Wave glider system for controlling steering based on sea surface floating body cable transmission

Abstract

The invention belongs to the field of wave gliders, and particularly discloses a wave glider system for controlling steering based on sea surface floating body cable transmission, steering driving torque of a sea surface floating body is transmitted by means of a thin and long cable between the sea surface floating body and a glider, an underwater glider wing plate limiting device is driven to rotate by 180 degrees, and by means of rotation of the limiting device, the underwater glider wing plate is driven to rotate by 180 degrees. And the wing plate in contact with the limiting device is driven to turn over, so that the turning and reversing of the wing plate are realized. After all or part of the wing plates on one side are turned over, the horizontal thrust borne by the wing plate and the thrust borne by the other wing plate form steering torque, and the whole wave glider is driven to steer. Only a mechanical transmission structure is designed in the underwater glider, and power elements do not need to be installed.

Description

Technical Field

[0001] The invention belongs to the field of wave gliders, and is applied to the technical field of low-energy steering of wave gliders during cruising, and specifically relates to a wave glider system for realizing route deflection based on a sea surface floating body cable transmission control system. Background Art

[0002] The wave glider is an unmanned ocean observation platform that uses wave energy as power. Its unique design allows it to sail autonomously on the sea without relying on too much energy and without generating energy consumption and pollution. It can thus achieve long-term, large-scale ocean work and has broad application backgrounds in national defense, fisheries, resource exploration and other fields.

[0003] At present, the steering and turning of the wave glider system in the existing technology basically adopts a float and glider dual servo structure, which controls the tail fin servo to force the steering. The turning radius is large, and it is difficult to control the steering of the float and the glider dual servos at the same time. The underwater glider needs to be equipped with a drive, energy supply system, signal receiving system, control system and transmission system, which leads to high sealing requirements and poor robustness. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a wave glider system based on sea surface floating body cable transmission control steering, which can simplify the underwater glider system, eliminate the drive system, energy supply system, signal receiving system and control system, and only requires the transmission system to transmit the steering drive torque of the sea surface floating body to the flip wing plate to achieve steering, thereby improving the stability of the system.

[0005] In order to achieve the above object, the present invention is implemented by the following technical solutions

[0006] A wave glider system based on sea surface floating body cable transmission control steering comprises a floating body and a wave glider, wherein the wave glider comprises a wave glider body and wing panels installed on both sides of the wave glider body, wherein the wing panel on one side is connected to a transmission device, a driving device at the front end of the floating body is connected to the transmission device on the wave glider through an active screw mechanism and a rope closed winding, and the rear end of the floating body is connected to the wave glider through a cable of fixed length or an optoelectronic composite cable with information transmission function; the driving device can drive all or part of the wing panels on the same side to flip 180 degrees through the rope closed winding, thereby realizing the steering of the wave glider system.

[0007] As a further technical solution, the rope is spirally wound on the active screw mechanism, and the rope is a complete closed system.

[0008] As a further technical solution, the driving device at the front end of the floating body can also be connected to the transmission device on the wave glider through a gear-chain transmission system.

[0009] As a further technical solution, the gear-chain transmission system includes a driving sprocket, a driven sprocket, a chain and a rope. The driving sprocket is connected to the driving shaft of the driving device, and the driving sprocket is connected to the first section of the chain, and the driven sprocket is connected to the second section of the chain. The two ends of the first chain are connected to the two ends of the second chain by two ropes to form a closed loop.

[0010] As a further technical solution, the transmission device on the wave glider is a chain transmission device, a synchronous belt transmission or a parallel connecting rod mechanism.

[0011] As a further technical solution, the transmission device includes a device with a one-way transmission function.

[0012] As a further technical solution, a limiting device is installed between the wing plate and the transmission device.

[0013] As a further technical solution, the glider is bilaterally symmetrical, and its center of gravity is located directly below the geometric centroid of the horizontal plane.

[0014] As a further technical solution, the floating body is a bionic structure of a tadpole-like or slender boat-shaped structure, so that there is a horizontal offset between the center of gravity of the floating body and the water action center of the floating body.

[0015] As a further technical solution, a measurement operation system, an energy supply system or a communication system is carried on the floating body.

