Composite three-body type underwater intelligent glider and design method thereof

Abstract

The invention discloses a composite three-in-one type underwater intelligent glider and a design method thereof. The composite three-in-one type underwater intelligent glider comprises a composite three-in-one type boat body, a design of the composite three-in-one type boat body, a rapid floating state adjusting system with excellent economical efficiency and functionality, a gliding system with excellent efficiency and reliability, an intelligent pushing operation system with the maximum cost-effectiveness ratio and an intelligent control system. The composite three-body type boat body comprises two lower boat bodies which are identical in geometrical shape and size and are parallel to each other, and an upper boat body which is parallel to the lower boat bodies and is equal in distance with the lower boat bodies. The rapid floating state adjusting system with excellent economical efficiency and functionality comprises two liquid storage cabins, two high-pressure pumps and the like. The buoyancy is changed by pumping and draining water into the liquid storage cabin through the two pairs of high-pressure pumps. The gliding system with excellent efficiency and reliability comprises a pair of rotatable hydrofoils arranged on the cross sections of the vertical hydrofoils, the shapes and angles of the hydrofoils can be automatically adjusted according to changes of stress of the hydrofoils, the gliding function is achieved in cooperation with a floating state adjusting system, and the gliding system can meet the requirements of different tasks.

Description

Technical Field

[0001] The invention relates to a glider, in particular to a composite three-body underwater intelligent glider and a design method thereof. Background Art

[0002] As the demand for ocean observation continues to increase, traditional observation methods, such as survey ships, buoys, and ocean observation satellites, have shortcomings such as small detection range, poor maneuverability, or high cost, and can no longer meet the requirements of ocean observation. In recent years, underwater vehicles have been widely used in the field of ocean observation, and underwater gliders are one of the more important ocean observation platforms. However, most of the underwater gliders on the market are monolithic structures, and most of them are used in the underwater field with relatively single functions; in addition, due to the complex and changeable seabed environment, but due to the space limitations of existing gliders and other problems, most of them only have one movement mode and lack flexibility, so sometimes they cannot meet higher requirements during operation. Summary of the invention

[0003] Purpose of the invention: In view of the above problems, the purpose of the present invention is to provide a composite three-body underwater intelligent glider to enrich its functionality and improve its movement flexibility. A design method thereof is also provided.

[0004] Technical solution: A composite three-body underwater intelligent glider, including a trimaran body and a quick floating state adjustment system, a gliding system, an intelligent propulsion system, and an intelligent control system installed thereon. The trimaran body includes a lower hull and an upper hull. Two lower hulls are arranged in parallel and at intervals, and the two are connected by two transverse hydrofoils arranged in front and behind. The upper hull is arranged above the lower hull and parallel to it. The opposite sides of the upper hull are respectively connected to a corresponding lower hull through an oblique hydrofoil. The connection line of the three forms an isosceles triangle. The two transverse hydrofoils are respectively connected to the upper hull through a cross hydrofoil; there are two quick floating state adjustment systems, which are respectively installed on the upper hull. The bow and stern of the boat are provided with a rotatable hydrofoil and a servo. The two cross hydrofoils are respectively provided with rotatable hydrofoils, and each rotatable hydrofoil is driven by a servo. The intelligent pushing and maneuvering system includes a propeller thruster, a propeller wheel, a motor and a servo. There are two propeller thrusters, which are respectively installed at the tail ends of the two lower hulls. There are two groups of propeller wheels, two in each group. One group is respectively installed at the middle section of the bottom of the two lower hulls and is respectively equipped with a motor, and the other group is respectively installed at the front section of the bottom of the two lower hulls and is respectively equipped with a servo. The quick floating state adjustment system, the servo, the propeller thruster, the motor and the servo are respectively connected to the intelligent control system signal.

[0005] The hydrofoils are made of lightweight, high-strength materials with good durability and corrosion resistance.

[0006] The gliding system, which has excellent performance and reliability, can automatically adjust the shape and angle of the hydrofoil according to changes in its own force to maintain the stability and efficiency of the glider, and cooperate with the buoyancy adjustment system to achieve the gliding function.

