Hybrid drive type wing body fusion configuration underwater glider and control method thereof

Abstract

The invention discloses a hybrid drive type wing body fusion configuration underwater glider and a control method thereof.The underwater glider is provided with a glider body and hydrofoils located on the two sides of the glider body, horizontal through holes are symmetrically formed in the two hydrofoils, and a horizontal propeller is arranged in each horizontal through hole; two vertical through holes are symmetrically formed in the middle of the fuselage, and a vertical propeller is arranged in each of the two vertical through holes; two tail vane plates capable of independently turning over up and down are symmetrically arranged at the tail part of the fuselage; the horizontal propellers and the vertical propellers are shaftless propellers; two mechanical arm storage cabins are symmetrically arranged at the bottom of the machine body, an underwater operation mechanical arm is arranged in each of the two mechanical arm storage cabins, and the underwater operation mechanical arms can be unfolded for underwater operation or retracted into the mechanical arm storage cabins. The underwater robot has higher operation flexibility and can meet the requirement for executing high-power underwater operation; and the underwater operation mechanical arm and the machine body are integrally designed, so that the influence of hydrodynamic performance is reduced.

Description

Technical Field

[0001] This invention relates to a blended wing-body underwater glider and its control method, specifically to a hybrid-drive blended wing-body underwater glider and its control method. Background Technology

[0002] Compared to traditional underwater gliders consisting of a rotating body, hydrofoils, and control surfaces, blended wing-body underwater gliders feature a flattened airfoil profile, with the hydrofoils seamlessly integrated into the fuselage, resulting in a higher lift-to-drag ratio. Therefore, existing blended wing-body underwater gliders can achieve more stable and efficient gliding operations in complex hydrodynamic environments in shallow seas, effectively overcoming the limitations of traditional rotating body underwater gliders that are susceptible to topographical and current disturbances in shallow water.

[0003] However, existing blended-wing-body underwater gliders rely heavily on internal buoyancy control for surfacing, diving, and attitude control during underwater operations, resulting in limited maneuverability. Furthermore, due to their propulsionless gliding mode and low power output, these gliders are primarily used for collecting environmental data such as temperature, salinity, and depth, and are ill-suited for high-power underwater operations such as cutting, grasping, and heavy object transport. Currently, there are no blended-wing-body underwater gliders equipped with underwater robotic arms. Summary of the Invention

[0004] Purpose of the invention: The first purpose of this invention is to provide a more flexible hybrid-driven blended wing-body underwater glider; the second purpose of this invention is to provide a control method for the hybrid-driven blended wing-body underwater glider.

[0005] Technical solution: The present invention discloses a hybrid-drive blended wing-body underwater glider, comprising a fuselage and hydrofoils located on both sides of the fuselage. Horizontal through-holes are symmetrically opened on the two hydrofoils, each containing a horizontal thruster. Two vertical through-holes are symmetrically opened in the middle of the fuselage, each containing a vertical thruster. Two tail rudders capable of independently tilting up and down are symmetrically arranged at the tail of the fuselage. The horizontal and vertical thrusters are shaftless thrusters.

[0006] Furthermore, both the hydrofoil's normal axis interface and the fuselage's normal axis interface exhibit symmetrical teardrop-shaped structures.

[0007] Furthermore, a rudder shaft is fixedly connected to the edge of the tail rudder, and the rudder shaft rotates with the tail of the fuselage. A driven gear is fixed to the end of the rudder shaft. A servo motor is installed in the tail compartment of the fuselage. The output end of the servo motor extends out of the compartment and is connected to a drive gear. The drive gear meshes with the driven gear. The two tail rudders are driven by different servos.

[0008] Furthermore, the fuselage has two symmetrically arranged robotic arm storage compartments at its bottom, each containing an underwater robotic arm. The underwater robotic arms can be deployed for underwater operations or retracted into the robotic arm storage compartments.

[0009] Furthermore, when the underwater robotic arm is retracted into the robotic arm storage compartment, the outer contour of the underwater robotic arm smoothly transitions with the bottom surface of the fuselage, forming a continuous and smooth hydrodynamic surface.

[0010] Furthermore, the underwater robotic arm has a 360° rotating base and multiple segments connected by joints. The rotating base is fixed to the front end of the robotic arm storage compartment. The first segment is connected to the rotating base through joints. Each segment can be driven by a joint motor to rotate around the corresponding joint. The last segment is equipped with a worker. The worker is configured according to different operational needs.

[0011] Furthermore, the two robotic arm storage compartments are positioned at an angle of 45° to the central axis section of the underwater glider.

