Water-air amphibious cross-medium maneuvering subsurface buoy, control method, program and equipment thereof and storage medium

Abstract

According to the water-air amphibious cross-medium maneuvering submerged buoy, intelligent cross-medium design is adopted, the water-air amphibious cross-medium maneuvering submerged buoy has the underwater submerging and surfacing information collection capacity and the air maneuvering flight capacity, has the advantages of being small in size, low in element power consumption, low in cost and the like, and can give consideration to long-term underwater monitoring, large-scale air / water surface detection and autonomous satellite searching stable communication tasks. According to the designed wing arm folding and unfolding control structure, the wing arms can be folded in the underwater anchoring state, and the wing arms can be unfolded and the thrust direction can be controlled in the movement process; according to the anchor chain clamping structure designed by the invention, a manipulator grabbing structure is formed by clamping rod pieces, an underwater anchoring state is realized by adopting a disc-shaped anchoring structure for grabbing, stable operation of a subsurface buoy on a seabed is ensured, and when movement is needed, only a manipulator needs to be opened for load rejection. The invention further designs a control method of the water-air amphibious cross-medium maneuvering subsurface buoy, and a thrust control law of cross-medium motion is designed, so that the water-air amphibious cross-medium maneuvering subsurface buoy can adapt to different motion working conditions.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater robots, and particularly relates to an amphibious water-air cross-media mobile submersible buoy and its control method, program, device and storage medium. Background Art

[0002] With the in-depth study of the ocean, the demand for ocean monitoring and data collection is increasing day by day. Traditional underwater monitoring equipment, submersible buoys, has great limitations in terms of function and applicability and is difficult to cope with the complex and changeable ocean environment. Traditional monitoring equipment often requires frequent manual intervention and cannot achieve long-term autonomous monitoring. Therefore, more efficient tools are needed to monitor the changes in the ocean environment.

[0003] In the fields of environmental monitoring and ocean resource development, the demand for efficient and concealed monitoring means is becoming more and more urgent. There is an urgent need for a device that can lurk underwater and communicate quickly on the water surface. In recent years, the rapid development of unmanned vehicle technology has provided a technical basis for the design of cross-media submersible buoys. Existing submersible drones and amphibious cross-media navigation drones have problems such as the inability to achieve real-time communication and limited self-carried energy, resulting in a short working duration. Existing traditional ocean observation equipment faces problems such as being too large in volume, and the deployment and recovery require a large amount of manpower and material resources; the position is fixed after deployment, and it is necessary to rely on floats to wait for satellites to pass by at a fixed point; the positioning is inaccurate. Currently, there is no flexible ocean observation equipment.

[0004] Existing submersible buoys are usually customized for specific tasks, which greatly limits the versatility and adaptability of the submersible buoys and makes it impossible to deploy in harsh sea conditions, making it difficult for them to adapt to various types of tasks. Due to the overly large volume and strict processing requirements of traditional submersible buoys, large ships equipped with A-frames, large deck cranes and other equipment are usually required during the deployment process, resulting in high costs for submersible buoy deployment. Usually, the communication between the submersible buoy and the outside world depends on floats and underwater acoustic array devices. The floats can only wait for satellites to pass by at a fixed point on the sea surface and cannot maneuver to search for satellites. The submersible buoy body carries a large number of monitoring devices and a large amount of data. When floats cannot be deployed in special sea areas and underwater acoustic communication is difficult in complex hydrological environments, the data of the submersible buoy cannot be transmitted back in time. The submersible buoy needs to work continuously in the harsh ocean environment for a long time, and the maintenance cost is relatively high. Due to its large volume and harsh working environment, it is difficult to carry out maintenance work on it. Summary of the Invention

[0005] The purpose of the present invention is to provide an amphibious water-air cross-media mobile submersible buoy and its control method, program, device and storage medium. The amphibious water-air cross-media mobile submersible buoy provided by the present invention is carried by an underwater vehicle and dropped to a designated area to be anchored underwater. When communication is required, it adopts a sea-air cross-media method. The submersible buoy drops its anchor and floats to the sea surface, unfolds its rotors and flies on the sea surface to achieve maneuverable satellite searching and data uploading to the satellite for backhaul.