[0007] Furthermore, the quick floating state adjustment system includes a high-pressure pump, a liquid storage tank, an inlet and outlet, a pipeline, an electromagnetic valve, and a pressure sensor. The high-pressure pump is installed at the bow or stern of the upper hull, the liquid storage tank is arranged inside the upper hull, the liquid storage tank is provided with an inlet and outlet, the inlet and outlet are connected to the high-pressure pump through a pipeline and an electromagnetic valve, and the pressure sensor is installed on the pipeline. The buoyancy is changed by pumping water into the liquid storage tank through the high-pressure pump.

[0008] Furthermore, the intelligent control system includes a main control system, which is equipped with a power supply. The underwater detection sensor component is connected to the main control system. The underwater detection sensor component includes a fixed camera, an underwater lighting, an inertial navigation system, a GPS positioning system, and an omnidirectional sonar. The fixed camera is installed at the bow of the upper hull, and two underwater lightings are provided, which are respectively installed at the bows of the two lower hulls. The inertial navigation system, the GPS positioning system, and the omnidirectional sonar are respectively installed in one of the lower hulls.

[0009] Furthermore, the length ratio of the upper hull to the lower hull is 0.65-0.95, and the vertex angle of the isosceles triangle formed by the two lower hulls and the upper hull is 90°-120°.

[0010] Optimally, the length-to-diameter ratio of the trimaran body is 5 to 12, the maximum length is 2 to 50 meters, the design speed is 0.1 to 3.6 knots, the maximum width of the trimaran body is 0.15 to 0.65 times the maximum length, and the length of the lower hull is 0.75 to 0.92 times the maximum length of the trimaran body.

[0011] Optimally, the bow sections of the lower hull and the upper hull are both semi-ellipsoidal, the stern sections are both cones, and the middle sections are cylinders.

[0012] Based on the design of the AUTOSUB and HUGIN hull structures, the hull design adopts a rotating body design. In addition, the rotating body needs to be designed with a deployment device to ensure that it does not flip when placed statically, while taking into account the needs of different speed designs. Considering the above factors, the bottom line of the rotating body UUV hull is partially modified, and the Bpline curve is used to transition between the front and rear parts parallel to the mid-bottom.

[0013] Optimally, the transverse hydrofoil is a symmetrical airfoil with a thickness ratio of 0.15 to 0.28; the cross-section of the cross hydrofoil is cross-shaped, and its plumb wing is a symmetrical airfoil with a thickness ratio of 0.1 to 0.26, the horizontal wing is bow-shaped, and the thickness ratio is 0.05 to 0.16, and the horizontal wing can rotate 0° to 20° clockwise or counterclockwise around the axis at the intersection with the plumb wing.

[0014] Preferably, counterweights are provided on the two lower hulls respectively.

[0015] A design method of the above-mentioned composite three-body underwater intelligent glider comprises the following steps:

[0016] Step 1: Design variables;

[0017] Assume that the bow section length of the lower hull is L1, the middle section length is L2, the stern section length is L3, the cross-sectional width of the lower hull is B1, the bow section length of the upper hull is L4, the middle section length is L5, the stern section length is L6, the cross-sectional width of the upper hull is B2, the maximum length of the glider is L7, the maximum width of the glider is B, the height is H, and the design speed is V s , the propeller diameter is D P , propeller disk ratio is A eo , the propeller speed is N, the longitudinal position of the propeller buoyancy center is L cb , the longitudinal position of the propeller center of gravity is X g , the propeller pitch ratio is P / D, the rotatable hydrofoil area is S1, and the rotatable hydrofoil chord length is L8;

[0018] Step 2: Determine the objective function;

[0019] For the speed of the glider, the naval coefficient is selected as the speed objective function, and the larger the objective function value, the better. Therefore:

[0020]

[0021] Where: V——design speed; Δ——design displacement; P E - effective horsepower;

[0022] For the maneuverability of the glider, the dimensionless turning index K', the straight flight stability criterion C' and the pitching motion Q' are combined in the form of power exponential product as the index of the glider maneuverability. Then the maneuverability objective function is:

[0023]

[0024] Where: Y′ δ ——derivative of the lateral drift force with respect to the vertical heading angle; N′ r ——derivative of yaw moment with respect to heave angular velocity; Y′ r——derivative of the lateral drift force with respect to the heave angular velocity; m′——dimensionless value of mass; N′ δ ——The derivative of the yaw moment with respect to the vertical heading angle; sin'(2πft+θ)——The derivative of the pitch motion function;

[0025] For the gliding performance of the glider, the relationship between its buoyancy and gravity will be considered, and f3(x) will be used as the functional objective function, which is expressed as:

[0026]

[0027] Where: F is the algebraic sum of buoyancy and gravity, M is the distance from F to the center of the glider, V is the displacement, and X is the length of the boat;

[0028] Combining the above three aspects, the total objective function f(x) is constructed, and its expression is:

[0029] f(x)=f1 σ1 *f2 σ2 *f3 σ3

[0030] In the formula: σ1, σ2, σ3>0, σ1*σ2*σ3=1.

