechanical arm, a mechanical arm fairing, a mechanical arm fairing opening-closing mechanism, and a power battery. The operation compartment housinghas cylindrical external contour. When the underwater vehicle is in the unfolded mode, the operation compartment is in the middle position of the underwater vehicle, and both ends of the operation compartment housing are respectively connected with two buoyancy compartment housings, such that the underwater vehicle has smooth, streamlined and slim external contour, reducing the cruising resistance of the underwater vehicle. Both ends of the operation compartment housing are cut properly with sufficient reservation space based on the fore shape of the buoyancy compartment housings, such that when the underwater vehicle is in the unfolded mode, the housings of the buoyancy compartments and the housing of the operation compartment can be seamlessly docked while the propellers mounted at the fore sides of the buoyancy compartments can be accommodated. Further, the operation compartment housingis provided with notches fitting with various connection rods so that when the underwater vehicle is in the unfolded mode, the connection rods are received into the housing contour of the underwater vehicle, avoiding increasing the resistance arising from protrusion structures on the housing of the underwater vehicle. A corresponding notch is opened below the mounting position of the mechanical arm on the operation compartment housing such that the mechanical arm can extend out of the operation compartment to perform underwater interactive operation. The operation compartment housing is fixedly connected with the operation compartment housing supporting structure with high strength and rigidity to form a high-strength high-rigidity operation compartment external contour.

The operation compartment housing supporting structureincludes two operation compartment supporting ringssymmetrically distributed along the axis of the operation compartment housing and opposite in direction. Each operation compartment supporting ringis provided with a fore connection rod mounting seatand an aft connection rod mounting seat. A mounting hole is disposed in the fore connection rod mounting seatand is sleeved onto and fixedly connected with a fore connection rod distal shaft; When the fore connection rod distal shaftrotates, the operation compartmentrotates relative to a fore connection rod. The aft connection rod mounting seatis used for positioning and locking of a distal end of an aft connection rod, and is provided with an aft connection rod locking mechanismto lock up the aft connection rod. The fore connection rod mounting seatand the aft connection rod mounting seatare distributed circumferentially at an angle, and this angle determines the included angle of the two buoyancy compartments relative to the operation compartment when the underwater vehicle is in the folded mode. The interval angle of the fore connection rod mounting seatand the aft connection rod mounting seatshould be reasonably set so that the underwater vehicle has good stability when in the folded mode.

The aft connection rod locking mechanismincludes a locking hookand a locking electric push rod. The locking hookis hinged to a mounting shaft in the aft connection rod mounting seaton the operation compartment supporting ring. One end of the locking hook is shaped like hook and the other end is provided with a slide groove slidably connected with a mounting shaft on an output shaft of the locking electric push rod. When the underwater vehicle starts a folding operation, the output shaft of the locking electric push rodis set in a shortest state and at this time, the hook part of the locking hookcorrespondingly rotates and separates from a motion space of the distal end of the aft connection rod, so as to enable the distal end of the aft connection rod to smoothly enter the mounting position. When the underwater vehicle completes the folding operation, the output shaft of the locking electric push rod is set in a longest state and at this time, the hook part of the locking hookrotates reversely and wedges into a wedge-shaped groove of the distal end of the aft connection rod, so as to lock up the distal end of the aft connection rodand ensure the structural ruggedness of the underwater vehicle in the folded mode.

The mechanical armis a waterproof and series-connected mechanical arm with multiple degrees of freedom, with its base fixedly connected with the operation compartment housingand offset to a side of a vertical axial symmetric plane of the operation compartment, which not only fully uses the space in the operation compartment housing but also adjusts the entire center of mass of the mechanical arm to inside the vertical axial symmetrical plane so as to ensure the stability of the underwater vehicle. When the underwater vehicle is in the cruising mode, a joint angle of the mechanical arm is set to enable the mechanical arm to bend and retract into the underwater vehicle. When the underwater vehicle is in the operation mode, the joint angle of the mechanical arm is set to enable the mechanical arm to extend out to place an end effector of the mechanical arm outside the underwater vehicle to fetch an object.

