Wing-leg hybrid propulsion underwater glider and working method thereof

Abstract

The application discloses a wing-leg hybrid propulsion underwater glider and a working method thereof. The glider comprises a glider body, a bidirectional flexible wing-leg hybrid propulsion device and a control panel. The bidirectional flexible wing-leg hybrid propulsion device comprises a wire mechanism driving part, a limiting block assembly, flexible wings, a driving control unit and a shell assembly. The wire mechanism driving part is installed inside the shell assembly. The limiting block assembly is arranged at the middle part outside the shell assembly. The flexible wings are arranged symmetrically on the opposite sides of the limiting block assembly and are connected with the limiting block assembly. The driving control unit comprises a driving servo motor installed in the cabin of the glider body. The motor shaft of the driving servo motor is connected with the shell assembly. The flexible wings are connected with the driving control unit. The underwater glider can realize various motion modes according to different tasks and operation requirements, such as seabed operation, floating, sinking, moving and hovering, so that the operation range, operation capacity, maneuverability and practicability are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater glider technical field, especially to a wing-leg hybrid propulsion underwater glider and its working method. BACKGROUND

[0002] With the development and utilization of deep-sea resources and the exploration of marine science, marine robots are attracting more and more attention, among which the underwater glider technology is relatively mature. It uses net buoyancy and attitude angle adjustment to obtain propulsion, has excellent endurance, simple structure and other characteristics, and meets the needs of deep-sea exploration.

[0003] With the diversification of deep-sea exploration tasks and the complex and changeable marine environment, people have higher requirements for the underwater operation ability and movement form of underwater gliders. However, the current underwater glider commonly uses rectangular thin plate wings and large size flapping wing layout, which has the following problems when performing variable underwater tasks: first, the large size flapping wing layout limits its passage through narrow areas; second, if the orbit is changed, the body needs to be tilted, the orbit changing radius is large, and it cannot quickly avoid obstacles; third, it can only make zigzag and spiral turning trajectories underwater, has low hydrodynamic performance in complex environments, and cannot maintain effective and stable propulsion. SUMMARY

[0004] The purpose of the present application is to provide a wing-leg hybrid propulsion underwater glider that enhances flexibility, meets the needs of attitude adjustment, and improves propulsion efficiency. The working method is also provided.

[0005] Technical scheme: A wing-leg hybrid propulsion underwater glider, comprising a glider body, a bidirectional flexible wing-leg hybrid propulsion device arranged on opposite sides of the glider body, and a control panel installed in the cabin of the glider body for controlling the movement of the bidirectional flexible wing-leg hybrid propulsion device.

[0006] The bidirectional flexible wing-leg hybrid propulsion device comprises a wire mechanism driving part, a limiting block assembly, a flexible wing, a driving control unit, and a shell assembly. The wire mechanism driving part is installed inside the shell assembly, the limiting block assembly is arranged on the middle part outside the shell assembly, the wire mechanism driving part comprises two groups of retractable ropes, which are connected to the limiting block assembly after being pulled out from the inside of the shell assembly, the flexible wing is provided with two wings, which are symmetrically arranged on the opposite sides of the limiting block assembly and connected to the limiting block assembly, the driving control unit comprises a driving servo motor installed in the cabin of the glider body, the motor shaft of the driving servo motor is connected to the shell assembly, the flexible wing is connected to the driving control unit, and the wire mechanism driving part, the driving control unit, and the driving servo motor are respectively connected to the control panel.

[0007] Further, the wire mechanism driving part further comprises two driving assemblies symmetrically and spaced apart along the length direction inside the shell assembly, and two groups of contraction ropes are respectively connected with a corresponding driving assembly;

[0008] The driving assembly comprises a worm, a worm transmission shaft, a steering engine group, a worm wheel, a pulley, a pulley pin shaft, a coupling, and a worm wheel sleeve. The steering engine group is installed on the inner wall of the shell assembly. One end of the worm transmission shaft is connected with the steering engine group through the coupling, and the other end is connected with the worm. The worm wheel is installed on the inner wall of the shell assembly through a support bearing seat and is engaged with the worm. The worm wheel sleeve is coaxially installed on the worm wheel. The pulley is coaxially connected with the worm wheel sleeve through the pulley pin shaft. The contraction rope group is wound on the pulley. The steering engine group is signal connected with the control board.

[0009] Optimally, the pulley is a double pulley symmetrically arranged up and down. The wire groove at one end of the pulley is clockwise wound wire, and the wire groove at the other end of the pulley is counterclockwise wound wire. Two groups of contraction ropes are each provided with two contraction ropes, which are contraction rope one, contraction rope three, contraction rope two, and contraction rope four. The contraction rope one and the contraction rope three are interconnected and wound on the same pulley, forming a telescopic relationship. The contraction rope two and the contraction rope four are interconnected and wound on the other same pulley and have a telescopic relationship.

[0010] Further, the limiting block assembly comprises a limiting elastic connecting plate, a limiting block, a limiting spring, a tail limiting block, and a limiting block connecting shaft. The limiting block is provided with a plurality of limiting elastic connecting plates vertically fixed on the opposite sides of each limiting block. The limiting elastic connecting plates are arranged in two columns. Each column of limiting elastic connecting plates is arranged in a corresponding flexible wing and is fixed with the inner wall of the flexible wing. The two flexible wings are symmetrically arranged on the opposite sides of one column of limiting blocks. The adjacent two limiting blocks are connected through a limiting block connecting shaft. Each limiting block connecting shaft is provided with a limiting spring for limiting the included angle between the adjacent two limiting blocks. The tail limiting block is connected with the limiting block arranged at the end through another limiting block connecting shaft. The limiting block connecting shaft is also provided with a limiting spring for limiting the included angle between the tail limiting block and the limiting block arranged at the end. The contraction rope group is connected with the tail limiting block after passing through the plurality of limiting blocks from the first limiting block.