[0006] An amphibious water-air trans-medium mobile submersible buoy, comprising an anchor chain clamping structure, a pressure-resistant cabin and a wing arm expansion and contraction control structure; the anchor chain clamping structure is installed at the lower end of the pressure-resistant cabin, and the wing arm expansion and contraction control structure is installed at the upper end of the pressure-resistant cabin;

[0007] The wing arm expansion and contraction control structure includes an expansion and contraction control base, a propeller, a transfer platform, wing arms and a top cabin; the top cabin is installed above the expansion and contraction control base through a support column; an expansion and contraction control servo is installed in the expansion and contraction control base, and the output end of the expansion and contraction control servo is connected to a threaded lead screw, and the threaded lead screw is vertically arranged above the expansion and contraction control base; a central hole is opened in the transfer platform and installed on the threaded lead screw, and the internal thread in the hole is adapted to the threaded lead screw, and multiple groups of interfaces are arranged circumferentially on the transfer platform; the propeller is installed at the front end of the wing arm through a propeller motor, and the rear end of the wing arm is installed below the top cabin, and multiple groups of wing arms are evenly arranged around the top cabin, and the body of each group of wing arms is installed in a circumferential interface of the transfer platform through a support rib plate;

[0008] The expansion and contraction control servo controls the rotation of the threaded lead screw, drives the transfer platform to move up and down along the threaded lead screw, and makes the wing arm rotate around the rear connection, so as to control the expansion or contraction of the wing arm.

[0009] Further, the anchor chain clamping structure includes an anchor chain clamping base and clamping rods; there are multiple groups of the clamping rods, which are evenly distributed around the anchor chain clamping base to form a manipulator grasping structure; a clamping rod control servo is installed on the anchor chain clamping base, a protective shell is installed circumferentially on the anchor chain clamping base, and a key-shaped hole is opened on the protective shell; the output end of the clamping rod control servo is connected to a crank, and the crank is connected to one end of a connecting rod to form a crank connecting rod mechanism, and the other end of the connecting rod passes through the key-shaped hole on the protective shell and is connected to the clamping rod.

[0010] Further, the clamping rod includes an upper rod and a lower rod, the upper rod deflects outward and forms an angle with the lower rod, and a boss is provided on the lower rod for clamping the anchor chain chassis; the surface of the rod body of the lower rod below the boss is serrated for controlling the release of the anchor chain; each clamping rod control servo controls a group of clamping rods, and the output end of the clamping rod control servo is connected to the top end of the upper rod through a crank connecting rod mechanism.

[0011] Further, the pressure-resistant cabin includes upper and lower sealed hatch covers and a cabin space, the upper sealed hatch cover is connected to the expansion and contraction control base, the lower sealed hatch cover is connected to the protective shell through a watertight sealing flange ring, watertight threading bolts are provided on the upper and lower sealed hatch covers, and the lines in the cabin space are connected to the anchor chain clamping structure and the wing arm expansion and contraction control structure through the watertight threading bolts.

[0012] Furthermore, the propeller is a three-blade propeller; the propeller motor is a brushless motor; the transfer platform is a cross-shaped platform with four groups of wing arms and propellers; inside the cabin space, there is a primary platform, an opening partition board, and a secondary platform; the primary platform is located below the secondary platform and is used to install the control circuit board; the secondary platform is used to install the power supply.

[0013] The present invention also provides a control method for an amphibious water-air trans-medium mobile submersible buoy, including the following steps:

[0014] Step 1: The amphibious water-air trans-medium mobile submersible buoy obtains its own speed information υ, position information x, and desired position information x at the current moment according to the carried equipment ref , and calculates the error e = x - x ref ;

[0015] Step 2: Calculate the sliding mode surface s through an adaptive sliding mode tracking controller;

[0016]

[0017] where λ is the convergence rate parameter;

[0018] Step 3: According to the current motion medium α of the amphibious water-air trans-medium mobile submersible buoy, calculate the thrust control law through an adaptive sliding mode tracking controller;

[0019]

