A manta ray-like submersible and method based on ocean current energy

Abstract

The application discloses a manta ray diving device and method based on ocean current energy generation, and belongs to the underwater bionic robot field. The diving device comprises a diving device main body, an ocean current energy generation system, a working mode control system and a diving device driving system which are arranged on the diving device main body. The diving device main body comprises a diving device cabin body, a head assembly arranged at the front end of the cabin body, bionic chest fin assemblies arranged symmetrically on both sides of the cabin body, and a tail fin assembly arranged at the tail of the cabin body. The head assembly is used for carrying a multi-source sensing device. The ocean current energy generation system is used for capturing ocean current energy in time, and generating and storing energy. The working mode control system is used for controlling and switching different navigation states of the diving device according to power consumption. The diving device driving system is used for executing state instructions sent by the working mode control system, driving different parts of the diving device main body to change the posture of the diving device, and completing working mode switching. The application has high mobility and long endurance.

Description

Technical Field

[0001] This invention belongs to the field of underwater biomimetic robots, specifically relating to a manta ray-inspired submersible and method based on ocean current energy generation. Background Technology

[0002] Currently, widely used underwater equipment includes autonomous underwater vehicles (AUVs), remotely operated vehicles (ROVs), and underwater gliders (UGs). However, they still have drawbacks such as poor maneuverability and poor biocompatibility. Moreover, their energy mostly comes from batteries or fuels carried on their own, which severely limits their endurance and makes it difficult to achieve long-term self-sufficiency in the marine environment.

[0003] Bionic underwater vehicles are a new type of underwater equipment. They borrow and mimic the organizational structure, movement characteristics, and propulsion mechanisms of aquatic organisms in nature, offering advantages in maneuverability and ocean compatibility compared to traditional underwater equipment. Traditional bionic underwater vehicles often use multiple motors to drive the pectoral fin skeleton, resulting in high power consumption, short endurance, and severely limited application. Existing technologies include underwater gliders that achieve low-power gliding using variable buoyancy and variable center of mass adjustment systems, but their movement methods are limited, maneuverability is insufficient, and they struggle to maneuver in confined spaces. Furthermore, the reliance on electric power alone restricts further improvements in endurance. Regarding energy for marine equipment, solar-powered gliders or ocean buoys are commonly used for energy harvesting, but these methods are typically limited to surface areas and cannot meet the demands of deep-sea operations. Summary of the Invention

[0004] The technical problem to be solved:

[0005] To avoid the shortcomings of existing technologies, this invention provides a manta ray-inspired submersible based on ocean current energy generation, which has the capability to operate in all areas from the sea surface to the seabed. It integrates ocean current energy generation technology and can capture ocean current energy in a floating state to generate and store energy, so that it has both high mobility and long endurance, and can meet the needs of wide-area long-term hydrological environment monitoring and small-scale seabed target detection missions.

[0006] The technical solution of the present invention is: a manta ray-inspired submersible based on ocean current energy generation, comprising a submersible body, an ocean current energy generation system, a working mode control system, and a submersible drive system mounted on the submersible body; the submersible body includes a submersible cabin, a head assembly located at the front of the cabin, biomimetic pectoral fin assemblies symmetrically arranged on both sides of the cabin, and a tail fin assembly located at the rear of the cabin, wherein the head assembly is used to mount multi-source sensing devices;

[0007] The ocean current energy power generation system captures ocean current energy in a timely manner and completes power generation and energy storage.

[0008] The operating mode control system switches the submersible's different navigation states based on power consumption.

[0009] The submersible drive system executes the state commands issued by the working mode control system, driving different parts of the submersible body to change the submersible's attitude and complete the working mode switching.

[0010] A further technical solution of the present invention is as follows: the cabin includes a cabin connecting frame as a supporting frame, a pressure-resistant shell wrapped around the cabin body, a buoyancy adjustment cabin, a center of mass adjustment cabin, and a main control cabin arranged sequentially along the central axis of the cabin connecting frame, power supply cabins located on both sides of the central axis, a pectoral fin connecting frame for mounting the pectoral fins on both sides, and a jettison mechanism; the communication antenna installed on the upper part of the main control cabin is wrapped by the upright fin; the pressure-resistant shell is a biomimetic streamlined shell designed based on the fish-shaped body of the manta ray.