The mechanical arm fairingis mounted at the notch below the mounting position of the mechanical arm on the operation compartment housing and can be in closed or opened state with the cooperation of the mechanical arm fairing opening-closing mechanism. When the underwater vehicle is in the cruising mode, the mechanical arm fairing is in closed state to form a complete smooth contour of the operation compartment with the operation compartment housing, thereby reducing the cruising resistance. When the underwater vehicle is in the operation mode, the mechanical arm fairing is in opened state and covered on an upper position of the operation compartment housing such that the mechanical arm can extend out of the underwater vehicle to perform underwater interactive operation task.

As shown in, the mechanical arm fairing opening-closing mechanismincludes an opening-closing driving motor, a worm-and-gear mechanism, a crank sliding block mechanism, a rack, a gear reduction mechanism, a camand a mechanical arm fairing support. The opening-closing driving motorprovides a driving force for the mechanical arm fairing opening-closing mechanism, with its output shaft sleeved and fixedly connected on a shaft of a worm screwat an input end of the worm-and-gear mechanism. The worm-and-gear mechanismconverts a high-speed rotational motion of the opening-closing driving motorinto a low-speed rotational motion of the worm gearand realizes motion self-locking. A linkage rodof the crank sliding block mechanismis fixedly connected to the worm gearof the worm-and-gear mechanismand rotates along with the worm gear. A sliding blockis sleeved on the linkage rodand is provided with protruding columns at both sides: an inner column is used for slide within a slide groove of the mounting plate, and an outer column is used as a rotary shaft of the mechanical arm fairing support as shown in. When the linkage rodrotates along with the worm gear, the sliding blockon the linkage rodslides together with the linkage rodalong the slide groove on the mounting plate. Since the linkage rodis provided with the rack, a pinionin the gear reduction mechanismmounted on the sliding blockis driven by the rack to rotate to bring the camin coaxiality with the big gearto rotate. An end of the mechanical arm fairing supportslides in the cam, and thus the curved trajectory of the cam can be used to control the rotational angle of the support and further control the pose of the mechanical arm fairing, thereby avoiding physical interference with the operation compartment housing when the mechanical arm fairing is opened.

The power batteryis mounted inside the operation compartment housingto provide power for the operation of the underwater vehicle. The power batterycan not only provide power for electronic devices in the operation compartment but also provide power for electronic devices in the buoyancy compartments through the fore connection rods. In addition, since the battery usually has high density and mass, the mounting of the battery in the operation compartment can increase the height difference of the center of buoyancy and the center of gravity of the underwater vehicle in the operation mode, so as to improve the stability of the underwater vehicle.

The connection rodsinclude fore connection rodsand aft connection rods. When the underwater vehicle is in the cruising mode, the fore connection rodsand the aft connection rodsare all parallel to the axis of the underwater vehicle. The fore connection rodsconnect the operation compartmentwith two buoyancy compartmentsat both sides, and the aft connection rodsare received for disuse, finally forming a series-connected structure of buoyancy compartment-operation compartment-buoyancy compartment. Further, the fore connection rodsand the aft connection rodsare all received into the housing contour of the underwater vehicle, avoiding increasing the cruising resistance arising from protrusion structures on the housing of the underwater vehicle. When the underwater vehicle is in the operation mode, the fore connection rodsand the aft connection rodsare all perpendicular to the axis of the underwater vehicle. At this time, the aft connection rodsare firmly connected with the respective aft connection rod mounting seatsin the operation compartment supporting rings, and the fore connection rodsand the aft connection rodsall connect the operation compartmentwith the buoyancy compartments, finally forming a parallel structure of the buoyancy compartments and the operation compartment.

Each of the fore connection rodsincludes a fore connection rod body, a fore connection rod proximal shaft, and a fore connection rod distal shaft. The fore connection rod bodyis formed by fixedly connecting two symmetrical parts and a groove is disposed in the fore connection rod bodyto facilitate the mounting of a rope driving mechanism in the fore connection rod and allow a wire to run through to realize electric connection of the buoyancy compartment and the operation compartment. Furthermore, the fore connection rodsretain adequate physical volume to improve the strength and rigidity of the fore connection rods. The fore connection rod proximal shaftis sleeved and fixedly connected into a proximal mounting hole of the fore connection rod body and its rotation can bring the fore connection rodand the buoyancy compartmentto synchronously rotate relative to each other. The fore connection rod distal shaftis sleeved into a distal mounting hole of the fore connection rod bodyand can rotate freely relative to the distal mounting hole. The fore connection rod distal shaftis sleeved and fixedly connected with a mounting hole in the fore connection rod mounting seaton the operation compartment supporting ring. When the fore connection rod distal shaftrotates, the fore connection rodand the operation compartmentsynchronously rotate relative to each other.