[0011] Optimally, the limiting spring is a torsion spring. The helical part of the torsion spring is sleeved on the limiting block connecting shaft. The two torsion rods are respectively clamped on the opposite sides of the adjacent two limiting blocks or the opposite sides of the tail limiting block and the limiting block arranged at the end. Each limiting block is provided with four clamping grooves for conveniently arranging the limiting spring in multiple directions.

[0012] The flexible wing is made of silica gel, a plurality of mounting hole positions are arranged on one side of the flexible wing in sequence along the wing length direction, the number of the mounting hole positions is equal to the number of the limiting blocks, one limiting elastic connecting plate is mounted in each mounting hole position, and a bolt mounting hole position is arranged on the limiting elastic connecting plate.

[0013] Optimally, the number of the limiting blocks is 5-9, the included angle θ between the adjacent two limiting blocks is 22°-28°, and the swing angle α is 6°-10°.

[0014] Further, the drive control unit further comprises attitude sensors, an A / D converter and a control circuit, the control board is an STM32 control board, the attitude sensors are arranged in the flexible wing in sequence along the wing length direction, the attitude sensors are connected to the STM32 control board through the A / D converter, and the three are sequentially connected through the control circuit.

[0015] When the rotation angles of the drive servo motors on the underwater glider are inconsistent, the STM32 control board is used to transmit pulse signals through a serial port to uniformly coordinate and operate, and the drive servo motors are simultaneously controlled to cooperate with each other to complete multiple motion modes.

[0016] Further, the shell assembly comprises a wing-shaped shell and a wing-shaped shell sealing cover, the wire mechanism driving part is installed in the wing-shaped shell with a hollow head and is sealed in the wing-shaped shell through the wing-shaped shell sealing cover, so that the shell assembly has a delta wing shape; the bidirectional flexible wing leg hybrid propulsion device is an even number and at least four, and is symmetrically arranged on opposite sides of the glider body.

[0017] A working method of the wing-leg hybrid propulsion underwater glider,

[0018] For the floating / sinking working mode, the corresponding wing-leg hybrid propulsion underwater glider working state control method is as follows:

[0019] S11: In the floating / sinking process of the underwater glider, the drive control unit triggers to collect the seawater inflow velocity;

[0020] S12: The drive control unit transmits the collected data signals to the control board;

[0021] S13: The control board processes data and issues instructions, and transmits the pulse signals for calculating the wing lift to the wire mechanism driving part;

[0022] S14: The wire mechanism driving part controls the length of the two groups of contraction rope groups according to the instruction of the pulse signal in the range of the calculation result, changes the overall and local curvature parameters of the flexible wing; if the pulse signal result accepted by the wire mechanism driving part is not in the calculation range, the driving control unit re-collects the seawater flow velocity signal, and adjusts the overall and local curvature parameters of the flexible wing;

[0023] For the mobile working mode, the corresponding wing-leg hybrid propulsion underwater glider working state control method is as follows:

[0024] S21: In the moving process of the underwater glider, the driving control unit triggers the collection of seawater flow velocity;

[0025] S22: The driving control unit transmits the collected data signal to the control board;

[0026] S23: The control board processes data and issues instructions, and the control board transmits the pulse signal of the glider horizontal steady-state gliding speed equation to the wire mechanism driving part and the driving servo motor;

[0027] S24: The wire mechanism driving part controls the contraction rope group to be in a relaxed state, and the limit block assembly changes freely with the water flow resistance; to realize efficient periodic propulsion underwater, the limit block assembly realizes the wave-shaped swing of the imitation tail fin under the periodic torque of the wire mechanism driving part by using the contraction and release of the contraction rope group, and the driving servo motor synchronously swings to generate oscillating thrust through the periodic wave-shaped swing of the flexible wing;

[0028] For the hovering working mode, the corresponding wing-leg hybrid propulsion underwater glider working state control method is as follows:

[0029] S31: In the process of suspending the underwater glider in water, the bidirectional flexible wing-leg hybrid propulsion device presents a vertical state, and the driving control unit triggers the collection of seawater flow velocity;

[0030] S32: The driving control unit transmits the collected data signal to the control board;

[0031] S33: The control board processes data and issues instructions, and transmits the pulse signal of the feedback time-varying speed data to the wire mechanism driving part;

[0032] S34: The wire mechanism driving part controls the two groups of contraction rope groups to be in a tightened state, and real-time manipulates the contraction reserve of the two groups of contraction rope groups, changes the local curvature parameters of the flexible wing through the limit block assembly, realizes the active deformation of the flapping wing, and executes the swing in the opposite direction of the flow velocity;

[0033] For the seabed operation working mode, the corresponding wing-leg hybrid propulsion underwater glider working state control method is as follows:

[0034] S41: When the underwater glider reaches the preset distance from the ground in the seabed operation engineering, the control panel processes data and issues instructions; the control panel sends a signal to the wire mechanism driving part, the wire mechanism driving part controls the retraction and release state of the two groups of retractable rope groups, and the flexible wing is in a C-shaped leg through the limiting block assembly;

[0035] S42: The control panel sends a pulse signal to the driving servo motor with the cycloidal motion equation The driving servo motor drives the corresponding C-shaped leg with the same direction bending to rotate forward synchronously according to the instruction of the pulse signal.