[0016] During the process of changing direction, the driving device in the upper floating body drives the wing plate to rotate 180° through the transmission device, so that the streamlined part of the flip wing plate is flipped and the forward direction is changed, thereby achieving two-way travel and two-way limiting. The above-mentioned driving device provides power for the transmission mechanism. When turning, the transmission device causes all the single-sided limited wing plates to flip in the full wing plate flipping mode, forming a large steering torque, which can be turned to a larger extent, but at the same time the energy loss increases. When turning a part of the wing plate, after the partial limited wing plate is flipped, the two sides form a thrust difference due to uneven force. At this moment, the power of the driving device is much less than that in the full wing plate flipping mode.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention transmits the power of the motor on the floating body to the underwater glider through cable transmission, which can avoid the installation of electrical components inside the underwater glider and the transmission of power from the floating body on the water surface to the underwater glider, thereby eliminating the need to arrange long lengths of wires in the seawater. At the same time, since there is only a mechanical structure inside the underwater glider, compared with the configuration in which the motor is arranged inside the glider, there is no need to ensure the sealing to protect the electrical components, which can reduce the design requirements and manufacturing costs of the underwater glider. At the same time, the present invention drives the wing panels on the same side to flip. After flipping, the horizontal thrust received by the side wing panel is opposite to the force direction received by the other side wing panel, forming a steering torque, driving the wave glider to turn as a whole, and can turn to any angle; or, only part of the wing panels on the same side are flipped to reduce the resultant force of the horizontal thrust received by the side wing panel. The thrust received by the flipped side wing panel is smaller than that on the other side, resulting in a thrust difference, driving the wave glider to turn as a whole, and the steering angle is arbitrary. The floating body and the wave glider are connected by cables, which can transmit signals, detect data feedback and traction between the wave glider and the floating body; during the travel, the floating body only plays the role of receiving data and guiding small-angle steering, and does not provide power for the wave glider system. At the same time, the drive device-servo only provides power when changing the direction of travel, and does not provide forward power for the system. The forward power of the system comes from the wave glider converting wave energy into kinetic energy.

[0019] 2. The present invention places all steering gears above water through the design of the transmission device. The underwater glider does not carry an energy system and a steering system, freeing up space for more sensors. The worm gear structure in the transmission device allows the drive device to only drive the limit device to rotate in one direction, and the limit device then drives the wing plate to rotate; while the wing plate will not reverse the limit device. At the same time, the deceleration effect is achieved, the torque of the drive device is reduced, the rotation speed of the drive device is used in exchange for the high torque of the drive limit device, and the specifications of the drive device are reduced.

[0020] 3. The present invention provides limit angle conversion through the setting of the limit device. The overall structure is relatively simple and has a small turning radius, which greatly reduces the time required for turning around, thereby improving the efficiency of ocean exploration of the wave glider and improving the quality of ocean exploration. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the wave glider system for realizing reversing cruising based on flip wing panels disclosed in Embodiment 1 and Embodiment 2;

[0022] Figure 2 It is a top view of the floating body;

[0023] Figure 3 It is the front view of the underwater glider;

[0024] Figure 4is a schematic diagram of a wave glider with all wing panels on one side flipped up as disclosed in Example 1;

[0025] Figure 5 It is a structural schematic diagram of a form of the flip wing system of the wave glider for realizing reversing cruising based on the flip wing disclosed in Example 1;

[0026] Figure 6 It is a structural schematic diagram of another form of the flip wing system of the wave glider disclosed in Example 1 for realizing reversing cruising based on the flip wing.

[0027] Figure 7 is a schematic diagram of the active screw mechanism disclosed in Example 1;

[0028] Figure 8 is a schematic diagram of the transmission screw mechanism disclosed in Example 1;

[0029] Fig. 9 is a schematic diagram of the transmission device structure disclosed in Example 1;

[0030] Fig.10 is a schematic diagram of the installation of the steering gear disclosed in Example 1;

[0031] Fig.11 This is a schematic diagram of the installation of some parts inside the glider disclosed in Example 1

[0032] Fig.12 It is a schematic diagram of the limiting device disclosed in Example 1.