[0011] A further technical solution of the present invention is: the ocean current power generation system is a sandwich multilayer stacked thin film structure composed of "electrode-dielectric-electrode", which is covered on the outside of a pressure-resistant shell.

[0012] A further technical solution of the present invention is as follows: the multilayer stacked thin film structure consists of, from top to bottom, a PET plate, a flexible electrode, a PTFE frame, a dielectric, a PTFE frame, a flexible electrode, and a PET plate; when the submersible is in a free-floating state, the ocean current will drive the dielectric to reciprocate in the gaps of the PTFE frame and continuously contact and detach from the electrode. Due to the contact electrification phenomenon and charge movement at the solid-liquid interface, the kinetic energy of the waves and ocean currents is converted into electrical energy and transmitted to the power management system of the power compartment.

[0013] A further technical solution of the present invention is as follows: the biomimetic pectoral fin assembly includes a root connecting plate as a root support, a flexible conforming connecting plate as an upper and lower surface support, a plurality of airfoil ribs arranged along the spanwise direction of the flexible conforming connecting plate, a flexible fin plate located at the end of the pectoral fin, and a flexible skin covering the periphery; the roots of the two conforming connecting plates are symmetrically hinged to opposite sides of the root connecting plate, the ends are hinged to the roots of the fin plates, and the middle parts are respectively hinged to the sides of each airfoil rib, forming a linked flapping fin structure.

[0014] A further technical solution of the present invention is: the submersible drive system includes a pectoral fin drive module for controlling the movement of the bionic pectoral fin assembly, a tail fin drive module for controlling the movement of the tail fin, and a pump-jet propulsion system.

[0015] The pectoral fin drive module includes a swing motor for controlling the swing of the bionic pectoral fin assembly and a torsion motor for controlling the torsion of the bionic pectoral fin assembly. The swing motor is mounted on a motor mounting frame, and its output end is connected to the root airfoil rib via a transmission assembly. The swing motor drives the root airfoil rib to swing in a direction perpendicular to the submersible. Through the hinge of the flexible conformal connecting plate with each airfoil rib, other airfoil ribs and fins are linked, that is, the entire pectoral fin undergoes passive deformation, thus completing the deformation control of the pectoral fin attitude. The torsion motor is mounted on the pectoral fin connecting frame, and its output end is connected to the motor mounting frame via a transmission mechanism. It drives the motor mounting frame to rotate around the output shaft of the transmission assembly, that is, the entire pectoral fin assembly rotates around an axis perpendicular to the pectoral fin connecting frame, thus realizing the control of the overall pitch motion.

[0016] The tail fin drive module includes a servo motor and a rotary shaft connected to the servo motor. The rotary shaft is located within the symmetry plane of the submersible. Its output end is connected to the support frame of the tail fin assembly through a tail fin adapter plate perpendicular to the symmetry plane. Its output end is connected to the servo motor and is used to transmit rotational torque to the tail fin assembly to realize the change of tail fin attitude.

[0017] The pump-jet propulsion system is installed on both sides of the rear of the submersible's main body via nozzle connectors to assist the pectoral fins in propulsion.

[0018] A further technical solution of the present invention is: the operating mode control system determines the operating mode according to the actual power of the submersible, specifically as follows:

[0019] The manta ray-inspired submersible has an actual power of 15-25W and is in a floating mode on the water surface.

[0020] The manta ray-inspired submersible has an actual power of 35-45W and operates in an arc-shaped gliding mode.

[0021] The manta ray-inspired submersible has an actual power of 1900-2100W and operates in flapping-wing maneuver mode.

[0022] A charging method for a manta ray-inspired submersible based on ocean current energy generation under various operating modes, characterized in that:

[0023] When the submersible is in the floating mode, the submersible drive system is turned off and the ocean current power generation system is turned on to collect the kinetic energy of the waves and currents flowing over the submersible.

[0024] When the submersible is in the splashing mode in the water, the bionic pectoral fin propulsion system is activated and the ocean current power generation system is turned off to prevent the ocean current power generation from causing excessive drag on the submersible's movement;

[0025] When the submersible is in underwater gliding mode, the submersible's propulsion system is turned off, and the ocean current power generation system is turned on to collect the frictional energy between the submersible and the seawater during gliding.