[0036] S43: When the control panel receives that the height of the front obstacle is less than 1 / 2 of the height of the C-shaped leg, the C-shaped leg bends in the same direction, the driving servo motor drives a corresponding bidirectional flexible wing leg hybrid propulsion device, the rotation angle between adjacent two bidirectional flexible wing leg hybrid propulsion devices is 180 degrees, and two two rotate forward alternately.

[0037] S44: When the control panel receives that the height of the front obstacle is greater than 1 / 2 of the height of the C-shaped leg shaft, the wire mechanism driving part adjusts the retractable rope group to change the bending of the C-shaped leg in different directions, so that the rotation angle between adjacent two bidirectional flexible wing leg hybrid propulsion devices is 180 degrees, and two two rotate forward alternately.

[0038] Advantages: Compared with the prior art, the advantages of the underwater glider are:

[0039] 1. The bidirectional flexible wing leg hybrid propulsion device of the underwater glider is independent, and the angle adjustment of each wing is realized by an independent driving control module, so that the underwater glider can realize various motion modes according to different tasks and operation requirements, such as seabed operation, floating, sinking, moving and hovering, and fully improve the operation range, operation ability, maneuverability and practicability.

[0040] 2. The bidirectional flexible wing leg hybrid propulsion device of the underwater glider overcomes the problem of low hydrodynamic performance of the current underwater glider rectangular thin plate wing, adopts multiple carbon fiber limiting blocks connected through elastic connecting plates. The retractable rope adjusts the included angle and swing angle between each limiting block through stepless speed regulation, forms various flexible wings, improves the lift-drag ratio, simultaneously utilizes vortex to speed up the propulsion speed, and meets the characteristics of high speed, high efficiency and low noise.

[0041] 3. The C-shaped leg of the underwater glider belongs to an eccentric wheel, the C-shaped leg shaft is located on the circumference of the C-shaped leg, and the C-shaped leg rotates around the shaft. When the C-shaped leg rolls back and forth on the seabed, the wing increases the contact surface, and the leg enhances the rigidity, and the motion track of the shaft center meets the cycloidal equation, so that the C-shaped leg does not have the problem of subsidence, and is convenient for seabed operation.

[0042] 4. The wing-leg hybrid propulsion underwater glider provided by the application overcomes the problems of transportation and assembly of current large gliders, the flexible wing can be retracted to reduce the transportation volume; the underwater glider can be erected on the ground to facilitate installation and adjustment; the legs can be adjusted to be vertical to make the underwater glider in a suspended state, thereby reducing the launching resistance. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 It is a schematic diagram of the wing-leg hybrid propulsion device of the application.

[0044] Figure 2 It is a schematic diagram of the wing-leg hybrid propulsion device of the application.

[0045] Figure 3 It is a partial sectional view of the driving part of the application.

[0046] Figure 4 It is a schematic diagram of the limiting block connection in the application.

[0047] Figure 5 It is a schematic diagram of the swing angle of the two limiting blocks in the application.

[0048] Figure 6 It is a flexible wing in the application.

[0049] Figure 7 It is a limiting elastic connecting plate in the application.

[0050] Figure 8 It is a spring structure diagram of the limiting device in the application.

[0051] Figure 9 It is a schematic diagram of the motion in the seabed operation state of the application.

[0052] Figure 10 It is a schematic diagram of the motion in the floating state of the application.

[0053] Figure 11 It is a schematic diagram of the motion in the sinking state of the application.

[0054] Figure 12 It is a schematic diagram of the motion in the moving state of the application.

[0055] Figure 13 It is a schematic diagram of the motion in the hovering state of the application.

[0056] Figure 14 It is a schematic diagram of the lift of the flexible wing of the application.

[0057] Figure 15 It is a schematic diagram of the working state control flow of the application. DETAILED DESCRIPTION

[0058] The application will be further clarified by a consideration of the following detailed description taken in connection with the accompanying drawings, in which:

[0059] A wing-leg hybrid propulsion underwater glider, please refer to Figures 1-13 The wing-leg hybrid propulsion underwater glider includes a glider body, bidirectional flexible wing-leg hybrid propulsion devices arranged on opposite sides of the glider body, and a control board installed in a cabin of the glider body for controlling movement of the bidirectional flexible wing-leg hybrid propulsion devices.

[0060] The bidirectional flexible wing-leg hybrid propulsion devices are even and at least four, and are symmetrically arranged on opposite sides of the glider body. In this embodiment, four bidirectional flexible wing-leg hybrid propulsion devices are arranged symmetrically on the front and rear sides of the shell cabin. The bidirectional flexible wing-leg hybrid propulsion device includes a wire mechanism driving part 1-0, a limiting block assembly 2-0, a flexible wing 3, a driving control unit 4-0, and a shell assembly 5-0. The wire mechanism driving part 1-0 includes a contraction rope group 6, a worm 9, a worm transmission shaft 12, a rudder group 13, a worm wheel 14, a pulley 15, a pulley pin shaft 16, a coupling 17, and a worm wheel shaft sleeve 18. The pulley 15 is a double pulley arranged symmetrically up and down. The limiting block assembly 2-0 includes a limiting elastic connecting plate 4, a limiting block 5, a limiting spring 7, a tail limiting block 8, and a limiting block connecting shaft 19. The flexible wing 3 is composed of two non-entirely integral half wings. The driving control unit 4-0 includes a driving servo motor 20, an attitude sensor 21, an A / D converter 22, a control circuit 24, and a control board 23 which is an STM32 control board. The shell assembly 5-0 includes a wing-shaped shell 1 and a wing-shaped shell sealing cover 2.