[0031] Beneficial effects: Compared with the prior art, the advantages of the present invention are:

[0032] The present invention increases the underwater glider's water-based amphibious three-state function, so that it can realize walking on harsh surfaces and flexible and changeable seabed movement modes. The isosceles triangle three-hull is adopted, and the volume of the high-pressure water pump in the hull is adjusted to perform gliding movement with the assistance of the horizontal wing. The three-body structure of the present invention reserves sufficient space for subsequent optimization and improvement, so as to facilitate later improvements. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0034] Figure 2 It is a schematic diagram of the top view of the structure of the present invention;

[0035] Figure 3 It is a rear view structural schematic diagram of the present invention;

[0036] Figure 4 It is a schematic diagram of the floating structure of the upper hull of the present invention;

[0037] Figure 5 A cross-sectional view of the bow section of the upper hull or the lower hull of the present invention;

[0038] Figure 6 It is the principle block diagram of the intelligent control system of the present invention. DETAILED DESCRIPTION

[0039] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0040] A composite three-body underwater intelligent glider, such as Figures 1 to 6 As shown, it includes a trimaran body 1 and a quick floating state adjustment system 2, a gliding system, an intelligent propulsion system, and an intelligent control system installed thereon.

[0041] The trimaran body 1 includes a lower hull 1-1 and an upper hull 1-2. Two lower hulls 1-1 are arranged in parallel and spaced apart, and the two are connected by two transverse hydrofoils 1-3 arranged in front and behind. The upper hull 1-2 is arranged above the lower hull 1-1 and parallel to it. The opposite sides of the upper hull 1-2 are respectively connected to a corresponding lower hull 1-1 through an oblique hydrofoil 1-4. The connecting line of the three forms an isosceles triangle. The two transverse hydrofoils 1-3 are respectively connected to the upper hull 1-2 through a cross hydrofoil 1-5. The lower hull 1-1 and the upper hull 1-2 are both composed of a bow section, a middle section and a stern section with smooth transition.

[0042] There are two quick floating state adjustment systems 2 with excellent economy and functionality, which are respectively installed at the bow and stern of the upper hull 1-2. The quick floating state adjustment system 2 includes a high-pressure pump 2-1, a liquid storage tank 2-2, an inlet and outlet 2-3, a pipeline 2-4, an electromagnetic valve 2-5, and a pressure sensor 2-6. The high-pressure pump 2-1 is installed at the bow or stern of the upper hull 1-2, the liquid storage tank 2-2 is arranged in the upper hull 1-2, and the liquid storage tank 2-2 is provided with an anti-swing bulkhead inside. The liquid storage tank 2-2 is provided with an inlet and outlet 2-3, and the inlet and outlet 2-3 is connected to the high-pressure pump 2-1 through a pipeline 2-4 and an electromagnetic valve 2-5. The pressure sensor 2-6 is installed on the pipeline 2-4. Cost-effective components and materials are used, and the design is energy-saving and optimized to improve the economy and sustainability of the system. The buoyancy size is changed by pumping water into the liquid storage tank 2-2 through two pairs of high-pressure pumps 2-1.

[0043] The high pressure gas cylinder of the trimaran glider provides gas of sufficient pressure and can also provide a certain buoyancy for the whole fuselage. Since the high pressure gas cylinder has a relatively high pressure when in use, a pressure reducing valve can be installed on the high pressure gas cylinder to keep the pressure within the safe range that the equipment and pipelines 2-4 can withstand.