[0012] The control method for the hybrid-drive blended wing-body underwater glider described in this invention achieves flexible attitude adjustment of the underwater glider by controlling the rotation direction and speed of the two vertical thrusters, the rotation direction and speed of the two horizontal thrusters, and the rudder angle of the two tail rudders.

[0013] Furthermore, the two vertical thrusters rotate to generate upward thrust, which counteracts the gravity acting on the underwater glider, allowing it to hover in the water; during lifting operations, the vertical thrusters increase their rotation speed to provide an upward thrust greater than gravity; the horizontal thrusters provide power to counteract the impact of ocean currents; the tail rudder is not in operation.

[0014] In straight-line mode, the two horizontal thrusters rotate clockwise, propelling the underwater glider in a straight-line motion; when turning, one horizontal thruster rotates clockwise and the other horizontal thruster rotates counterclockwise, causing the underwater glider to turn right or left.

[0015] During the ascent, both tail rudders deflect downwards simultaneously, adjusting the pitch angle to a positive value, thus enabling the underwater glider to ascend; during the descent, both tail rudders deflect upwards simultaneously, adjusting the pitch angle to a negative value, thus enabling the underwater glider to descend.

[0016] In roll mode, one vertical thruster rotates forward while the other rotates in reverse, causing the underwater glider to tilt to the left or right.

[0017] Furthermore, during navigation, the two tail rudders can work in a differential manner, with the left and right rudders deflecting in opposite directions to provide a roll moment around the axis for attitude adjustment.

[0018] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

[0019] (1) This invention organically coordinates the rotation direction and speed of two vertical thrusters and two horizontal thrusters, as well as the different rudder angles of the twin tail rudders, to flexibly adjust the attitude of the underwater glider in order to cope with different navigation scenarios and enhance its adaptability to different marine environments and operational flexibility.

[0020] (2) The present invention provides upward thrust by rotating two vertical thrusters, which can realize heavy object transportation operations.

[0021] (3) The present invention integrates the underwater operation robot arm with the fuselage, thereby reducing the impact of the underwater operation robot arm on its hydrodynamic performance during navigation. Attached Figure Description

[0022] Figure 1 This is a schematic diagram showing the underwater robotic arm of the hybrid-drive blended wing-body underwater glider in an embodiment of the present invention.

[0023] Figure 2 and Figure 3 These are schematic diagrams of the underwater robotic arm of the hybrid-drive blended wing-body underwater glider in different perspectives in this embodiment of the invention, showing the retracted state of the robotic arm.

[0024] Figure 4 This is a side-view top view of the fuselage nose of the hybrid-drive blended wing-body underwater glider in this embodiment of the invention;

[0025] Figure 5 This is a schematic diagram of the cooperation structure between the tail rudder plate and the servo motor in an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the vertical thruster rotation direction in the hovering state of the hybrid-drive blended wing-body underwater glider in this embodiment of the invention.

[0027] Figure 7 This is a schematic diagram of the horizontal thruster rotation direction in the straight-line state of the hybrid-drive blended wing-body underwater glider in this embodiment of the invention.

[0028] Figure 8 This is a schematic diagram of the pitch angle of the hybrid-drive blended wing-body underwater glider in its surfacing state, as described in this embodiment of the invention.

[0029] Figure 9 This is a schematic diagram of the pitch angle of the hybrid-drive blended wing-body underwater glider in its diving state, as described in this embodiment of the invention.

[0030] Figure 10 This is a schematic diagram of the attitude angle of the hybrid-drive blended wing-body underwater glider in the right tilt state in an embodiment of the present invention;

[0031] Figure 11 This is a schematic diagram of the attitude angle of the hybrid-drive blended wing-body underwater glider in the left tilt state in an embodiment of the present invention;

[0032] Figure 12 This is a schematic diagram of the horizontal thruster rotation direction in the turning (right turn) state of the hybrid-drive blended wing-body underwater glider in this embodiment of the invention;

[0033] Figure 13 This is a schematic diagram of the horizontal thruster rotation direction in the turning (left turn) state of the hybrid-drive blended wing-body underwater glider in this embodiment of the invention;

[0034] Figure 14 This is a schematic diagram of the left-turning process of a hybrid-drive blended wing-body underwater glider in an embodiment of the present invention;

[0035] Figure 15 This is a schematic diagram of the right-hand turning process of a hybrid-driven blended wing-body underwater glider in an embodiment of the present invention. Detailed Implementation

[0036] The invention will now be further described with reference to the accompanying drawings.