[0061] The wire mechanism driving part 1-0 is arranged in the wing-shaped shell 1 with a head hollow triangular wing shape; the limiting block assembly 2-0 is located in the middle of the bidirectional flexible wing-leg hybrid propulsion device, the flexible wing 3 is provided with two wings, which are symmetrically arranged on the opposite sides of the limiting block assembly 2-0 and connected with the limiting block assembly 2-0 respectively, and the two wings are symmetrically arranged, the motor shaft of the driving servo motor 20 is connected with the shell assembly 5-0, the flexible wing 3 is connected with the driving control unit 4-0, and the wire mechanism driving part 1-0, the driving control unit 4-0 and the driving servo motor 20 are signal connected with the control panel 23. The two limiting blocks 5 are hingedly connected through the hinge mode, the limiting spring 7 is sleeved on the limiting block connecting shaft 19 and embedded in the clamping groove of the limiting block 5 to realize fixation, the angle change of the limiting block assembly 2-0 is realized by changing the limiting spring 7 through the contraction rope group 6, the contraction rope group 6 is slidably arranged in the through hole slide way at each end of the limiting block 5 and is composed of two closed loop ropes; the flexible wing 3 is arranged on the two sides of the middle limiting block 5, the limiting elastic connecting plate 4 is inserted into the reserved cavity position of the flexible wing 3 which is divided into seven segments to form a non-complete integral flexible wing 3, then the two are sleeved on the protruding limiting block 5 and are fastened through bolt connection; the driving control unit 4-0 is arranged at the front end of the bidirectional flexible wing-leg hybrid propulsion device, and the embodiment includes four driving servo motors 20, which are respectively numbered as the driving servo motor one 20-1, the driving servo motor two 20-2, the driving servo motor three 20-3 and the driving servo motor four 20-4, and the driving servo motors drive the corresponding bidirectional flexible wing-leg hybrid propulsion device to rotate; the attitude sensor 21 is arranged in the flexible wing 3 and is symmetrically arranged on both sides; the control panel 23 is located in the cabin body and is configured to control the driving motor 20 and the rudder group 13 in the cabin body to control the active deformation and passive deformation of the wing-leg.

[0062] The wire mechanism driving part of the application, the wire mechanism driving part 1-0 includes two groups of contraction rope groups 6, two driving assemblies symmetrically and spaced apart along the length direction of the shell assembly 5-0 inside the shell assembly 5-0, and the two groups of contraction rope groups 6 are respectively connected with a corresponding driving assembly;

[0063] The driving assembly is composed of a worm 9, a worm transmission shaft 12, a rudder group 13, a worm gear 14, a pulley 15, a pulley pin shaft 16, a shaft coupling 17 and a worm gear shaft sleeve 18, the rudder group 13 is installed on the inner wall of the shell assembly 5-0, one end of the worm transmission shaft 12 is connected with the rudder group 13 through the shaft coupling 17, the other end is connected with the worm 9, the worm gear 14 is installed on the inner wall of the shell assembly 5-0 through a support bearing seat and is engaged with the worm 9, the worm gear 14 is coaxially installed with the worm gear shaft sleeve 18, the pulley 15 is coaxially connected with the worm gear shaft sleeve 18 through the pulley pin shaft 16, the contraction rope group 6 is wound on the pulley 15, and the rudder group 13 is signal connected with the control panel 23.

[0064] The one end of the pulley 15 is clockwise winding line, the other end of the pulley groove is counterclockwise winding line, two groups of contraction rope group 6 are provided with two contraction ropes, respectively, contraction rope one 6-1, contraction rope three 6-3 is a group, contraction rope two 6-2, contraction rope four 6-4 is a group, winding on the corresponding pulley 15 rope groove, wherein, contraction rope one 6-1 and contraction rope three 6-3 are interconnected and wound on the same pulley 15, forming the relationship of mutual expansion and contraction, contraction rope two 6-2 and contraction rope four 6-4 are interconnected and wound on the other same pulley 15 and are in the relationship of mutual expansion and contraction.

[0065] The rudder group 13 is connected with the worm transmission shaft 12 through the shaft coupling 17, the torque is transmitted to the worm 9 through the worm transmission shaft 12, and the torque is transmitted to the worm wheel 14 through the worm 9. Through the worm wheel shaft sleeve 18 and the pulley pin shaft 16, the torque force of the upper and lower symmetrical pulleys 15 can wind the line on the rope groove of the upper and lower symmetrical pulleys 15. The upper and lower symmetrical pulleys 15 are fixed on the wing-shaped shell 1 by the pulley pin shaft 16, and the deformation of the limiting block assembly is adjusted by the contraction and relaxation of the two ends of the pulley 15. The support bearing seat on the worm wheel 14 bears the fixed load and the working load. It is connected with the bidirectional tightening pulley 15 on the connecting shaft. The line of one end of the pulley groove is counterclockwise winding, and the line of the other end of the pulley groove is clockwise winding. The pulley rotates clockwise and counterclockwise, realizes the tightening and relaxation of the line in the groove. The wing-shaped shell 1 and the wing-shaped shell sealing cover 2 are waterproofed between the rudder group 13. The structure is compact, the space occupancy is reduced, and the energy consumption is reduced.

[0066] The limiting block 5 of the limiting block assembly 2-0 is provided with a plurality of limiting blocks, and the number is usually 5-9. A limiting elastic connecting plate 4 is vertically fixed on the opposite sides of each limiting block 5. The plurality of limiting blocks 5 are arranged in sequence to form two columns of limiting elastic connecting plates 4. Each column of limiting elastic connecting plates 4 is arranged in a corresponding flexible wing 3 and fixed with the inner wall, so that the two flexible wings 3 are symmetrically arranged on the opposite sides of a column of limiting blocks 5. Each limiting block 5 is connected by a limiting block connecting shaft 19. A limiting spring 7 for limiting the included angle between the adjacent two limiting blocks 5 is arranged on each limiting block connecting shaft 19. The tail limiting block 8 is connected with the limiting block 5 arranged at the end through another limiting block connecting shaft 19. A limiting spring 7 is also arranged on the limiting block connecting shaft 19 for limiting the included angle between the tail limiting block 8 and the limiting block 5 arranged at the end. The contraction rope group 6 is connected with the tail limiting block 8 after passing through a plurality of limiting blocks 5 from the first limiting block 5. The two groups of contraction rope groups 6 are arranged at a relative interval in the limiting block 5 and are close to one column of limiting elastic connecting plates 4.