[0044] The gliding system includes a rotatable hydrofoil 3-1 and a steering gear 1 3-2. The two cross hydrofoils 1-5 are respectively equipped with rotatable hydrofoils 3-1, and each rotatable hydrofoil 3-1 is driven by a steering gear 3-2. The intelligent push-control system includes a propeller thruster 4-1, a propeller wheel 4-2, a motor 4-3, and a steering gear 2 4-4. There are two propeller thrusters 4-1, which are respectively installed at the tail ends of the two lower hulls 1-1. There are two groups of propeller wheels 4-2, each with two. One group is respectively installed at the middle section of the bottom of the two lower hulls 1-1 and is respectively equipped with a motor 4-3, and the other group is respectively installed at the front section of the bottom of the two lower hulls 1-1 and is respectively equipped with a steering gear 2 4-4. The quick floating state adjustment system 2, the steering gear 1 3-2, the propeller thruster 4-1, the motor 4-3, and the steering gear 2 4-4 are respectively connected to the intelligent control system signal. The blades of the hydrofoil 3-1 are made of lightweight and high-strength materials with good durability and corrosion resistance. According to the change of its own force, the shape and angle of the hydrofoil 3-1 can be automatically adjusted to maintain the stability and efficiency of the glider, and cooperate with the buoyancy adjustment system to achieve the gliding function. The propeller thruster 4-1 is a combination of a propeller and a thruster, and the propeller is a ducted propeller.

[0045] The intelligent control system includes a main control system, which is equipped with a power supply 5-1. An underwater detection sensor assembly 5-2 is connected to the main control system. The underwater detection sensor assembly 5-2 includes a fixed camera, an underwater lighting lamp, an inertial navigation system, a GPS positioning system, and an omnidirectional sonar. The fixed camera is installed at the bow of the upper hull 1-2. Two underwater lighting lamps are provided, which are respectively installed at the bows of the two lower hulls 1-1. The inertial navigation system, the GPS positioning system, and the omnidirectional sonar are respectively installed in one of the lower hulls 1-1. The intelligent control system also includes a battery, which supplies power to the entire intelligent control system. The main control system receives signals from the omnidirectional sonar and the camera and controls various power sources.

[0046] The length ratio of the upper hull 1-2 to the lower hull 1-1 is 0.65-0.95, and the vertex angle of the isosceles triangle formed by the two lower hulls 1-1 and the upper hull 1-2 is 90°-120°.

[0047] The length-to-diameter ratio of the trimaran body 1 is 5-12, the maximum length is 2-50m, the design speed is 0.1-3.6 knots, the maximum width of the trimaran body 1 is 0.15-0.65 times the maximum length, and the length of the lower hull 1-1 is 0.75-0.92 times the maximum length of the trimaran body 1.

[0048] The bow sections of the lower hull 1-1 and the upper hull 1-2 are both semi-ellipsoidal, the stern sections are both cones, and the middle sections are cylinders.

[0049] The transverse hydrofoil 1-3 is a symmetrical airfoil with a thickness ratio of 0.15 to 0.28; the cross hydrofoil 1-5 has a cross-shaped cross section, and its plumb wing is a symmetrical airfoil with a thickness ratio of 0.1 to 0.26, and the horizontal wing is bow-shaped with a thickness ratio of 0.05 to 0.16. The horizontal wing can rotate clockwise or counterclockwise around the axis by 0° to 20° at the intersection with the plumb wing.

[0050] Counterweight blocks are respectively arranged on the two lower hulls 1 - 1 .

[0051] In the intelligent propulsion and control system with maximum cost-effectiveness, it is assumed that the cost of the intelligent propulsion and control system with maximum cost-effectiveness is W, the propeller is K, the thruster is J, a pair of propeller wheels located in the rear half of the middle section of the lower two hulls for driving is M, the motor is E, a pair of propeller wheels located in the front half of the middle section of the lower two hulls is Y, the steering gear is N, and an adaptive attitude control system is G, then the objective function f=W a1 *K a2 *J a3 *M a4 *E a5 *Y a6 *N a7 *G a8 , where a1*a2*a3*a4*a5*a6*a7*a8=1.

[0052] The cost-effectiveness ratio is: QA / W, where Q represents the improvement of propeller W. If the speed is increased from W1 to W2, then Q = W2-W1. A represents the improvement of propeller J. For example, if the propeller performance is improved from X1 to X2, the improvement is J2-J1. Then:

[0053] A=(W2-W1) a1 *(K2-K1) a2 *(J2-J1) a3 *(M2-M1) a4 *(E2-E1) a5 *(Y2-Y1) a6 *(N2-N1) a7 *(G2-G1) a8

[0054] , where a1*a2*a3*a4*a5*a6*a7*a8=1.