Each of the aft connection rodsincludes an aft connection rod bodyand an aft connection rod proximal shaft. The aft connection rod bodyis a solid structure which has strong supporting capability to realize firm connection of the buoyancyand the operation compartment. A wedge-shaped groove is disposed at a distal end of the aft connection rod body. When the underwater vehicle is in the operation mode, the distal end of the aft connection rod is inserted into the aft connection rod mounting seat of the operation compartment supporting ring for positioning and at the same time, the locking hook of the aft connection rod locking mechanism is wedged in for lockup. The aft connection rod proximal shaftis sleeved and fixedly connected into a proximal mounting hole of the aft connection rod body and its rotation can bring the aft connection rod and the buoyancy compartment to synchronously rotate relative to each other.

The folding mechanismincludes a folding driving motor, a rope driving mechanismand a gear driving mechanism. The object of disposing the above transmission mechanism is to drive three rotational shafts to move by simply using one folding driving motor, that is, drive the fore connection rod proximal shaft, the fore connection rod distal shaft and the aft connection rod proximal shaft to move, which can effectively reduce the number of the driving motors and increase the reliability of the system. The housing of the folding driving motoris fixedly connected to the middle supporting ringof the buoyancy compartment housing supporting structure, and its output shaft is sleeved into and fixedly connected with the folding master driving wire wheelin the rope driving mechanismfor use as power input of the folding mechanism.

The rope driving mechanismof the folding mechanismincludes a fore gear shaft rope driving mechanism, a fore connection rod distal shaft rope driving mechanism, and an aft gear shaft rope driving mechanism, as shown in.

The fore gear shaft rope driving mechanismincludes a folding master driving wire wheel, a fore transition wire wheel, a fore gear shaft wire wheel, and a fore gear shaft driving rope. There are two fore gear shaft driving ropes, and their start ends are fixed on the folding master driving wire wheeland wound in opposite directions. Then, two fore gear shaft driving ropesbypass the fore transition wire wheelto change a direction from axial wire distribution to radial wire distribution. Finally, two fore gear shaft driving ropesare respectively wound on the fore gear shaft wire wheelin opposite directions, with their terminating ends fixed on the fore gear shaft wire wheel. When the folding master driving wire wheelrotates, the fore gear shaft wire wheelrotates synchronously in an opposite direction. A central shaft of the folding master driving wire wheelis sleeved into a mounting hole on the middle supporting ringof the buoyancy compartment housing supporting structure and can rotate freely along a centerline of the mounting hole. One end thereof is fixedly connected in sleeved way to an output shaft of the folding driving motorand can rotate under the drive of the folding driving motor. A central hole of the fore transition wire wheelis sleeved onto a mounting shaft of the fore supporting ringof the buoyancy compartment housing supporting structure and can rotate freely along a centerline of the mounting shaft. A central hole of the fore gear shaft wire wheelis sleeved onto a fore gear shaftin the fore connection rod proximal shaft gear driving mechanismto drive the fore gear shaftand the fore gear shaft wire wheelto rotate synchronously. The fore gear shaft wire wheelincludes two wire grooves, and two fore gear shaft driving ropesare fixed respectively to the two wire grooves and wound in opposite directions in the wire grooves.