[0067] The limiting spring 7 is a torsion spring, the spiral part of which is sleeved on the limiting block connecting shaft 19, and two torsion rods are respectively clamped on the opposite surfaces of two adjacent limiting blocks 5 or the opposite surfaces of the tail limiting block 8 and the limiting block 5 arranged at the end.

[0068] In the embodiment, the limiting block assembly includes eight limiting blocks 5, one tail limiting block 8 and seven limiting elastic connecting plates 4. The seven limiting elastic connecting plates 4 are connected with the front seven limiting blocks 5 at the left and right ends, and the outer end limiting elastic connecting plate 4 is attached to the limiting elastic connecting plate 4 connected with the limiting block 5. The limiting blocks 5 are hinged through the limiting block connecting shaft 19, and the spherical convex and concave are arranged between the limiting blocks 5. The included angle between the limiting blocks 5 is θ, which is 22°-28°, and the swing angle α between the limiting blocks 5 is 6°-10°. The limiting block 5 is made of lightweight carbon fiber material. The limiting elastic connecting plate 4 is made of lightweight rubber material. The better hydrodynamic characteristics, high propulsion efficiency and better structure fixation prevent the water flow resistance from being damaged.

[0069] The overall contour of the flexible wing structure of the present application is designed by copying the contour size of the blue marlin. After measuring the contour size of the blue marlin, the outer contour curve fitting piecewise function is checked, and the corresponding underwater glider propulsion device is scaled to the appropriate size. The shape of the flexible wing 3 comes from the hydrofoil with a smaller drag coefficient, which is divided into seven segments, including the innermost limiting block 5, the middle limiting elastic connecting plate 4 and the outer flexible wing 3. They all swing based on the swing between the limiting blocks 5. The flexible wing 3 can be 3D printed by using silicone material, and the surface is coated with a new type of drag reduction material after molding. The flexible hydrofoil 3 replaces the rigid connecting parts, reduces the number of mechanisms, and reduces the mass of the mechanism, has the characteristics of good flexibility, low noise, high propulsion efficiency and the like.

[0070] A plurality of mounting hole positions are arranged on one side of the flexible wing 3 in the wing length direction, the number of mounting hole positions is equal to the number of limiting blocks 5, and each mounting hole position is provided with a limiting elastic connecting plate 4, and the limiting elastic connecting plate 4 is provided with a bolt mounting hole position.

[0071] The attitude sensor 21 of the driving control unit 4-0 is provided with a plurality of attitude sensors 21, which are sequentially and spacedly arranged in the interior of the flexible wing 3 in the wing length direction, and the attitude sensor 21 is connected with the STM32 control board 23 through the A / D converter 22, and the three are sequentially and signal-connected through the control circuit 24.

[0072] The four drive servo motors of the drive control unit 4-0 in the embodiment are uniformly coordinated and operated by the control board through serial transmission, and the drive servo motor 20 is installed in the cabin body of the underwater glider. The flexible wing 3 is divided into seven sections, and each section has an attitude sensor 21 on the inner side, with a total of seven. The four contraction rope groups 6 in each limit block 5 have four contraction ropes, namely contraction rope one 6-1, contraction rope two 6-2, contraction rope three 6-3, and contraction rope four 6-4. The contraction rope one 6-1 and the contraction rope three 6-3 are driven by the steering gear one 13-1, and the contraction rope two 6-2 and the contraction rope four 6-4 are driven by the steering gear two 13-2. The length of the four ropes of the contraction rope group 6 is adjusted according to the deformation requirements of the flexible wing 3. The STM32 control board and the steering gear group 13 are both sealed.

[0073] According to Bernoulli equation, the lift of the wing is calculated The area of the wing is approximately S=Ld, the wing span is L, and the wing length is d. The fluid density p is 1025 kg / m 3 , the incoming flow velocities V1 and V2 are the flow velocities on the upper and lower sides of the flexible wing. The process of actively controlling the lift of the hydrofoil is a curvature control process, which includes detecting the incoming flow velocity, calculating the lift, and changing the curvature of the wing to achieve active and passive deformation of the underwater glider propulsion device.

[0074] Specifically, the underwater glider propulsion device has five states, which are seabed operation state, floating state, sinking state, moving state, and hovering state.