[0055] In order to maximize the cost-effectiveness, we need to optimize three variables in the model: the cost W of the monitoring system, the propeller speed K, and the motor power E.

[0056] The cost W of the monitoring system includes purchase cost, debugging cost, experimental cost, etc. W can be expressed as: W=WP+WI+WM, where WP represents the purchase cost, WI represents the debugging cost, and WM represents the experimental cost.

[0057] For propeller speed K and motor power E, we need to consider the characteristics of the glider and sea conditions. Generally speaking, the type of glider, aspect ratio, weight, and propulsion efficiency will have an impact. We can use a function P to represent the relationship between propeller speed K and motor power E and these factors: KE = P

[0058] Combining the above models, we can get the following cost-effectiveness optimization mathematical model:

[0059] Among them, W1, K1, J1, M1, E1, Y1, N1, G1 and W2, K2, J2, M2, E2, Y2, N2, G2 represent the index values ​​of the glider without installing propellers and other equipment, WP, WI and WM represent the purchase cost, debugging cost and experimental cost respectively. In this model, we need to seek the maximum cost-effectiveness.

[0060] The human-computer interaction interface is the operating end of the system. All operating instructions are given by the operator. It is mainly composed of a safe waterproof box, a high-brightness screen, a keyboard, a touchpad, an industrial control system, a power system and a series of joystick knobs.

[0061] Each interface of the main control board has an IO port to realize data collection, and transmit the data to the industrial computer through the serial port. The ground station main control board and the industrial computer are mainly connected through the RS-232 communication protocol.

[0062] The system's monitoring interface is used to complete image acquisition, data transmission, etc.

[0063] The control chip of the system uses the 32-bit STM32 of ARM architecture as the core processing board, collects the operation signals of the ground station, reads and recognizes the status of external input devices such as joysticks, knobs, switches, etc., and then transmits this status information to the ground station to complete the relevant movements of the trimaran glider. At the same time, it detects data such as water temperature, speed, depth, etc.

[0064] The design method of the above-mentioned composite three-body underwater intelligent glider comprises the following steps:

[0065] Step 1: Design variables:

[0066] Assume that the bow length of the lower hull 1-1 is L1, the middle length is L2, the stern length is L3, the cross-sectional width of the lower hull 1-1 is B1, the bow length of the upper hull 1-2 is L4, the middle length is L5, the stern length is L6, the cross-sectional width of the upper hull 1-2 is B2, the maximum length of the glider is L7, the maximum width of the glider is B, the height is H, and the design speed is V s , the propeller diameter is D P , propeller disk ratio is A eo , the propeller speed is N, the longitudinal position of the propeller buoyancy center is L cb , the longitudinal position of the propeller center of gravity is X g , propeller pitch ratio is P / D, horizontal wing area is S1, horizontal chord length is L8;

[0067] Step 2: Determine the objective function:

[0068] For the rapidity of the trimaran glider, the naval coefficient is selected as the rapidity objective function, and the larger the objective function value, the better. Therefore:

[0069]

[0070] Where: V——design speed; Δ——design displacement; P E ——Effective horsepower.

[0071] For the maneuverability of the trimaran glider, the dimensionless turning index K', the straight flight stability criterion C' and the pitching motion Q' are combined in the form of power exponential product as the index of the maneuverability of the trimaran glider. The maneuverability objective function is:

[0072]

[0073] Where: Y′ δ ——derivative of the lateral drift force with respect to the vertical heading angle; N′ r ——derivative of yaw moment with respect to heave angular velocity; Y′ r ——derivative of the lateral drift force with respect to the heave angular velocity; m′——dimensionless value of mass; N′ δ ——The derivative of the yaw moment with respect to the vertical heading angle; sin'(2πft+θ)——The derivative of the pitch motion function;

[0074] For the gliding performance of the glider, the relationship between its buoyancy and gravity will be considered, and f3(x) will be used as the functional objective function, which is expressed as:

[0075]

[0076] Where: F is the algebraic sum of buoyancy and gravity, M is the distance from F to the center of the glider, V is the displacement, and X is the length of the boat.