[0033] Fig.13 is a schematic diagram of a chain-rope transmission between the floating body and the wave glider disclosed in Embodiment 1;

[0034] Fig.14 It is a structural schematic diagram of a form of a partial wing panel flipping system of a wave glider for realizing reversing cruising based on flipping wing panels disclosed in Example 2;

[0035] Fig.15 It is a structural schematic diagram of another form of the system for flipping a portion of the wing panels of a wave glider for achieving directional cruising based on flipping wing panels disclosed in Example 2.

[0036] In the figure: the distances or sizes between parts are exaggerated to show the positions of each part, and the schematic diagram is for reference only.

[0037] 101. Floating body; 102. Wave glider; 103. Fixed length cable; 104. Center of mass of floating body; 105. Hydraulic action point of floating body; 106. Center of mass of glider; 107. Buoyancy center of glider;

[0038] 201. Flip wing system; 202. Glider body;

[0039] 301. Limiting device; 302. Wing plate; 303. Rocker; 304. Main connecting rod; 305. Sub-connecting rod;

[0040] 401. Active screw mechanism; 402. Transmission screw mechanism; 403. Transmission cable; 404. Worm gear; 405. Worm; 406. Steering gear;

[0041] 407. Second chain; 408. First chain; 409. Driving sprocket; 410. Driven sprocket;

[0042] 501. Limit sleeve; 502. Wing plate shaft; DETAILED DESCRIPTION

[0043] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0044] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the present invention explicitly states otherwise, singular forms are also intended to include plural forms. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0045] For the convenience of description, if the words "up", "down", "left" and "right" appear in the present invention, they only indicate that they are consistent with the up, down, left and right directions of the drawings themselves, and do not limit the structure. They are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0046] As introduced in the background technology, the existing wave glider has the problem that the steering gear has high working power when turning, which makes the underwater glider and the floating body have low autonomy, cannot turn around in time when encountering emergencies, and consumes a lot of energy for turning. In order to solve the above technical problems, the present invention proposes a two-way wave glider for underwater cruise detection.

[0047] Example 1

[0048] In a typical embodiment of the present invention, Figure 1As shown, a wave glider based on flip wing to achieve reversing cruise is proposed, and the driving device of the underwater glider and the driving prime mover system at the surface floating body end are connected by means of flexible long-distance transmission devices such as ropes, rope-belt combinations, rope-chain combinations, etc. The driving prime mover system is preferably a motor, and the power supply comes from photovoltaic or other energy capture devices at the floating body end. Specifically, it includes two parts, a floating body 101 and a wave glider 102, wherein the wave glider 102 includes a glider body 202 and a flip wing system 201; the floating body and the wave glider are connected by a fixed-length cable 103 and a transmission cable 403, and the transmission cable 403 can transmit power and traction between the wave glider and the floating body. An approximately triangular or trapezoidal layout is adopted between the wave glider 102 and the sea surface buoy 1. Taking the trapezoid as an example, the glider corresponds to the lower side of the trapezoid, and the buoy corresponds to the lower side of the trapezoid. The left side of the trapezoid is a fixed-length cable without a transmission function or an optoelectronic composite cable with an information transmission function, and it is a loose side; the right side of the trapezoid is a rope closed winding with a transmission function, which is a tight side. The rope closed winding with a transmission function can be a variable transmission ratio. In the present invention, the rotation radius of the buoy end is small, and the rotation radius of the glider end is large. The large rotation angle of the prime mover system at the buoy end is exchanged for the large torque of the glider drive device.

[0049] For the rotating structure with ropes wrapped around the float and glider ends, a threaded rod-rope system is used. Multiple turns of spiral winding can prevent the rope from falling off the spiral groove, while increasing friction and reducing slipping. Alternatively, a gear-chain transmission system can be used to ensure accurate calculation of the flip angle of the underwater glider wing.

[0050] Furthermore, when a threaded rod-rope system is used, the rope itself is a complete closed system. Through spiral winding, a transmission relationship with the spiral rotating body connected to the driving motive system is established with the help of friction. The rotating body can rotate an infinite number of times. The degree of flipping of the underwater wing plate can be calculated by recording the rotation angle of the rotating body and the overall transmission ratio of the system; or the two ends of the rope are fixed at the midpoint of the screw and are wrapped around the two ends for multiple turns at the same thread inclination angle. This structure avoids slipping and uses the rotation angle of the screw or the limiting structure to accurately control the flipping angle of the wing plate.

