A wave glider system based on sea surface floating body cable transmission control steering

Abstract

The present invention belongs to the field of wave gliders, and specifically discloses a wave glider system based on sea surface floating body cable transmission and steering control. The steering drive torque of the sea surface floating body is transmitted by a slender cable between the sea surface floating body and the glider, driving the underwater glider wing plate limit device to rotate 180 degrees. With the help of the rotation of the limit device, the wing plate in contact with the limit device is driven to flip, thereby realizing the flipping and steering of the wing plate. After all or part of the wing plate on one side flips, the horizontal thrust on the side wing plate and the thrust of the other side wing plate form a steering torque, driving the wave glider to turn as a whole. Only a mechanical transmission structure is designed in the underwater glider, and there is no need to install a power element.

Description

Technical Field

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0016] During the process of changing direction, the drive device in the upper float drives the wing to rotate 180° through the transmission device, causing the streamlined part of the flip wing to flip in the direction and change the forward direction, thereby achieving two-way travel and two-way limiting. The above-mentioned drive device provides power to the transmission mechanism. When turning, in the full wing flip mode, the transmission device causes all the unilateral limiting wing panels to flip, forming a large steering torque, which allows for a larger range of turning, but at the same time increases energy loss. When turning a portion of the wing panels, after the partial limiting wing panels flip, the two sides form a thrust difference due to uneven force. At this moment, the power of the drive device is much less than that in the full wing flip mode.

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

[0018] 1. The present invention transmits power from the motor on the float to the underwater glider via a cable transmission, eliminating the need for electrical components within the underwater glider and the need for power transmission from the surface float to the underwater glider. This eliminates the need for long cables in the seawater. Furthermore, since the underwater glider consists solely of mechanical components, compared to configurations where the motor is located within the glider, there is no need to ensure a tight seal to protect the electrical components, thus reducing the design requirements and manufacturing costs of the underwater glider. Furthermore, the present invention causes the wing panels on the same side to flip. After flipping, the horizontal thrust acting on that wing panel is in the opposite direction from the force acting on the other wing panel, creating a steering torque that drives the entire wave glider to turn to any desired angle. Alternatively, only a portion of the wing panels on the same side can be flipped, reducing the resultant horizontal thrust acting on that wing panel. The thrust acting on the flipped wing panel is smaller than that on the other side, creating a thrust differential that drives the entire wave glider to turn to any desired angle. The floating body and the wave glider are connected by cables, which transmit signals, provide detection data feedback, and provide traction between the two. During travel, the floating body only receives data and provides small-angle steering guidance, but does not provide power for the wave glider system. The drive device, the servo, only provides power for changing the direction of travel, not for the system's forward motion. The system's forward motion comes from the wave glider converting wave energy into kinetic energy.

[0019] 2. Through the design of the transmission device, this invention places all servos above water. The underwater glider does not carry an energy system or steering system, freeing up space for more sensors. The worm gear structure in the transmission device ensures that the drive device can only drive the limit device in one direction, which in turn drives the wing plate; the wing plate does not reverse the limit device. This also achieves a deceleration effect, reducing the torque of the drive device. The drive device's speed is used to exchange the high torque of the limit device, reducing the drive device specifications.

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

[0021] Figure 1 Schematic diagram of the overall structure of the wave glider system disclosed in Example 1 and Example 2 for achieving reversing cruising based on flip wing panels;

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

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

[0024] Figure 4is a schematic diagram of the wave glider disclosed in Example 1 with all wings on one side flipped;

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

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

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

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

[0029] Figure 9 is a schematic structural diagram of the transmission device disclosed in Example 1;

[0030] Figure 10 This is a schematic diagram of the servo installation disclosed in Example 1;

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

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

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

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

[0035] Figure 15 This is a structural diagram of another form of the system for flipping part of the wing panels of a wave glider for achieving reversing cruising based on flipping wing panels disclosed in Example 2.

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

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

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

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

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

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

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

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

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

[0045] For the convenience of description, if the words "up", "down", "left" and "right" appear in the present invention, they only indicate that they are consistent with the up, down, left and right directions of the drawings themselves, and do not limit the structure. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they cannot be understood as limiting the present invention.

[0046] As described in the background, existing wave gliders suffer from high steering power requirements during turns, resulting in limited autonomy for the underwater glider and float, inability to turn around in emergencies, and high steering energy consumption. To address these technical issues, the present invention proposes a bidirectional wave glider for underwater patrol and detection.

[0047] Example 1

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

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

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

[0051] like Figure 13As shown, when using a gear-chain transmission system, a chain-rope combination can be used to maximize the chain's length. Specifically, it includes a driving sprocket 409, a driven sprocket 410, a first chain 408, a second chain 407, and a transmission cable 403. The driving sprocket 409 is connected to the drive shaft of the drive device, and the driving sprocket 409 is connected to the first chain section 408. The driven sprocket 410 is connected to the second chain section 407. The ends of the first chain 408 are connected to the ends of the second chain 407 via the transmission cable 403, forming a closed loop. The chain length between the surface float and the underwater glider ensures that the wing panels engage with the gears when they are fully flipped. The remaining parts can be replaced with ropes to reduce costs.

[0052] Further, such as Figure 2 As shown, to ensure stability, the float 101 is designed with a tadpole-like biomimetic structure, featuring a long tail and a low center of gravity to enhance its righting ability. Furthermore, to utilize waves and reduce resistance, the ends of the float's head are designed to be circular. Furthermore, the float's center of mass 104 is located in the middle of the head of the float 101, while the hydraulic action point 105 is located in the middle of the tail of the float 101.