[0077] Combining the above three aspects, the total objective function f(x) is constructed, and its expression is:

[0078] f(x)=f1 σ1 *f2 σ2 *f3 σ3

[0079] In the formula: σ1, σ2, σ3>0, σ1*σ2*σ3=1.

[0080] Furthermore, it also includes the following comprehensive optimization mathematical model constraints:

[0081] ① Reasonable upper and lower limits of each design variable;

[0082] ②The propeller must meet the cavitation requirements;

[0083] ③ The total area requirements of the rudder in accordance with the Ship Classification Rules;

[0084] ④ According to the ship stability regulations, the initial stability height of the upright ship should be greater than 0.3 meters;

[0085] ⑤ The calculated displacement is equal to the designed displacement;

[0086] ⑥The effective thrust of the propeller is equal to the total resistance of the hull;

[0087] ⑦ The torque supplied by the main engine to the propeller is equal to the hydrodynamic torque borne by the propeller;

[0088] Although the specific implementation of the invention is described in detail in conjunction with the drawings, it should not be understood as limiting the scope of protection of this patent. Within the scope described in the claims, various modifications and variations that can be made by those skilled in the art without creative work still fall within the scope of protection of this patent.

Claims

1. A composite three-body underwater intelligent glider, Features: The invention comprises a trimaran body (1) and a quick floating state adjustment system (2), a gliding system, an intelligent propulsion and control system, and an intelligent control system installed thereon. The trimaran body (1) comprises a lower hull (1-1) and an upper hull (1-2). The lower hull (1-1) is provided with two parallel and spaced parts, and the two are connected by two transverse hydrofoils (1-3) arranged in front and behind. The upper hull (1-2) is arranged above the lower hull (1-1) and parallel to it. The opposite sides of the upper hull (1-2) are respectively connected to a corresponding lower hull (1-1) by an oblique hydrofoil (1-4). The connecting line of the three forms an isosceles triangle. The two transverse hydrofoils (1-3) are respectively connected to the upper hull (1-2) by a cross hydrofoil (1-5). The quick floating state adjustment system (2) is provided with two parts, which are respectively installed at the bow and stern of the upper hull (1-2). The gliding system comprises a rotatable hydrofoil (3-1), a rudder The invention relates to a first hydrofoil (3-2), two cross hydrofoils (1-5) are respectively provided with rotatable hydrofoils (3-1), and each rotatable hydrofoil (3-1) is driven by a steering gear (3-2); the intelligent push-and-control system comprises a propeller propeller (4-1), a propeller wheel (4-2), a motor (4-3), and a second steering gear (4-4); two propeller propellers (4-1) are provided, and are respectively installed at the tail ends of the two lower hulls (1-1); two groups of propeller wheels (4-2) are provided, and each group has two, one group is respectively installed at the middle section of the bottom of the two lower hulls (1-1) and is respectively provided with a motor (4-3); the other group is respectively installed at the front section of the bottom of the two lower hulls (1-1) and is respectively provided with a second steering gear (4-4); the quick floating state adjustment system (2), the first steering gear (3-2), the propeller propeller (4-1), the motor (4-3), and the second steering gear (4-4) are respectively connected to the intelligent control system signal.

2. A composite three-body underwater intelligent glider according to claim 1, Features: The quick floating state regulating system (2) comprises a high-pressure pump (2-1), a liquid storage tank (2-2), an inlet and outlet (2-3), a pipeline (2-4), an electromagnetic valve (2-5), and a pressure sensor (2-6). The high-pressure pump (2-1) is installed at the bow or stern of the upper hull (1-2). The liquid storage tank (2-2) is arranged in the upper hull (1-2). The liquid storage tank (2-2) is provided with an inlet and outlet (2-3). The inlet and outlet (2-3) is connected to the high-pressure pump (2-1) through the pipeline (2-4) and the electromagnetic valve (2-5). The pressure sensor (2-6) is installed on the pipeline (2-4).

3. A composite three-body underwater intelligent glider according to claim 1, Features: The intelligent control system comprises a main control system, the main control system is equipped with a power supply (5-1), an underwater detection sensor component (5-2) is connected to the main control system, the underwater detection sensor component (5-2) comprises a fixed camera, an underwater lighting lamp, an inertial navigation system, a GPS positioning system, and an omnidirectional sonar, the fixed camera is installed at the bow of the upper hull (1-2), two underwater lighting lamps are provided, which are respectively installed at the bows of the two lower hulls (1-1), and the inertial navigation system, the GPS positioning system, and the omnidirectional sonar are respectively installed in one of the lower hulls (1-1).