[0026] When the submersible is in a fixed-point abiding mode on the seabed, the submersible's drive system is turned off, and the ocean current energy generation system is turned on to collect ocean current energy from all directions.

[0027] A further technical solution of the present invention is as follows: when the submersible is in the floating mode on the water surface, the bionic pectoral fins on both sides deflect downwards by 30-45° to ensure that the ocean current energy power generation system can collect ocean current energy from 360° direction and avoid being blocked by the pectoral fins; when the submersible is in the gliding mode in the water, the bionic pectoral fins on both sides deflect upwards by 10-30° to achieve different gliding ratios in the sea gliding mode; when the submersible is in the fixed-point abiding mode on the seabed, the bionic pectoral fins on both sides deflect upwards by 60-70° to achieve the maximum ocean current energy power generation.

[0028] A further technical solution of the present invention is: when the submersible is in the underwater fixed-point dwell mode, and there is no clear ocean current direction at the "sitting" position, the bionic pectoral fins on both sides are flattened 180° and the pectoral fins return to the middle position, so as to ensure that the submersible can receive ocean currents from all directions and avoid obstruction.

[0029] Beneficial effects

[0030] The beneficial effects of this invention are as follows: The invention incorporates an ocean current energy generation device on the back of the submersible. This device is a multi-layered, stacked thin-film structure consisting of "electrode-dielectric-electrode," encased in a pressure-resistant shell. When the submersible is freely floating, the ocean current energy generation device can convert the kinetic energy of ocean waves and currents into electrical energy, which is then stored in the power compartment. Simultaneously, the submersible adjusts its position and attitude in real time according to ocean current conditions using biomimetic pectoral fins, achieving "autonomous energy harvesting."

[0031] This invention incorporates a biomimetic pectoral fin propulsion system on both sides of the submersible, designed to mimic the shape and movement characteristics of the pectoral fins of a real manta ray. The left and right pectoral fins allow for different forms of movement, enabling highly efficient and maneuverable biomimetic propulsion for the submersible. The overall shape of the submersible has been biomimetically optimized and further optimized for ocean current energy generation, ensuring that as seawater flows through the submersible's hull, kinetic energy is better concentrated in the area enclosing the ocean current energy generation device, maximizing the efficiency of ocean current energy generation.

[0032] Compared to other biomimetic submersibles, this invention, by mimicking the movement characteristics of manta rays, can achieve highly biomimetic and highly maneuverable movements, with a maximum turning angular velocity of up to 60° / s. At the same time, due to the integration of ocean current power generation technology, its endurance has been greatly improved, with a maximum endurance of up to 60 days, possessing the ability to "long-term self-sufficiency" in real marine environments. Attached Figure Description

[0033] Figure 1 Overall design drawing (top view) of the manta ray-inspired submersible;

[0034] Figure 2 Overall design drawing of the manta ray-inspired submersible (without pectoral fin skin);

[0035] Figure 3 Internal structure diagram of the cabin;

[0036] Figure 4 Streamlined shell structure diagram;

[0037] Figure 5 Schematic diagram of a multi-layer stacked structure for membrane-type ocean current power generation;

[0038] Figure 6 Cross-sectional view of a multi-layer stacked structure for membrane-type ocean current power generation;

[0039] Figure 7 Schematic diagram of the pectoral fin propulsion system;

[0040] Figure 8 Schematic diagram of a multi-source sensing system.

[0041] Explanation of reference numerals in the attached drawings: 1—hull, 2—ocean current power generation system, 3—bionic pectoral fin assembly, 4—head assembly, 5—tail fin assembly, 6—communication antenna, 7—trailing tail; 101—pressure hull, 102—main control compartment, 103—power supply compartment, 104—watertight connector; 201—thin-film electrode, 202—PET flat plate, 203—PTFE frame, 204—dielectric, 205—gap; 301—pectoral fin drive module, 302—airfoil rib, 303—fin plate; 304—conformal connection plate; 401—binocular vision camera, 402—forward-looking sonar, 403—artificial lateral line. Detailed Implementation

[0042] The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention.