[0075] When the underwater glider is in the seabed operation state, the steering engine group 13 outputs torque to drive the worm 9 and the turbine 14 to rotate, and through the worm shaft sleeve 18, the pulley 15 rotates counterclockwise, one end of the contraction rope group 6 is tightened, the limiting blocks 5 are clamped through the concave-convex envelope positioning between each other, and the C-shaped leg is obtained to walk on the seabed, so that the shaft center of the C-shaped leg is located on the circumference of the C-shaped leg, and the movement track of the shaft center satisfies the cycloid equation. The output shaft transmits torque to the wing-shaped housing 1 which is tightly connected with the output shaft, and the bidirectional flexible wing-leg hybrid propulsion device rotates under the action of the torque. The whole device rotates around the output shaft. The driving servo motor 20 of each bidirectional flexible wing-leg hybrid propulsion device is assisted by different control timing, so that the bidirectional flexible wing-leg hybrid propulsion device can walk on the seabed and turn over the obstacles. Specifically, when the underwater glider is in the seabed operation state, the four C-shaped leg shafts bend in the same direction, the driving servo motor 20-1, the driving servo motor 20-2, the driving servo motor 20-3 and the driving servo motor 20-4 drive the four bidirectional flexible wing-leg hybrid propulsion devices to rotate forward synchronously; when the underwater glider is in the seabed obstacle operation state, when the height of the obstacle is less than 1 / 2 of the height of the C-shaped leg shaft, the four C-shaped leg shafts bend in the same direction, and the four driving servo motors 20 drive the four flexible wing-legs to rotate forward alternately with a phase difference of 180°; when the height of the obstacle is greater than 1 / 2 of the height of the C-shaped leg shaft, the control board adjusts one end of the contraction rope group 6 through the steering engine group, changes the bending of the C-shaped leg shaft in different directions, and the four driving servo motors 20 drive the four flexible wing-legs to rotate alternately with a phase difference of 180°.

[0076] When the underwater glider is in the floating state, the underwater glider is in the rising gliding trend, the contraction rope group 6 obtains the contraction length through the driving control unit analyzing the water flow data, and the angle change of the limiting block 5 is maintained by the limiting spring 7, which generally presents an upward convex parabolic arc.

[0077] When the underwater glider is in the sinking state, the underwater glider is in the falling gliding trend, the contraction rope group 6 obtains the contraction length through the driving control unit analyzing the water flow data, and the angle change of the limiting block 5 is maintained by the limiting spring 7, which generally presents a downward concave parabolic arc.

[0078] When the underwater glider is in the moving state, the underwater glider is in the horizontal gliding trend, the contraction rope group 6 is in the relaxed state, the limiting block 5 group changes freely with the resistance of the water flow, and generally presents a reciprocating oscillation swing. To realize the underwater efficient periodic propulsion, the limiting block 5 realizes the wave-shaped swing of the imitation tail fin by using the contraction and expansion of the wire mechanism under the periodic torque of the steering engine group 13. The oscillating thrust is generated by the periodic wave-shaped swing of the flexible wing 3. Compared with the swing of a single joint rigid plate, the reaction force of the multi-joint flexible wing 3 is smaller, and the power of the underwater advance is greater. If the angle is not parallel to the water flow, the dynamic pressure impacting it will generate lift.

[0079] In the hovering state, the underwater glider is in two static equilibrium trends, one is that the underwater glider is in the suspended state, the bidirectional flexible wing-leg hybrid propulsion device of the underwater glider is in the vertical state, and static equilibrium is achieved through active deformation; the other is that the underwater glider is in the ground standing state, the two ends of the contraction rope group 6 are tightened, the tail limiting block 8 is attached to the ground, and the underwater glider is in the static state.

[0080] The wing-leg hybrid propulsion underwater glider working state control method described above, as shown in Figure 14 , 15 , includes the following processes:

[0081] For the floating / sinking working mode, the corresponding wing-leg hybrid propulsion underwater glider working state control method is as follows:

[0082] S11: In the floating / sinking process of the underwater glider, the attitude sensor 21 triggers to collect the seawater incoming flow velocity;

[0083] S12: The collected data signal is transmitted through the control circuit 24 to the control board 23 through the A / D converter 22;

[0084] S13: The control board 23 processes data and issues instructions, calculates the wing lift pulse signal through the control circuit 24 to the rudder group 13;

[0085] S14: The rudder group 13 controls the lengths of the contraction ropes 6-1, 2, 3, and 4 according to the instruction of the pulse signal in the range of the calculation result, changes the overall and local curvature parameters of the flexible wing 3 by fixing the angle of the limiting block 5 with the help of the limiting spring 7; if the pulse signal result accepted by the rudder group 13 is not within the calculation range, the attitude sensor 21 re-collects the seawater incoming flow velocity signal and adjusts the overall and local curvature parameters of the flexible wing 3;

[0086] For the moving working mode, the corresponding wing-leg hybrid propulsion underwater glider working state control method is as follows:

[0087] S21: In the moving process of the underwater glider, the attitude sensor 21 triggers to collect the seawater incoming flow velocity;

[0088] S22: The collected data signal is transmitted through the control circuit 24 to the control board 23 through the A / D converter 22;

[0089] S23: The control board 23 processes data and issues instructions, and the control board 23 sends the pulse signal of the horizontal steady gliding speed equation of the glider to the rudder group 13 and the four driving servo motors 20 through the control circuit 24;

[0090] S24: The rudder group 13 controls the contraction rope group 6 to be in a relaxed state, and the limiting block 5 group changes freely with the resistance of the water flow; to achieve efficient periodic propulsion underwater, the limiting block 5 uses the contraction and relaxation of the line mechanism to realize the wave-shaped swing of the imitation tail fin under the periodic torque of the rudder group 13, and the four driving servo motors 20 swing synchronously in amplitude to generate oscillating thrust through the periodic wave-shaped swing of the flexible wing 3;

[0091] For the hovering working mode, the corresponding wing-leg hybrid propulsion underwater glider working state control method is as follows:

[0092] S31: During the process of the underwater glider floating in the water, the underwater glider bidirectional flexible wing-leg hybrid propulsion device assumes a vertical state, and the attitude sensor 21 triggers to collect the sea water flow velocity;

[0093] S32: The collected data signal is transmitted through the control circuit 24 and delivered to the control board 23 through the A / D converter 22;

[0094] S33: The control board 23 processes data and issues instructions, and the control board 23 sends the feedback time-varying speed data pulse signal to the rudder group 13 through the control circuit 24;

[0095] S34: The rudder 13-1 controls the contraction rope 6-1 and the contraction rope 6-3 at both ends to be in a tightened state, and the rudder 13-1 controls the contraction rope 6-2 and the contraction rope 6-4 at both ends to be in a tightened state. The contraction reserve of the contraction rope group 6 group is manipulated in real time, the angle of the limiting block 5 is fixed by the limiting spring 7, the local camber parameter of the flexible wing 3 is changed, the flapping wing of active deformation is realized, and the opposite direction swing of the flow velocity is executed.