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

[0054] refer to Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 It can be seen that the U-turn of the wave glider in this embodiment is achieved by turning the single-side wing plate 180 degrees to achieve the force difference on both sides of the wave glider. When there is no turning instruction, the flip wing plate of the wave glider will turn at the same time. Figure 5 When the turning instruction is received, the wing of the wave glider is flipped up and down at the same time. Figure 6 The mode is opened, and the force directions on both sides are different, thus achieving turning.

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

[0056] refer to Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 As can be seen, the transmission structure of the wave glider proposed in this embodiment consists of an active screw mechanism 401, a transmission screw mechanism 402, a transmission cable 403, a worm gear 404, a worm 405, a rocker 303, a main connecting rod 304, a branch connecting rod 305, and a limit device 301. The servo in this embodiment is fixed to the floating body. The active screw mechanism 401 is connected to the transmission screw mechanism 402 below by a cable. At the same time, the transmission screw mechanism 402 below drives the worm 405 to rotate. The worm gear 404 cooperates with the rocker 303 to drive the rocker 303 to rotate. The rocker 303 is connected to a long main connecting rod 304, which is connected to multiple branch connecting rods 305. Each branch connecting rod 305 is connected to the limit device 301, and the limit device 301 is connected to the wave glider wing panel 302. When the upper steering gear 406 applies an axial force to the pulley mechanism, the transmission mechanism drives the rocker 303 to rotate, and the rocker 303 pushes the main connecting rod 304 to push the limit device 301 to rotate, thereby achieving the purpose of reversing the flip wing 302.

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

[0058] A one-way transmission device is added to the aforementioned transmission structure, allowing the limiting device to only drive the wing plate to rotate in a set direction, preventing the wing plate from rotating in the opposite direction. Specifically, the worm gear structure allows the drive device to only drive the limiting device 301 in a one-way direction, which in turn drives the wing plate 302 in rotation. However, the wing plate 302 cannot rotate in the opposite direction of the limiting device 301. Simultaneously, the worm gear structure also serves as a deceleration function, reducing the torque of the drive device. This reduces the speed of the drive device in exchange for the high torque of the limiting device, thereby reducing the specifications of the drive device. The presence of the worm gear also prevents the wing plate 302 from reacting to the motor.

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

[0060] It's important to note that during travel, the float 101 only receives data and provides small-angle steering guidance, and does not provide power to the wave glider 102 system. Furthermore, the servo 406 only provides power for changing the direction of travel and does not provide forward propulsion for the system. The forward propulsion for the system comes from the wave glider 102 converting wave energy into kinetic energy, significantly reducing energy loss.

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

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

[0063] In the aforementioned steering mode for the wave glider, when all wing panels on one side are flipped, the limited wing panels are connected by a connecting rod, enabling simultaneous torque transmission to each wing panel and simultaneous control of the wing panel on one side by the control mechanism. In this mode, the rotary drive device rotates the wing panel 180 degrees.

[0064] The limiting device comprises a limiting sleeve 501 and a wing plate shaft 502. The internal slot of the limiting sleeve 501 engages with the limiting block on the wing plate shaft 502, which securely connects the wing plate 302 to the wing plate 302, thereby limiting the relative rotation angle between the wing plate 302 and the limiting sleeve 501. One limiting sleeve 501 is securely connected to the glider body 202; the other limiting sleeve 501 is supported by the glider body 202 and can rotate axially. Each limiting sleeve 501 on this side is securely connected to a connecting rod 305. The rocker 303 drives each wing plate shaft 502 through a main connecting rod 304 and a connecting rod 305 to achieve 180° deflection.

[0065] refer to Figure 2To ensure stability, the float 101 is designed as an elongated boat-like structure or a tadpole-like biomimetic structure. Specifically, a long tail structure is used to add a vertical stabilizer to the rear of the float to enhance directional stability. Furthermore, the bidirectional head of the float is designed to utilize waves and reduce drag, adopting an arc-shaped design. This creates a horizontal offset between the center of gravity of the float and the center of water action. This design allows the center of rotation of the float to be closer to the center of gravity and the cable connection point during steering. The water force acting perpendicular to the length of the float generates a torque around the center of rotation, enabling the float to turn under the traction provided by the glider and the cable.

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

[0067] Example 2

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

[0069] The specific structure is:

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

[0071] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A wave glider system based on sea surface floating body cable transmission control steering, comprising a floating body and a wave glider, characterized in that: The wave glider comprises a wave glider body and wing panels installed on both sides of the wave glider body, wherein the wing panels on one side are connected to a transmission device; the transmission device is composed of an active screw mechanism, a transmission screw mechanism, a transmission cable, a worm gear, a worm, a rocker, a main connecting rod, a branch connecting rod, and a limit device. The active screw mechanism is connected to the transmission screw mechanism below through the transmission cable, and at the same time, the transmission screw mechanism below drives the worm to rotate, and the worm gear cooperates with the rocker to drive the rocker to rotate. The rocker is connected to a long main connecting rod, and the main connecting rod is connected to multiple branch connecting rods, each of which is connected to a plurality of branch connecting rods. The rod is connected to the limiting device, and the limiting device is connected to the wing panel of the wave glider; the transmission cable is spirally wound on the active screw mechanism and the transmission screw mechanism, and the transmission cable forms a complete closed system; the driving device at the front end of the floating body is connected to the transmission screw mechanism on the wave glider through the active screw mechanism and the transmission cable, and the rear end of the floating body is connected to the wave glider through a cable of fixed length or an optoelectronic composite cable with information transmission function; the driving device can drive all or part of the wing panels on the same side to flip 180 degrees through the transmission cable, thereby realizing the steering of the wave glider system.

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

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

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

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

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

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