[0043] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0044] Currently, biomimetic submersibles operate across the "surface-in-the-ocean-seabed" range. During operation, they are subjected to significant waves and ocean currents. Harvesting this energy using ocean current power generation technology is crucial for improving the submersible's endurance. Furthermore, due to their superior biomimetic and fluidic shapes, biomimetic submersibles have greater potential for applications in ocean current power generation. Optimizing the biomimetic fluidic shape of submersibles to suit the characteristics of ocean current power generation and ocean current movement can significantly enhance their energy harvesting capabilities and help them achieve "long-term self-sufficiency" in real marine environments, which is of great significance for the development and utilization of the marine environment.

[0045] Addressing the short endurance issue of existing biomimetic submersibles, this invention proposes a manta ray-inspired submersible powered by ocean current energy generation. The submersible includes a main body, an ocean current energy generation system, a working mode control system, and a submersible drive system mounted on the main body. The main body comprises a submersible hull, a head assembly at the front of the hull, biomimetic pectoral fin assemblies symmetrically arranged on both sides of the hull, and a tail fin assembly at the rear of the hull. The head assembly carries multi-source sensing equipment. The ocean current energy generation system captures ocean current energy in real-time, generating and storing it. The working mode control system switches between different navigation states of the submersible based on power consumption. The submersible drive system executes state commands issued by the working mode control system, driving different parts of the submersible to change the submersible's attitude and complete the working mode switching. This invention integrates ocean current energy generation technology and has the capability to operate in all areas from the sea surface to the seabed. It can capture ocean current energy in a floating state to generate and store energy, thus enabling it to have both high mobility and long endurance. This biomimetic submersible meets the needs of wide-area, long-term hydrological environment monitoring and small-scale seabed target detection missions.

[0046] The design will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0047] Reference Figure 1-3As shown, the submersible of the present invention includes a hull 1, an ocean current power generation system 2, a biomimetic pectoral fin 3, and a head assembly 4. The hull 1 includes a hull connecting frame as a supporting frame, a pressure-resistant shell 101 wrapped around the hull, a buoyancy adjustment chamber, a center of mass adjustment chamber, and a main control chamber 102 arranged sequentially along the central axis of the hull connecting frame, power supply chambers located on both sides of the central axis, pectoral fin connecting frames for mounting the pectoral fins on both sides, and a jettison mechanism; the communication antenna 6 installed on the upper part of the main control chamber 102 is wrapped by the upright fin;

[0048] Reference Figure 4 As shown, the pressure hull 101 has a streamlined shape, designed through computational fluid dynamics simulation optimization based on the characteristics of biological morphology and ocean current energy generation technology. This design ensures excellent hydrodynamic characteristics while meeting the need for efficient collection of ocean current energy and conversion into electrical energy in a real marine environment. The main control compartment 102 and power supply compartment 103 house the submersible's control system and power management system, respectively. The control system controls various systems of the submersible based on data collected by the multi-source sensing system and the submersible's mission requirements. The power management system stores the electrical energy generated by the ocean current energy generation device and rationally allocates power consumption according to battery health, achieving efficient energy utilization. Watertight connectors are present on the hull surface to ensure efficient and reliable transmission of signals and energy inside and outside the hull.

[0049] Reference Figure 5 and Figure 6 As shown, the ocean current power generation system is a sandwich-style multilayer stacked thin film structure consisting of "electrode-dielectric-electrode," which is wrapped around a pressure-resistant shell. Each layer of this multilayer stacked thin film structure, from top to bottom, consists of a 202 PET plate, a 201 flexible electrode, a 203 PTFE frame, a 204 dielectric, another 203 PTFE frame, a 201 flexible electrode, and a 202 PET plate. When the submersible is freely floating, the ocean current causes the 204 dielectric to reciprocate within the 205 gap of the 203 PTFE frame, continuously contacting and detaching from the electrode. Due to the contact electrification phenomenon at the solid-liquid interface and charge movement, the kinetic energy of the waves and ocean currents is converted into electrical energy and stored in the power management system. Simultaneously, the submersible adjusts its position and attitude in real time using biomimetic pectoral fins according to the ocean current conditions, achieving "autonomous energy harvesting."

[0050] Reference Figure 7As shown, the biomimetic pectoral fin assembly includes a root connecting plate as a root support, a flexible conforming connecting plate 304 as an upper and lower surface support, a plurality of airfoil ribs 302 arranged along the spanwise direction of the flexible conforming connecting plate, a flexible fin 303 located at the end of the pectoral fin, and a flexible skin covering the periphery; the roots of the two conforming connecting plates 304 are symmetrically hinged to the opposite sides of the root connecting plate, the ends are hinged to the roots of the fin 303, and the middle parts are respectively hinged to the sides of each airfoil rib 302, forming a linked flapping fin structure.