4. The composite three-body underwater intelligent glider according to claim 1, Features: The length ratio of the upper hull (1-2) to the lower hull (1-1) is 0.65-0.95, and the vertex angle of the isosceles triangle formed by the two lower hulls (1-1) and the upper hull (1-2) is 90°-120°.

5. The composite three-body underwater intelligent glider according to claim 1, Features: The trimaran body (1) has an aspect ratio of 5 to 12, a maximum length of 2 to 50 m, a design speed of 0.1 to 3.6 knots, a maximum width of the trimaran body (1) of 0.15 to 0.65 times the maximum length, and a length of the lower hull (1-1) of 0.75 to 0.92 times the maximum length of the trimaran body (1).

6. The composite three-body underwater intelligent glider according to claim 1, Features: The bow sections of the lower hull (1-1) and the upper hull (1-2) are both semi-ellipsoidal, the stern sections are both cones, and the middle sections are cylinders.

7. The composite three-body underwater intelligent glider according to claim 1, Features: The transverse hydrofoil (1-3) is a symmetrical airfoil with a thickness ratio of 0.15 to 0.28; the cross hydrofoil (1-5) has a cross-shaped cross section, the plumb wing is a symmetrical airfoil with a thickness ratio of 0.1 to 0.26, the horizontal wing is bow-shaped, and the thickness ratio is 0.05 to 0.

16. The horizontal wing can rotate clockwise or counterclockwise around the axis by 0° to 20° at the intersection with the plumb wing.

8. The composite three-body underwater intelligent glider according to claim 1, Features: Counterweight blocks are respectively arranged on the two lower hulls (1-1).

9. A method for designing a composite three-body underwater intelligent glider according to any one of claims 1 to 8, Features The following steps are involved: Step 1: Design variables; Assume that the bow length of the lower hull (1-1) is L 1 , the length of the middle section is L 2 , the stern section length is L 3 The cross-sectional width of the lower hull (1-1) is B 1 , the length of the bow section of the upper hull (1-2) is L 4 , the length of the middle section is L 5 , the length of the tail section is L 6 The cross-sectional width of the upper hull (1-2) is B 2 , the maximum length of the glider is L 7 , the maximum width of the glider is B, the height is H, and the design speed is V s , the propeller diameter is D P , propeller disk ratio is A eo , the propeller speed is N, the longitudinal position of the propeller buoyancy center is L cb , the longitudinal position of the propeller center of gravity is X g , the propeller pitch ratio is P / D, and the rotatable hydrofoil area is S 1 , the chord length of the rotatable hydrofoil is L 8 ; Step 2: Determine the objective function; For the speed of the glider, the naval coefficient is selected as the speed objective function, and the larger the objective function value, the better. Therefore: Where: V——design speed; Δ——design displacement; P E - effective horsepower; For the maneuverability of the glider, the dimensionless turning index K', the straight flight stability criterion C' and the pitching motion Q' are combined in the form of power exponential product as the index of the glider maneuverability. Then the maneuverability objective function is: Where: Y δ ′——derivative of the lateral drift force with respect to the vertical heading angle; N r ′——derivative of yaw moment with respect to heave angular velocity; Y r ′——derivative of the lateral drift force with respect to the heave angular velocity; m′——dimensionless value of mass; N′ δ ——The derivative of the yaw moment with respect to the vertical heading angle; sin'(2πft+θ)——The derivative of the pitch motion function; For the gliding performance of a glider, the relationship between its buoyancy and gravity will be considered, with f 3 (x) is used as the functional objective function, and its expression is: Where: F is the algebraic sum of buoyancy and gravity, M is the distance from F to the center of the glider, V is the displacement, and X is the length of the boat; (The parameter settings are repeated above and need to be modified) Combining the above three aspects, the total objective function f(x) is constructed, and its expression is: f(x)=f 1 σ1 *f 2 σ2 *f 3 σ3 Where: σ 1 , σ 2 , σ 3 > 0, σ 1 *σ 2 *σ 3 = 1.

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