[0096] For the seabed operation working mode, the corresponding wing-leg hybrid propulsion underwater glider working state control method is as follows:

[0097] S41: When the underwater glider reaches the preset distance from the ground during the seabed operation engineering, the control board 23 processes data and issues instructions; the control board 23 sends a signal to the rudder group 13 through the control circuit 24, the rudder 13-1 tightens one end of the contraction rope 6-1 or the contraction rope 6-3, and at the same time the rudder 13-1 tightens one end of the contraction rope 6-2 or the contraction rope 6-4, and the flexible wing assumes a C-shaped leg shaft;

[0098] S42: The control board 23 sends a pulse signal of the cycloidal motion equation to the four driving servo motors 20 through the control circuit 24, and the four driving servo motors 20 drive the four C-shaped legs to rotate forward synchronously according to the instructions of the pulse signal.

[0099] S43; when the control board 23 receives the height of the front obstacle is less than 1 / 2 of the height of the C-shaped leg shaft, the four C-shaped leg shafts bend in the same direction, the four driving servo motors 20 drive the four flexible wing-legs which are 180° apart, and the two pairs of them rotate alternately to move forward;

[0100] S44: when the control board 23 receives the height of the front obstacle is greater than 1 / 2 of the height of the C-shaped leg shaft, the steering gear set 13 adjusts the contraction of the rope set 6 to change the bending of the C-shaped leg shafts in different directions, the four driving servo motors 20 drive the four flexible wing-legs which are 180° apart, and the two pairs of them rotate alternately to crawl.

Claims

1. A wing-leg hybrid propelled underwater glider comprising a glider body, characterized in that: The two-way flexible wing leg hybrid propulsion device and the control board (23) installed in the cabin of the glider body for controlling the movement of the two-way flexible wing leg hybrid propulsion device are arranged on both sides of the glider body; The two-way flexible wing leg hybrid propulsion device comprises a wire mechanism driving part (1-0), a limiting block assembly (2-0), flexible wings (3), a driving control unit (4-0) and a shell assembly (5-0). The wire mechanism driving part (1-0) is installed inside the shell assembly (5-0), and the limiting block assembly (2-0) is arranged at the middle part outside the shell assembly (5-0). The wire mechanism driving part (1-0) comprises two groups of contraction rope groups (6), which are respectively arranged from the inside of the shell assembly (5-0) and connected with the limiting block assembly (2-0). The flexible wings (3) are arranged symmetrically on the opposite sides of the limiting block assembly (2-0) and connected with the limiting block assembly (2-0). The driving control unit (4-0) comprises a driving servo motor (20) installed in the cabin of the glider body, and the motor shaft of the driving servo motor (20) is connected with the shell assembly (5-0). The flexible wings (3) are connected with the driving control unit (4-0). The wire mechanism driving part (1-0), the driving control unit (4-0) and the driving servo motor (20) are respectively connected with the control board (23) in signal. The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0) comprises limiting elastic connecting plates (4), limiting blocks (5), limiting springs (7) and tail limiting blocks (8). The limiting block assembly (2-0 2. The wing-leg hybrid propelled underwater glider according to claim 1, characterized in that: ​ The driving assembly comprises a worm (9), a worm transmission shaft (12), a rudder set (13), a worm wheel (14), a pulley (15), a pulley pin shaft (16), a coupling (17), a worm wheel sleeve (18), the rudder set (13) is installed on the inner wall of the shell assembly (5-0), one end of the worm transmission shaft (12) is connected with the rudder set (13) through the coupling (17), the other end is connected with the worm (9), the worm wheel (14) is installed on the inner wall of the shell assembly (5-0) through a support bearing seat and is engaged with the worm (9), the worm wheel (14) is coaxially installed with the worm wheel sleeve (18), the pulley (15) is coaxially connected with the worm wheel sleeve (18) through the pulley pin shaft (16), the contraction rope set (6) is wound on the pulley (15), and the rudder set (13) is signal connected with the control panel (23).

3. The wing-leg hybrid propelled underwater glider according to claim 2, characterized in that: The pulley (15) is a double pulley arranged symmetrically upward and downward, the wire in the pulley groove at one end is wound clockwise, the wire in the pulley groove at the other end is wound counterclockwise, the two groups of contraction rope sets (6) are each provided with two strands of contraction ropes, which are contraction rope one (6-1) and contraction rope three (6-3) in one strand and contraction rope two (6-2) and contraction rope four (6-4) in one strand, and are wound on the rope grooves of the corresponding pulleys (15), wherein the contraction rope one (6-1) and the contraction rope three (6-3) are interconnected and wound on the same pulley (15) to form a telescopic relationship, and the contraction rope two (6-2) and the contraction rope four (6-4) are interconnected and wound on the other same pulley (15) to form a telescopic relationship.

4. The wing-leg hybrid propelled underwater glider of claim 1, wherein: The limiting spring (7) is a torsion spring, the spiral part of the limiting spring (7) is sleeved on the limiting block connecting shaft (19), and the two torsion rods are clamped on the opposite surfaces of the two adjacent limiting blocks (5) or the opposite surfaces of the tail limiting block (8) and the limiting block (5) arranged at the end.