[0051] Specifically, the biomimetic pectoral fin propulsion system is located on both sides of the cabin. It is designed to mimic the shape and movement characteristics of the pectoral fins of real manta rays and consists of motors, airfoil ribs, and fins. The pectoral fin drive module located at the base of the pectoral fin drives the flexible skeleton structure of the pectoral fin, which is formed by the intersection of airfoil ribs 302 and fins 303. A flexible skin is wrapped around the outside of the skeleton. By controlling the left and right pectoral fins, different forms of movement can be achieved, thus realizing the efficient and highly maneuverable biomimetic propulsion of the biomimetic submersible.

[0052] The submersible's propulsion system includes a pectoral fin drive module for controlling the movement of the bionic pectoral fin assembly, a tail fin drive module for controlling the movement of the tail fin, and a pump-jet propulsion unit. The pectoral fin drive module includes a oscillating motor for controlling the swinging of the bionic pectoral fin assembly and a torsional motor for controlling the twisting of the bionic pectoral fin assembly. The oscillating motor is mounted on a motor mounting bracket, and its output end is connected to the root airfoil rib via a transmission assembly. The oscillating motor drives the root airfoil rib to swing in a direction perpendicular to the submersible. Through the hinge of a flexible conformal connecting plate to each airfoil rib, other airfoil ribs and fins are linked, resulting in passive deformation of the entire pectoral fin, thus achieving pectoral fin attitude deformation control. The torsional motor is mounted on a motor mounting bracket. Mounted on the pectoral fin connecting frame, its output end is connected to the motor mounting frame through a transmission mechanism, driving the motor mounting frame to rotate around the output shaft of the transmission component, that is, the entire pectoral fin assembly rotates around an axis perpendicular to the pectoral fin connecting frame, realizing the control of the overall pitch motion; the tail fin drive module includes a servo motor and a rotary shaft connected to the servo motor; the rotary shaft is located within the symmetry plane of the submersible, and its output end is connected to the support frame of the tail fin assembly through a tail fin adapter plate perpendicular to the symmetry plane, and its output end is connected to the servo motor, used to transmit rotational torque to the tail fin assembly, realizing the change of tail fin attitude; the pump-jet propulsion unit is installed on both sides of the rear of the submersible's main body through a nozzle connector, used to assist the pectoral fin in propulsion.

[0053] Reference Figure 8As shown, the head assembly 4 is a multi-source sensing system located at the front of the cabin, including a binocular camera 401, a forward-looking sonar 402, and an artificial lateral line 403. The binocular camera, located at the "eyes" position, can capture underwater visual information and perform three-dimensional reconstruction of underwater topography based on binocular principles. The forward-looking sonar, located in the center of the head, can accurately measure the distance to distant targets. The artificial lateral line, located in a strip-shaped area on the outer side of the eye stalk, can sense ocean waves and currents, providing closed-loop feedback for ocean current energy generation.

[0054] The operating mode control system determines the operating mode based on the actual power of the submersible as follows: when the actual power of the manta ray glider is 15-25W, it is in the floating mode on the water surface; when the actual power of the manta ray glider is 35-45W, it is in the bow gliding mode; and when the actual power of the manta ray glider is 1900-2100W, it is in the flapping wing maneuvering mode.

[0055] The submersible possesses full-range operational capabilities across the entire ocean, from the surface to the seabed, and has multiple operating modes, including floating on the surface, gliding and splashing in the sea, and stationary abode on the seabed. In different operating modes, the submersible employs different biomimetic propulsion and ocean current energy charging strategies to adapt to different working environments.

[0056] The submersible's shape has been biomimetically optimized and tailored to the characteristics of ocean current energy generation. This ensures that when seawater flows over the submersible's hull, kinetic energy is concentrated in the area encasing the ocean current energy generation device, maximizing energy generation efficiency. Simultaneously, in its surface-floating operational mode, the submersible deactivates its biomimetic pectoral fin propulsion system and enters a "floating with the current" state. In this mode, the submersible primarily performs communication tasks via its surface-exposed antenna and continuously calculates its position using a satellite positioning system, comparing and correcting it against the system's preset position. At this time, the ocean current energy generation device is activated to collect the kinetic energy of ocean waves and currents flowing over the submersible. The absorption of a large amount of wave kinetic energy reduces positional drift caused by "floating with the current." To further maximize ocean current energy generation efficiency, based on ocean current information obtained from the head-mounted multi-source sensing system, both pectoral fins are deflected downwards by 30-45°. This maintains optimal attitude stability while ensuring the ocean current energy generation device can collect ocean current energy from 360° without being obstructed by the pectoral fins.