[0037] 1. Fuselage; 2. Hydrofoil; 31 / 32. Vertical thruster; 41 / 42. Horizontal thruster; 51 / 52. Tail rudder; 61. Rotating base; 62. First boom section; 63. Second boom section; 64. Third boom section; 65. Operator; 7. Servo; 8. Drive gear.

[0038] Example 1

[0039] like Figures 1 to 5 As shown, Embodiment 1 provides a hybrid-drive blended wing-body underwater glider, comprising a fuselage 1 and hydrofoils 2 located on both sides of the fuselage 1. The underwater glider adopts a streamlined design, which effectively mitigates boundary layer separation when water flows through it during underwater operations, thereby minimizing viscous drag. Simultaneously, this streamlined design allows for a smooth transition of the fuselage profile, suppressing mechanical vibration and fluid noise during underwater navigation, significantly reducing the likelihood of detection by underwater detection equipment such as sonar, and improving underwater stealth. In this embodiment, both the normal axis interface of the hydrofoils 2 (i.e., the airfoil of the hydrofoils 2) and the normal axis interface of the fuselage 1 have symmetrical teardrop-shaped structures, providing good lift during underwater gliding and good maneuverability during underwater attitude adjustments.

[0040] Two horizontal through-holes are symmetrically arranged on the two hydrofoils 2, each housing a horizontal thruster 41 and a horizontal thruster 42. Two vertical through-holes are symmetrically arranged in the middle of the fuselage 1, each housing a vertical thruster 31 and a vertical thruster 32. Both the horizontal and vertical thrusters are shaftless. The symmetrical design of the two horizontal thrusters partially counteracts the torque generated by their own rotation, increasing the underwater glider's stability during straight-line motion. The symmetrical design of the two vertical thrusters effectively counteracts the torque generated by their own rotation, reducing the underwater glider's rotation around its axis during lifting operations.

[0041] The tail section of fuselage 1 is symmetrically equipped with tail rudder plates 51 and 52, which can independently rotate up and down. Specifically, a rudder shaft is fixedly connected to the edge of each tail rudder plate, and the rudder shaft rotates in conjunction with the tail section of fuselage 1. A driven gear is fixed to the end of the rudder shaft. A servo motor 7 is installed in the tail compartment of fuselage 1. The output end of the servo motor 7 extends out of the compartment and is connected to a drive gear 8, which meshes with the driven gear. The two tail rudder plates are driven by different servo motors 7. The up and down rotation of the tail rudder plates controls the rudder angle, thereby assisting the underwater glider in changing its attitude and performing underwater operations.

[0042] In addition, the bottom of fuselage 1 has two symmetrically arranged robotic arm storage compartments, each angled at 45° to the central axis of the underwater glider. Each compartment houses an underwater robotic arm, which can be deployed for underwater operations or retracted into the storage compartment. When the underwater robotic arm is retracted, its outer contour smoothly transitions to the bottom surface of fuselage 1, forming a continuous and smooth hydrodynamic surface. This configuration design ensures that the underwater glider maintains its streamlined shape during cruising while guaranteeing the robotic arm's operational capabilities, thus ensuring underwater navigation efficiency and endurance.

[0043] Specifically, the underwater robotic arm includes a rotating base 61, a first arm segment 62, a second arm segment 63, a third arm segment 64, and a working hand 65. The rotating base 61 can rotate 360°. The first arm segment 62, the second arm segment 63, and the third arm segment 64 are connected in series via joints. The rotating base 61 is fixed to the front end of the robotic arm's storage compartment. The first arm segment 62 is connected to the rotating base 61 via joints. Each arm segment can be driven by a joint motor to rotate around the corresponding joint. The working hand 65 is installed at the end of the third arm segment 64. The working hand 65 is configured according to different operational needs, such as cutting, grasping, and heavy object transport. The underwater robotic arm described in this embodiment is prior art. The main improvement involves adjusting the shape of each arm segment to ensure that each arm segment meets the aforementioned streamlined shape when retracted into the robotic arm's storage compartment.

[0044] Before reaching the target underwater work area, the underwater glider's robotic arm is in a retracted state. Upon reaching the target area, the robotic arm extends to perform the work. During the extension process, the direction of the robotic arm can be adjusted based on the rotating base 61. Each segment of the arm is driven by a corresponding joint motor to adjust the posture of the robotic arm, so that the operator 65 reaches the working position, and finally, the operator 65 performs the underwater work.