The fore connection rod distal shaft rope driving mechanismincludes a fore gear shaft, a fore connection rod proximal transition big wire wheel, a fore connection rod proximal transition small wire wheel, a fore connection rod distal transition small wire wheel, a fore connection rod distal shaft wire wheel, and a fore connection rod distal shaft driving rope. There are two fore connection rod distal shaft driving ropes, and their start ends are both fixed on the fore gear shaftand wound in opposite directions. Then, two fore connection rod distal shaft driving ropesare respectively bypass the fore connection rod proximal transition big wire wheeland the fore connection rod proximal transition small wire wheelin a crossed way and then bypass in parallel way the fore connection rod distal transition small wire wheel. Finally, two fore connection rod distal shaft driving ropesare wound on the fore connection rod distal shaft wire wheelin opposite directions, with their terminating ends fixed on the fore connection rod distal shaft wire wheel. When the fore gear shaftrotates, the fore connection rod distal shaft wire wheelsynchronously rotate in an opposite direction. A central hole of the fore connection rod proximal transition big wire wheelis sleeved onto the fore connection rod proximal shaftand can rotate freely along a centerline of the fore connection rod proximal shaft. The fore connection rod proximal transition small wire wheelis close to the fore connection rod proximal transition big wire wheeland its mounting hole is sleeved onto a mounting shaft in the fore connection rod bodyand the fore connection rod proximal transition small wire wheelcan rotate freely along the centerline of the mounting shaft. The fore connection rod proximal transition small wire wheeland the fore connection rod proximal transition big wire wheelhave a proper relative position, such that when the fore connection rodis parallel and perpendicular to the axis of the buoyancy compartment, two fore connection rod distal shaft driving ropesboth are attached to the fore connection rod proximal transition small wire wheeland the fore connection rod proximal transition big wire wheel. The fore connection rod distal transition small wire wheelis close to the fore connection rod distal shaft wire wheeland its mounting hole is sleeved onto a mounting shaft in the fore connection rod bodyand the fore connection rod distal transition small wire wheelcan rotate freely along the centerline of the mounting shaft. The fore connection rod proximal transition small wire wheeland the fore connection rod distal transition small wire wheelare axially arranged in parallel along a side of a main shaft of the fore connection rod. A central hole of the fore connection rod distal shaft wire wheelis sleeved and fixedly connected onto the fore connection rod distal shaft.

The aft gear shaft rope driving mechanismincludes a folding master driving wire wheel, an aft transition wire wheel, an aft gear shaft wire wheel, and an aft gear shaft driving rope. There are two aft gear shaft driving ropes, and their start ends are fixed on the folding master driving wire wheeland wound in opposite directions. Then, two aft gear shaft driving ropesbypass the aft transition wire wheelto change a direction from axial wire distribution to radial wire distribution. Finally, two aft gear shaft driving ropesare respectively wound on the aft gear shaft wire wheelin opposite directions, with their terminating ends fixed on the aft gear shaft wire wheel. When the folding master driving wire wheelrotates, the aft gear shaft wire wheelrotates synchronously in an opposite direction. A central hole of the aft transition wire wheelis sleeved onto a mounting shaft on the aft supporting ring of the buoyancy compartment housing supporting structure, and the aft transition wire wheelcan rotate freely along the centerline of the mounting shaft. A central hole of the aft gear shaft wire wheelis sleeved onto an aft gear shaftin the aft connection rod proximal shaft gear driving mechanismto drive the aft gear shaftand the aft gear shaft wire wheelto rotate synchronously. The aft gear shaft wire wheelincludes two wire grooves and two aft gear shaft driving ropesare fixed respectively to the two wire grooves and wound in opposite directions in the wire grooves.

The transition wire wheels in the rope driving mechanismof the folding mechanisminclude the fore transition wire wheel, the fore connection rod proximal transition big wire wheel, the fore connection rod proximal transition small wire wheel, the fore connection rod distal transition small wire wheeland the aft transition wire wheel, each of which includes two independent freely-rotating wire wheels which are always opposite in rotation direction.

The gear driving mechanismincludes the fore connection rod proximal shaft gear driving mechanismand the aft connection rod proximal shaft gear driving mechanism.

The fore connection rod proximal shaft gear driving mechanismincludes the fore gear shaft, a fore fan-shaped gear, and the fore connection rod proximal shaft. The fore gear shaftand the fore connection rod proximal shaftare both sleeved into a mounting hole on the fore supporting ringin the buoyancy compartment housing supporting structure and can freely rotate along the centerline of the mounting hole. Furthermore, the fore gear shaftis sleeved into and fixedly connected to the fore gear shaft wire wheelin the fore gear shaft rope driving mechanism. The fore fan-shaped gearis meshed with gear teeth of the fore gear shaftand its mounting hole is sleeved onto and fixedly connected to the fore connection rod proximal shaft. Therefore, when the fore gear shaft wire wheelrotates, motion through the fore gear shaftand the fore fan-shaped gearis transferred and the fore connection rod proximal shaftsynchronously rotates reversely so as to drive the fore connection rodto rotate relative to the buoyancy compartment.