[0057] When operating in the sea-puffing mode, the bionic pectoral fin propulsion system is activated, while the ocean current power generation device is deactivated to prevent excessive drag caused by ocean current power generation. When operating in the sea-gliding mode, the pectoral fins stop flapping and the base of the pectoral fins is deflected upwards at 10-30° to achieve different glide ratios in the sea. At this time, the ocean current power generation device is activated to collect the frictional energy generated by the submersible with the seawater during gliding. The spanwise bending angle of the pectoral fins is adjusted according to the gliding speed of the submersible to maximize the collection of frictional energy generated by the submersible with the seawater by the ocean current power generation devices located on the back and belly of the submersible, thus achieving closed-loop regulation of the submersible's gliding motion.

[0058] When in a stationary working mode on the seabed, the submersible actively selects a flat seabed with abundant ocean current energy based on ocean current and seabed topography data obtained from the multi-source sensing system in its head to "settle down." At this time, the submersible will adopt different "seating" postures according to the ocean current conditions. When the ocean current is uniform and unidirectional, the submersible will actively choose to face the direction of the ocean current and drive the pectoral fins to deflect upwards by 60-70°, forming a "trumpet mouth" shape above the submersible. At this time, according to Bernoulli's principle, it can realize the maximum amount of ocean current energy generation. When there is no clear ocean current direction at the "seating" position, the pectoral fins on both sides flatten and return to the middle position, ensuring that the submersible can receive ocean current energy from all directions without causing obstruction.

[0059] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. A manta ray-inspired submersible based on ocean current energy generation, characterized in that: The submersible includes a main body, and an ocean current power generation system, a working mode control system, and a submersible drive system mounted on the main body. The main body includes a submersible cabin, a head assembly located at the front of the cabin, bionic pectoral fin assemblies symmetrically arranged on both sides of the cabin, and a tail fin assembly located at the rear of the cabin. The head assembly is used to mount multi-source sensing equipment. The cabin includes a cabin connecting frame as a supporting frame, a pressure-resistant shell wrapped around the cabin connecting frame, a buoyancy adjustment cabin, a center of mass adjustment cabin, and a control cabin arranged sequentially along the central axis of the cabin connecting frame, battery compartments located on both sides of the central axis, a pectoral fin connecting frame for installing pectoral fin assemblies on both sides, and a jettison mechanism; the communication antenna installed on the upper part of the control cabin is wrapped by the upright fin; the pressure-resistant shell is a biomimetic streamlined shell designed based on the fish-shaped body of the manta ray. The ocean current energy generation system captures ocean current energy in a timely manner and completes power generation and energy storage. The ocean current energy generation system is a sandwich multilayer stacked thin film structure composed of "electrode-dielectric-electrode", which is covered on the outside of the pressure-resistant shell. The multilayer stacked thin film structure consists of PET plate, flexible electrode, PTFE frame, dielectric, PTFE frame, flexible electrode, and PET plate from top to bottom. When the submersible is in a free-floating state, the ocean current will drive the dielectric to move back and forth in the gaps of the PTFE frame and continuously contact and detach from the electrode. Due to the contact electrification phenomenon and charge movement at the solid-liquid interface, the kinetic energy of the waves and ocean currents is converted into electrical energy and transmitted to the power management system of the battery compartment. The operating mode control system switches the submersible's different navigation states based on power consumption. The submersible drive system executes the state commands issued by the working mode control system, driving different parts of the submersible body to change the submersible's attitude and complete the working mode switching.