5. The wing-leg hybrid propelled underwater glider of claim 1, wherein: The flexible wing (3) is made of silica gel, a plurality of mounting hole positions are formed on one side of the flexible wing (3) and arranged in sequence along the wing length direction of the flexible wing (3), the number of the mounting hole positions is equal to the number of the limiting blocks (5), and one limiting elastic connecting plate (4) is arranged in each mounting hole position, and a bolt mounting hole position is arranged on the limiting elastic connecting plate (4).

6. The wing-leg hybrid propelled underwater glider of claim 1, wherein: The number of the limiting blocks (5) is 5-9, the included angle θ between the two adjacent limiting blocks (5) is 22°-28°, and the swing angle α is 6°-10°.

7. The wing-leg hybrid propelled underwater glider of claim 1, wherein: The driving control unit (4-0) further comprises a posture sensor (21), an A / D converter (22) and a control circuit (24), the control panel (23) is an STM32 control panel, a plurality of posture sensors (21) are arranged in sequence and spaced apart inside the flexible wing (3) along the wing length direction of the flexible wing (3), the posture sensor (21) is connected with the STM32 control panel (23) through the A / D converter (22), and the three are sequentially and signal connected through the control circuit (24).

8. The wing-leg hybrid propelled underwater glider of claim 1, wherein: The shell assembly (5-0) comprises a wing-shaped shell (1), a wing-shaped shell sealing cover (2), and a wire mechanism driving part (1-0) installed in the hollow wing-shaped shell (1) of the head part and sealed in the interior thereof through the wing-shaped shell sealing cover (2), so that the shell assembly (5-0) is in the shape of a delta wing.

9. A method for operating the wing-leg hybrid propulsion underwater glider according to any one of claims 1-8, characterized in that, For the floating / sinking operation mode, the corresponding wing-leg hybrid propulsion underwater glider operation state control method is as follows: S11: In the floating / sinking process of the underwater glider, the driving control unit triggers the collection of the seawater inflow velocity; S12: The driving control unit transmits the collected data signal to the control board; S13: The control board processes the data and issues instructions to calculate the lift of the wing The pulse signal is transmitted to the line mechanism drive part; S14: The wire mechanism driving part controls the length of the two groups of contraction ropes according to the instruction of the pulse signal in the range of the calculation result, changes the overall and local curvature parameters of the flexible wing, and if the pulse signal result accepted by the wire mechanism driving part is not within the calculation range, the driving control unit re-collects the seawater inflow velocity signal and adjusts the overall and local curvature parameters of the flexible wing; For the moving operation mode, the corresponding wing-leg hybrid propulsion underwater glider operation state control method is as follows: S21: In the moving process of the underwater glider, the driving control unit triggers the collection of the seawater inflow velocity; S22: The driving control unit transmits the collected data signal to the control board; S23: The control board processes the data and issues an instruction, and the control board issues a pulse signal of the horizontal steady gliding speed equation of the glider to the wire mechanism driving part and the driving servo motor; S24: The wire mechanism driving part controls the contraction rope group to be in a relaxed state, and the limiting block assembly freely changes with the water flow resistance; to realize efficient periodic propulsion underwater, the limiting block assembly realizes the wave-shaped swinging of the imitation tail fin under the periodic torque of the wire mechanism driving part by using the contraction and relaxation of the contraction rope group, and the driving servo motor synchronously swings the amplitude to generate oscillating thrust through the periodic wave-shaped swinging of the flexible wing; For the hovering operation mode, the corresponding wing-leg hybrid propulsion underwater glider operation state control method is as follows: S31: In the hovering process of the underwater glider in water, the bidirectional flexible wing-leg hybrid propulsion device is in a vertical state, and the driving control unit triggers the collection of the seawater inflow velocity; S32: The driving control unit transmits the collected data signal to the control board; S33: The control board processes the data and issues an instruction, and issues a pulse signal of the feedback time-varying velocity data to the wire mechanism driving part; S34: The wire mechanism driving part controls the two groups of contraction rope groups to be in a tightened state, real-time controls the contraction allowance of the two groups of contraction rope groups, changes the local curvature parameters of the flexible wing through the limiting block assembly, realizes the active deformation of the flapping wing, and executes the swinging in the opposite direction of the inflow velocity; For the seabed operation mode, the corresponding wing-leg hybrid propulsion underwater glider operation state control method is as follows: S41: When the underwater glider reaches the preset distance from the ground in the seabed operation project, the control panel processes data and issues instructions; the control panel sends signals to the wire mechanism driving part, the wire mechanism driving part controls the retraction and release state of the two groups of retractable rope groups, and the flexible wing is in the shape of C-shaped legs through the limiting block assembly; S42: The cycloid motion equation issued by the control board is The pulse signal is given to the driving servo motor, and the driving servo motor drives the corresponding C-shaped legs bent in the same direction to rotate forward synchronously according to the instruction of the pulse signal; S43: When the control panel receives that the height of the front obstacle is less than 1 / 2 of the height of the C-shaped leg, the C-shaped leg bends in the same direction, the corresponding double flexible wing leg hybrid propulsion device is driven by the servo motor, the angle between the adjacent two double flexible wing leg hybrid propulsion devices is 180°, and the two rotate alternately to move forward; S44: When the control panel receives that the height of the front obstacle is greater than 1 / 2 of the height of the C-shaped leg shaft, the wire mechanism driving part adjusts the retractable rope group to change the bending of the C-shaped leg in different directions, so that the angle between the adjacent two double flexible wing leg hybrid propulsion devices is 180°, and the two rotate alternately to move forward.

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