The aft connection rod proximal shaft gear driving mechanismincludes the aft gear shaft, an aft fan-shaped gearand the aft connection rod proximal shaft. The aft gear shaftand the aft connection rod proximal shaftare both sleeved into a mounting hole of the aft supporting ringin the buoyancy compartment housing supporting structure, and can freely rotate along a centerline of the mounting hole. Further, the aft gear shaftis sleeved into and fixedly connected to the aft gear shaft wire wheelin the aft gear shaft rope driving mechanism. The aft fan-shaped gearis meshed with gear teeth of the aft gear shaft, and a mounting hole thereon is sleeved and fixedly connected onto the aft connection rod proximal shaft. Therefore, when the aft gear shaft wire wheelrotates, motion through the aft gear shaftand the aft fan-shaped gearis transferred and the aft connection rod proximal shaftrotates synchronously in an opposite direction, so as to drive the aft connection rodto rotate relative to the buoyancy compartment.

The fore connection rod proximal shaftand the aft connection rod proximal shaftare both close to the buoyancy compartment housingand rotate withindegrees, and the fore fan-shaped gearand the aft fan-shaped gearrespectively meshed with the gear teeth of the fore gear shaftand the aft gear shaftboth are fan-shaped structures rather than complete-circle structures, aiming to avoid physical interference.

The working principle of the folding mechanism is described below.

Taking the folding driving motorrotating clockwise (see the output shaft from the back of the folding driving motor) as example, when the folding driving motorrotates clockwise, the fore gear shaft wire wheelrotates counterclockwise to bring the fore gear shaftto rotate counterclockwise, and the rotation direction is reversed through the fore fan- shaped gearto enable the fore connection rod proximal shaftto rotate clockwise. Further, since the fore gear shaftrotates counterclockwise, the fore connection rod distal shaft driving rope, through a transfer process of multiple intermediate transition wire wheels, drives the fore connection rod distal shaftto rotate clockwise. Furthermore, since the folding driving motorrotates clockwise, the aft gear shaft wire wheelrotates counterclockwise to bring the aft gear shaftto rotate counterclockwise, and the rotation direction is reversed by the aft fan-shaped gearto enable the aft connection rod proximal shaftto rotate clockwise. With the joint action of the rope driving mechanismand the gear driving mechanismof the folding mechanism, the fore connection rod proximal shaft, the fore connection rod distal shaftand the aft connection rod proximal shaftall rotate in the same direction as the folding driving motor. By reasonably setting gear transmission ratio and wire wheel transmission ratio, the fore connection rod proximal shaft, the fore connection rod distal shaftand the aft connection rod proximal shaftare consistent in rotation speed and rotation angle.

The underwater vehicle in the present disclosure has its entire center of mass and center of buoyancy constantly changing in position during the folding and unfolding process. In order to enable the underwater vehicle to maintain stable pose in the folding and unfolding process, it is required to carry out control on the folding and unfolding process of the underwater vehicle. When the underwater vehicle folds, since the operation compartment accommodates heavy load while the buoyancy compartments mainly provide buoyancy, the operation compartment moves downward spontaneously while the buoyancy compartments move upward spontaneously, such that the folding process tends to be completed spontaneously, which may cause the underwater vehicle to lose its stable state due to excessively quick movement. Therefore, it is required to apply a resistance moment by the folding driving motor during the folding process to prevent excessively quick folding. When the underwater vehicle unfolds, it is required to further sink the buoyancy compartments with buoyancy greater than gravity and further float up the operation compartment with gravity greater than buoyancy, which may consume an amount of energy. The power device driving the unfolding process includes the folding driving motor and the channel thruster and it is required to reasonably control an output force and moment of the folding driving motor and the channel thruster, minimizing the energy consumed for the unfolding process. Furthermore, in the folding and unfolding process of the underwater vehicle, the action force of the uncertain water flows may pose influence on the stability of the underwater vehicle. Therefore, it is necessary to consider the influence of the disturbance terms of the water action force in the controller design process.