[0045] Example 2

[0046] Example 2 provides a control method for the hybrid-drive blended wing-body underwater glider described in Example 1, comprising:

[0047] like Figure 6 As shown, in hovering and lifting modes, the two vertical thrusters rotate to generate upward thrust, which counteracts the gravity acting on the underwater glider, allowing it to hover in the water. During lifting operations, the vertical thrusters need to increase their rotation speed to provide an upward thrust greater than gravity. At this time, the horizontal thrusters need to rotate according to the marine environment, such as ocean currents, to provide power to counteract the impact of the currents; the tail rudder is not in operation.

[0048] like Figure 7 As shown, in straight-line mode, horizontal thrusters 41 and 42 rotate clockwise, providing forward propulsion for the underwater glider and driving it in straight-line motion. During turning, horizontal thruster 41 rotates clockwise and horizontal thruster 42 rotates counter-clockwise. The differential speed between the two thrusters generates rotational torque, causing the underwater glider to turn right (conventionally, differential speed means both thrusters provide forward thrust, but one with greater thrust and the other with less; in this invention, one rotates clockwise and the other counter-clockwise, with one thrust forward and the other backward, achieving the function of turning in place). Similarly, horizontal thruster 42 rotates clockwise and horizontal thruster 41 rotates counter-clockwise, causing the underwater glider to turn left. This differential rotation method reduces the turning radius of the underwater glider, improves its turning efficiency, and enhances its flexibility during underwater operations.

[0049] like Figure 8 As shown, during the ascent, both tail rudders 5 deflect downwards simultaneously, generating lift at the trailing edge of the rudder surfaces, creating a pitching moment around the center of gravity. This adjusts the pitch angle of the underwater glider, achieving the ascent. Figure 9 As shown, the diving motion is similar. The two tail rudders 5 deflect upwards, and the water flow generates negative lift at the trailing edge of the rudder surfaces, forming a pitching torque around the center of gravity.

[0050] like Figure 10As shown, in the roll attitude, the vertical thruster 31 and the vertical thruster 32 rotate in opposite directions to adjust the roll attitude of the underwater glider; in addition, in the navigation state, the two tail rudders 5 can be differentially coordinated, with the left and right rudders deflecting in opposite directions to provide a roll torque around the axis for attitude adjustment.

[0051] Principle of motion: When navigating, the underwater glider mainly consists of a vertical thruster, a horizontal thruster, and twin tail rudders working together.

[0052] like Figure 6 As shown, during descent, the two vertical thrusters reverse direction, pushing water upwards to provide downward pressure, causing the underwater glider to descend until it reaches the designated depth. Ascent is similar; the two vertical thrusters rotate clockwise, pushing water downwards to provide upward lift, causing the underwater glider to rise. During straight-line motion, the two horizontal thrusters rotate at the same speed, providing forward propulsion and driving the underwater glider forward in a straight-line motion.

[0053] like Figure 8 and Figure 9 As shown, the pitch angle α is positive when it is upward relative to its own base plane; when the two tail rudders 5 are lowered, the rudder angle is negative. Due to the impact of the water flow, the drag on the tail of the underwater glider suddenly increases. At this time, the nose of the underwater glider will be higher than the tail, the pitch angle α is positive, and the underwater glider will exhibit an upward attitude, which can achieve better hydrodynamic performance during the ascent. When the two tail rudders 5 are raised, the rudder angle is positive, the pitch angle α is negative, and the underwater glider will exhibit a downward attitude, which can achieve better hydrodynamic effect during the descent.

[0054] like Figure 10 and Figure 11 As shown, two vertical thrusters control the tumbling attitude of the underwater glider. Let the upward movement of the left hydrofoil be the positive attitude angle β. When vertical thruster 31 rotates clockwise, it provides upward lift, and vertical thruster 32 rotates counterclockwise, it provides downward pressure. At this time, the underwater glider will rise on the left and descend on the right, with attitude angle β being positive, and the underwater glider will exhibit a rightward tilt. When vertical thruster 31 rotates counterclockwise, it provides downward pressure, and vertical thruster 32 rotates clockwise, it provides upward lift. At this time, attitude angle β is positive, and the underwater glider will exhibit a leftward tilt. By adjusting the attitude of the underwater glider, its flexibility and adaptability to complex marine environments can be improved.

[0055] like Figures 12 to 15As shown, in straight-line mode, the two horizontal thrusters rotate at the same speed, providing forward propulsion for the underwater glider and driving it forward in a straight-line motion. During turning motion, the two horizontal thrusters rotate at different speeds, utilizing the differential steering principle: horizontal thruster 31 rotates forward while horizontal thruster 32 rotates in reverse, generating steering torque to make the underwater glider turn right; horizontal thruster 31 rotates forward while horizontal thruster 32 rotates in reverse, generating steering torque to make the underwater glider turn left. By using differential steering, the turning radius of the underwater glider can be reduced, and its maneuverability can be improved.