[0051] like Fig.13As shown, when a gear-chain transmission system is used, a chain-rope combination can be used to increase the length of the chain; specifically, it includes a driving sprocket 409, a driven sprocket 410, a first chain 408, a second chain 407 and a transmission cable 403, wherein the driving sprocket 409 is connected to the driving shaft of the driving device, and the driving sprocket 409 is connected to the first section of the chain 408, and the driven sprocket 410 is connected to the second section of the chain 407, and the two ends of the first chain 408 are connected to the two ends of the second chain 407 through the transmission cable 403 to form a closed loop. The length of the chain between the surface float and the underwater glider ensures that the wing panel is meshed with the gear when the flip is completed, and other parts can be replaced by ropes to reduce costs.

[0052] Further, such as Figure 2 As shown, in order to ensure its stability, the float 101 is designed as a tadpole-like bionic structure, that is, a long tail and a low center of gravity to enhance its self-righting ability. At the same time, considering the problem of utilizing waves and reducing resistance, the shapes of the two ends of the float head are designed to be arc-shaped. Further, the center of mass 104 of the float in the present invention is located in the middle of the head of the float 101, and the hydraulic action point 105 of the float is located in the middle of the tail of the float 101.

[0053] Further, such as Figure 3 As shown, the design of the wave glider 102 with free steering function should take its stability into consideration. When the wing panel flips, in order to avoid problems such as rolling and pitching caused by different water resistance on both sides, the left and right ends of the wave glider should be kept symmetrical as much as possible to reduce the impact of uneven water resistance on both sides. At the same time, the internal space structure of the wave glider is arranged to increase the distance between the glider's center of mass 106 and the glider's buoyancy center 107 to enhance the wave glider's ability to return to the center of stability. Specifically, the glider's center of gravity is directly below the geometric centroid of the horizontal plane; a lead pendant is added directly below the glider's center of gravity to increase the vertical distance between the center of gravity and the center of buoyancy, thereby enhancing the wave glider's ability to return to the center of stability.

[0054] refer to Figure 4 , Figure 5 , Figure 6 , Figure 7 It can be seen that the U-turn of the wave glider in this embodiment is achieved by turning the single-side wing plate 180° to achieve a force difference on both sides of the wave glider. Figure 5 When receiving the turning instruction, the wing of the wave glider will be flipped up and down at the same time. Figure 6 The mode is opened, and the force directions on both sides are different, thus achieving turning.

[0055] In this embodiment, the steering mode of the wave glider includes a single-side full-wing panel flipping mode, that is, the wing panels on one side are all flipped 180 degrees, wherein the servo on the float provides power for the transmission mechanism. When turning, the transmission device transmits torque to the worm gear in the full-wing panel flipping mode, so that the single-side limited wing panels are all flipped, forming a larger steering torque, which can perform a larger range of steering, but at the same time the energy loss is increased.

[0056] refer to Figure 5 , Figure 6 , Figure 7 , Figure 8 It can be seen that the transmission device structure of the wave glider proposed in this embodiment is composed of an active screw mechanism 401, a transmission screw mechanism 402, a transmission cable 403, a worm wheel 404, a worm 405, a rocker 303, a main connecting rod 304, a branch connecting rod 305, and a limit device 301. The servo in this embodiment is fixed in the floating body, the active screw mechanism 401 is connected to the lower transmission screw mechanism 402 through a rope, and the lower transmission screw mechanism 402 drives the worm 405 to rotate, the worm wheel 404 cooperates with the rocker 303 to drive the rocker 303 to rotate, the rocker 303 is connected to a long main connecting rod 304, the main connecting rod 304 is connected to a plurality of branch connecting rods 305, each branch connecting rod 305 is connected to the limit device 301, and the limit device 301 is connected to the wing plate 302 of the wave glider. When the upper steering gear 406 applies an axial force to the pulley mechanism, the transmission mechanism drives the rocker 303 to rotate, and the rocker 303 pushes the main connecting rod 304 to push the limit device 301 to rotate, so as to achieve the purpose of reversing the flip wing plate 302.