2. The manta ray-inspired submersible based on ocean current energy generation according to claim 1, characterized in that: The biomimetic pectoral fin assembly includes a root connecting plate as a root support, a flexible conforming connecting plate as a support for the upper and lower surfaces, multiple airfoil ribs arranged along the spanwise direction of the flexible conforming connecting plate, a flexible fin at the end of the pectoral fin assembly, and a flexible skin covering the periphery; the roots of the two conforming connecting plates are symmetrically hinged to opposite sides of the root connecting plate, the ends are hinged to the roots of the fins, and the middle parts are respectively hinged to the sides of each airfoil rib, forming a linked flapping fin structure.

3. The manta ray-inspired submersible based on ocean current energy generation according to claim 2, characterized in that: The submersible drive system includes a pectoral fin drive module for controlling the movement of the bionic pectoral fin assembly, a tail fin drive module for controlling the movement of the tail fin, and a pump-jet propulsion system. The pectoral fin drive module includes a swing motor for controlling the swing of the bionic pectoral fin assembly and a torsion motor for controlling the torsion of the bionic pectoral fin assembly. The swing motor is mounted on a motor mounting frame, and its output end is connected to the root airfoil rib via a transmission assembly. The swing motor drives the root airfoil rib to swing in a direction perpendicular to the submersible. Through the hinge of the flexible conformal connecting plate with each airfoil rib, other airfoil ribs and fins are linked, that is, the entire pectoral fin assembly undergoes passive deformation, thus completing the deformation control of the pectoral fin assembly's attitude. The torsion motor is mounted on the pectoral fin connecting frame, and its output end is connected to the motor mounting frame via a transmission mechanism. It drives the motor mounting frame to rotate around the output shaft of the transmission mechanism, that is, the entire pectoral fin assembly rotates around an axis perpendicular to the pectoral fin connecting frame, thus realizing the control of the overall pitch motion. The tail fin drive module includes a servo motor and a rotary shaft connected to the servo motor. The rotary shaft is located within the symmetry plane of the submersible. Its output end is connected to the support frame of the tail fin assembly through a tail fin adapter plate perpendicular to the symmetry plane. Its output end is connected to the servo motor and is used to transmit rotational torque to the tail fin assembly to realize the change of tail fin attitude. The pump-jet propulsion system is installed on both sides of the rear of the submersible's main body via nozzle connectors to assist the pectoral fin assembly in propulsion.

4. The manta ray-inspired submersible based on ocean current energy generation according to claim 3, characterized in that: The operating mode control system determines the operating mode based on the actual power of the submersible, specifically as follows: The manta ray-inspired submersible has an actual power of 15-25W and is in a floating mode on the water surface. The manta ray-inspired submersible has an actual power of 35-45W and operates in an arc-shaped gliding mode. The manta ray-inspired submersible has an actual power of 1900-2100W and operates in flapping-wing maneuver mode.

5. A charging method for the manta ray-inspired submersible based on ocean current energy generation as described in claim 4, in various operating modes, characterized in that: When the submersible is in the floating mode, the submersible drive system is turned off and the ocean current power generation system is turned on to collect the kinetic energy of the waves and currents flowing over the submersible. When the submersible is in flapping wing maneuvering mode, the pectoral fin drive module is activated and the ocean current power generation system is turned off to prevent the ocean current power generation from causing excessive drag on the submersible. When the submersible is in bow gliding mode, the submersible's drive system is turned off and the ocean current power generation system is turned on to collect the frictional energy between the submersible and the seawater during gliding. When the submersible is in a fixed-point abiding mode on the seabed, the submersible's drive system is turned off, and the ocean current energy generation system is turned on to collect ocean current energy from all directions.

6. The charging method for the submersible in various operating modes according to claim 5, characterized in that: When the submersible is in the floating mode on the water surface, the bionic pectoral fins on both sides deflect downwards by 30-45° to ensure that the ocean current energy generation system can collect ocean current energy from 360° direction and avoid being blocked by the pectoral fins. When the submersible is in the gliding mode in the water, the bionic pectoral fins on both sides deflect upwards by 10-30° to achieve different gliding ratios in the sea. When the submersible is in the stationary mode on the seabed, the bionic pectoral fins on both sides deflect upwards by 60-70° to achieve maximum ocean current energy generation.

7. The charging method for the submersible in various operating modes according to claim 6, characterized in that: When the submersible is in the underwater stationary mode, and there is no clear ocean current direction at the "bottoming" position, the bionic pectoral fin components on both sides unfold 180° and return to the middle position, ensuring that the submersible can receive ocean currents from all directions and avoid being blocked.

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