Claims

1. A hybrid-drive blended wing-body underwater glider, comprising a fuselage (1) and hydrofoils (2) located on both sides of the fuselage (1), characterized in that, Two horizontal through holes are symmetrically opened on the two hydrofoils (2), and a horizontal thruster is installed in each of the two horizontal through holes; two vertical through holes are symmetrically opened in the middle of the fuselage (1), and a vertical thruster is installed in each of the two vertical through holes; two tail rudders that can be independently flipped up and down are symmetrically installed at the tail of the fuselage (1); the horizontal thruster and the vertical thruster are shaftless thrusters.

2. The hybrid-drive blended wing-body underwater glider according to claim 1, characterized in that, The normal axis interface of the hydrofoil (2) and the normal axis interface of the fuselage (1) are both symmetrical teardrop-shaped structures.

3. The hybrid-drive blended wing-body underwater glider according to claim 1, characterized in that, The tail rudder is fixedly connected to the edge of the tail rudder, and the rudder is rotated and engaged with the tail of the fuselage (1). A driven gear is fixed at the end of the rudder. A servo motor (7) is installed in the tail compartment of the fuselage (1). The output end of the servo motor (7) extends out of the compartment and is connected to the drive gear (8). The drive gear (8) meshes with the driven gear. The two tail rudders are driven by different servo motors (7).

4. The hybrid-drive blended wing-body underwater glider according to claim 1, characterized in that, The fuselage (1) has two symmetrically arranged robotic arm storage compartments at the bottom. Each of the two robotic arm storage compartments is equipped with an underwater operation robotic arm. The underwater operation robotic arm can be deployed to perform underwater operations or retracted into the robotic arm storage compartment.

5. The hybrid-drive blended wing-body underwater glider according to claim 4, characterized in that, When the underwater robotic arm is retracted into the robotic arm storage compartment, the outer contour of the underwater robotic arm smoothly transitions with the bottom surface of the fuselage (1), forming a continuous and smooth hydrodynamic surface.

6. The hybrid-drive blended wing-body underwater glider according to claim 5, characterized in that, The underwater robotic arm has a rotating base (61) that can rotate 360° and multiple segments connected by joints. The rotating base (61) is fixed at the front end of the robotic arm storage compartment. The first segment is connected to the rotating base (61) through joints. Each segment can be driven by a joint motor to rotate around the corresponding joint. The last segment is equipped with a working hand (65). The operator (65) is configured according to different operational needs.

7. The hybrid-drive blended wing-body underwater glider according to claim 4, characterized in that, The two robotic arm storage compartments are positioned at an angle of 45° to the central axis section of the underwater glider.

8. A control method for a hybrid-drive blended wing-body underwater glider according to any one of claims 1 to 7, characterized in that, By controlling the rotation direction and speed of the two vertical thrusters, the rotation direction and speed of the two horizontal thrusters, and the rudder angle of the two tail rudders, the attitude of the underwater glider can be flexibly adjusted.

9. The control method for a hybrid-drive blended wing-body underwater glider according to claim 8, characterized in that, Two vertical thrusters rotate to generate upward thrust, which counteracts the gravity acting on the underwater glider, allowing it to hover in the water; during lifting operations, the vertical thrusters increase their rotation speed to provide an upward thrust greater than gravity; the horizontal thrusters provide power to counteract the impact of ocean currents; the tail rudder is not in operation. In straight-line mode, the two horizontal thrusters rotate clockwise, propelling the underwater glider in a straight-line motion; when turning, one horizontal thruster rotates clockwise and the other horizontal thruster rotates counterclockwise, causing the underwater glider to turn right or left. During the ascent, both tail rudders deflect downwards simultaneously, adjusting the pitch angle to a positive value, thus enabling the underwater glider to ascend; during the descent, both tail rudders deflect upwards simultaneously, adjusting the pitch angle to a negative value, thus enabling the underwater glider to descend. In roll mode, one vertical thruster rotates forward while the other rotates in reverse, causing the underwater glider to tilt to the left or right.

10. The control method for a hybrid-drive blended wing-body underwater glider according to claim 9, characterized in that, In navigation mode, the two tail rudders can work in a differential manner, with the left and right rudders deflecting in opposite directions to provide a roll moment around the axis for attitude adjustment.

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