[0057] Of course, the rocker arm 303, the main connecting rod 304, and the branch connecting rod 305 can also be replaced with a chain drive, a synchronous belt drive, etc., to connect the limiting device of the wing panel with a flipping function to realize the synchronous flipping of the wing panel with a flipping function; with the help of a rotary drive device, the limiting device of the wing panel of the underwater glider is rotated 180 degrees in a circumferential direction, and each wing panel is pushed to flip with the help of the rotation of the limiting device to realize the flipping direction of the wing panel.

[0058] A device with a one-way transmission function is added to the above transmission device structure, which can only make the limit device drive the wing plate to rotate in the set direction, and the wing plate will not rotate in the opposite direction; specifically, the worm gear structure makes the driving device only drive the limit device 301 to rotate in one direction, and the limit device 301 then drives the wing plate 302 to rotate; and the wing plate 302 will not rotate the limit device 301 in the opposite direction. At the same time, the worm gear structure also plays a deceleration function, reducing the torque of the driving device, using the rotation speed of the driving device in exchange for the high torque of the driving limit device, and reducing the specifications of the driving device. The existence of the worm gear also prevents the wing plate 302 from reacting to the motor.

[0059] Furthermore, a reduction device may be added to the transmission device of the glider to reduce the torque of the driving device, and the rotation of the driving device may be used to exchange for the high torque of the limiting device.

[0060] It should be noted that during the travel, the floating body 101 only plays the role of receiving data and steering at a small angle, and does not provide power for the wave glider 102 system. At the same time, the steering gear 406 only provides power when changing the direction of travel, and does not provide forward power for the system. The forward power of the system comes from the wave glider 102 converting wave energy into kinetic energy, thereby greatly reducing energy loss.

[0061] In this embodiment, the limiting device of the wave glider wing plate 302 is axially rotated 180 degrees by the above-mentioned transmission device. With the help of the rotation of the limiting device 301, the wing plate 302 in contact with the rotating limiting device 301 is driven to flip, thereby realizing the flipping direction of the wing plate 302.

[0062] In this embodiment, only all the wing panels on the same side can be flipped. After flipping, the horizontal thrust on the wing panel on this side is opposite to the force on the wing panel on the other side, forming a steering torque, which drives the wave glider to turn as a whole, and can turn to any angle.

[0063] In the above-mentioned steering mode for the wave glider, when the wing panels on one side are turned over, the limit wing panels are connected by connecting rods to achieve the simultaneous transmission of torque to each wing panel and the simultaneous control of the wing panel on one side by the control mechanism. In this mode, the wing panel is rotated 180° by the rotary drive device.

[0064] The above-mentioned limiting device is composed of a limiting sleeve 501 and a wing plate shaft 502; the internal slot of the limiting sleeve 501 cooperates with the limiting block on the wing plate shaft 502, and the wing plate shaft 502 is fixedly connected to the wing plate 302, thereby limiting the relative rotation angle between the wing plate 302 and the limiting sleeve 501. The limiting sleeve 501 on one side is fixedly connected to the glider body 202; the limiting sleeve 501 on the other side is supported by the glider body 202 and can rotate axially, and each limiting sleeve 501 on this side is fixedly connected to the connecting rod 305, and the rocker 303 drives each wing plate shaft 502 to deflect 180 degrees through the main connecting rod 304 and the connecting rod 305.

[0065] refer to Figure 2In order to ensure the stability of the above-mentioned floating body 101, its floating body shape is designed to be a slender boat-shaped structure or a tadpole-like bionic structure, that is, a long tail structure is used to add a vertical stabilizer at the rear of the floating body to enhance the heading stability. At the same time, the two-way floating body head shape is designed to be an arc shape in consideration of utilizing waves and reducing resistance. This makes the center of gravity of the floating body and the water action center of the floating body have a horizontal offset. This design can make the rotation center of the floating body close to the center of gravity and the cable connection point when turning. The water action force in the vertical direction of the length of the floating body generates a torque around the rotation center, so that the floating body can turn under the action of the traction provided by the cable by the glider.

[0066] Furthermore, the floating body in this embodiment is also equipped with a measurement operation system, an energy supply system, a communication system, etc. These systems can completely adopt existing technologies, so they will not be described in detail in this embodiment.

[0067] Example 2

[0068] This embodiment provides another wave glider based on flip wing panels to achieve reversing cruise. Figure 8 , Attachment Fig. 9 , Attachment Fig.10 ; The difference between this embodiment and embodiment 1 is that only part of the wing panels on the same side are flipped. When the partial wing panels are turned, after the partial limit wing panels are flipped, the two sides form a thrust difference due to uneven force. At this moment, the servo power is much less than that in the full wing panel flipping mode; specifically, the thrust received by the flipped side wing panel is smaller than that on the other side, resulting in a thrust difference, which drives the wave glider to turn as a whole, and the turning angle is arbitrary.

[0069] The specific structure is:

[0070] The transmission device structure is composed of an active screw mechanism 401, a transmission screw mechanism 402, a transmission cable 403, a worm wheel 404, a worm 405, a rocker 303, a total connecting rod 304, and a limit device 301; the steering gear is fixed in the floating body, the active screw mechanism 401 is connected to the transmission screw mechanism 402 below through a rope, and the transmission screw mechanism 402 below drives the worm 405 to rotate, and the worm wheel 404 cooperates with the rocker 303 to drive the rocker 303 to rotate, and the rocker 303 is connected to a long main connecting rod 304, and the main connecting rod 304 is connected to multiple or one branch connecting rods 305, but the number of branch connecting rods 305 is less than the number of single-side wing panels; each branch connecting rod 305 is connected to a limit device, and each limit device is connected to its corresponding wave glider wing panel; when the upper servo applies axial force to the pulley mechanism, the transmission mechanism drives the rocker to rotate, and the rocker pushes the connecting rod to drive the limit device to rotate to achieve the purpose of rotating and flipping the wing panel.

[0071] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A wave glider system based on sea surface floating body cable transmission control steering, comprising a floating body and a wave glider, characterized in that: The wave glider comprises a wave glider body and wing panels installed on both sides of the wave glider body, wherein the wing panel on one side is connected to a transmission device, the driving device at the front end of the floating body is connected to the transmission device on the wave glider through an active screw mechanism and a rope closed winding, and the rear end of the floating body is connected to the wave glider through a cable of fixed length or an optoelectronic composite cable with an information transmission function; the driving device can drive all or part of the wing panels on the same side to flip 180 degrees through the rope closed winding, thereby realizing the steering of the wave glider system.

2. The wave glider system based on sea surface floating body cable transmission control steering as claimed in claim 1, characterized in that: The rope is spirally wound on the master and slave screw mechanisms, and the rope is a complete closed system, or a certain point or section of the rope is fixed by a fixing device, and the rest of the rope is wound on the master and slave screws.

3. The wave glider system based on sea surface floating body cable transmission and steering control as claimed in claim 1, characterized in that: The driving device at the front end of the floating body can also be connected to the transmission device on the wave glider through a gear-chain transmission system.

4. The wave glider system based on sea surface floating body cable transmission and steering control as claimed in claim 3 is characterized in that: The gear-chain transmission system includes a driving sprocket, a driven sprocket, a chain and a rope. The driving sprocket is connected to the driving shaft of the driving device, and the driving sprocket is connected to the first section of the chain, and the driven sprocket is connected to the second section of the chain. The two ends of the first chain are connected to the two ends of the second chain through two ropes to form a closed loop.

5. The wave glider system based on sea surface floating body cable transmission control steering as claimed in claim 1, characterized in that: The transmission device on the wave glider is a chain transmission device, a synchronous belt transmission or a parallel connecting rod mechanism.

6. The wave glider system based on sea surface floating body cable transmission and steering control as claimed in claim 1, characterized in that: The transmission device includes a device with a one-way transmission function.

7. The wave glider system based on sea surface floating body cable transmission and steering control as claimed in claim 1, characterized in that: A limiting device is installed between the wing plate and the transmission device.

8. The wave glider system based on sea surface floating body cable transmission and steering control as claimed in claim 1, characterized in that: The glider is bilaterally symmetrical, and its center of gravity is located just below the geometric centroid of the horizontal plane.

9. The wave glider system based on sea surface floating body cable transmission and steering control as claimed in claim 1, characterized in that: The floating body is a bionic structure of a tadpole-like or slender boat-shaped structure, so that there is a horizontal offset between the center of gravity of the floating body and the water action center of the floating body.

10. The wave glider system based on sea surface floating body cable transmission control steering as claimed in claim 1, characterized in that: A measurement operation system, an energy supply system or a communication system is carried on the floating body.

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