[0020] where M is the inertia system matrix; C(υ) is the Coriolis centripetal force matrix; D(α, υ) is the damping matrix of the amphibious water-air trans-medium mobile submersible buoy in the current motion medium α, α ∈ [0, 1], α = 0 indicates that the amphibious water-air trans-medium mobile submersible buoy is moving in the air, α = 1 indicates that the amphibious water-air trans-medium mobile submersible buoy is moving underwater; when 0 < α < 1, the amphibious water-air trans-medium mobile submersible buoy is in water-air trans-medium motion, and α represents the degree of immersion of the amphibious water-air trans-medium mobile submersible buoy in water; G(α) is the buoyancy matrix of the amphibious water-air trans-medium mobile submersible buoy in the current motion medium α;

[0021] Step 4: According to the thrust control law τ prop , the amphibious water-air trans-medium mobile submersible buoy adjusts the angle of the propeller through the wing arm expansion and contraction control structure (300), and adjusts the rotation speed through the propeller motor (7).

[0022] Furthermore, the calculation method of the damping matrix D(α) of the amphibious water-air trans-medium mobile submersible buoy in the current motion medium α is:

[0023] Decompose the damping matrix D(α, υ) into two parts: linear damping and quadratic damping:

[0024] D(α, υ) = αD L +(1 - α)D Q (υ)

[0025] wherein, X u 、Y v 、Z w are hydrodynamic coefficients; υ = [u, v, w] T , where u, v, and w are the longitudinal velocity, lateral velocity, and vertical velocity respectively;

[0026] The calculation method of the buoyancy matrix G(α) of the water - air amphibious cross - medium mobile submersible buoy in the current motion medium α is as follows:

[0027] G(α) = α·G water +(1 - α)·G air

[0028] wherein, G water is the buoyancy matrix of the water - air amphibious cross - medium mobile submersible buoy underwater, obtained according to the net buoyancy in the moored state; G air is the buoyancy matrix of the water - air amphibious cross - medium mobile submersible buoy in the air flight state, obtained according to the lift force in the air flight state.

[0029] A computer device / system / apparatus, including a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement the steps of the control method of the above - mentioned water - air amphibious cross - medium mobile submersible buoy.

[0030] A computer - readable storage medium, on which a computer program / instructions are stored, and when the computer program / instructions are executed by a processor, the steps of the control method of the above - mentioned water - air amphibious cross - medium mobile submersible buoy are implemented.

[0031] A computer program product, including a computer program / instructions, and when the computer program / instructions are executed by a processor, the steps of the control method of the above - mentioned water - air amphibious cross - medium mobile submersible buoy are implemented.

[0032] The beneficial effects of the present invention are as follows:

[0033] The present invention adopts an intelligent cross-media design, combining underwater submerging / floating information collection and aerial maneuvering flight capabilities, and can take into account long-term underwater monitoring, large-scale aerial / surface detection, and autonomous satellite search and stable communication tasks. The wing-arm retracting / extending control structure designed in the present invention can retract the wing arms in the underwater mooring state, extend the wing arms during movement, and control the thrust direction; the anchor chain clamping structure designed in the present invention forms a manipulator grasping structure through clamping rods, and adopts a grasping disc-shaped mooring structure to achieve the underwater mooring state, ensuring that the subsea buoy can operate stably above the seabed. When movement is required, only the manipulator needs to be opened for throwing load. The present invention also designs a control method for the water-air amphibious cross-media maneuvering subsea buoy, and designs a thrust control law for cross-media movement, enabling the water-air amphibious cross-media maneuvering subsea buoy to adapt to different movement conditions. The water-air amphibious cross-media maneuvering subsea buoy designed in the present invention has the advantages of small volume, low power consumption of components, and low cost. Description of the Drawings

[0034] Figure 1 Fig. is the overall structure diagram of a water-air amphibious cross-media maneuvering subsea buoy in the present invention.

[0035] Figure 2 Fig. is a partial schematic diagram of the wing-arm retracting / extending control structure in the present invention.

[0036] Figure 3 Fig. is the schematic diagram of the upper rotor structure of a water-air amphibious cross-media maneuvering subsea buoy in the present invention.

[0037] Figure 4 Fig. is the schematic diagram of the internal structure of the pressure-resistant cabin in the present invention.

[0038] Figure 5 Fig. is the internal schematic diagram of the anchor chain clamping structure in the present invention.

[0039] Figure 6 Fig. is the external schematic diagram of the anchor chain clamping structure in the present invention.

[0040] Figure 7 Fig. is the three-dimensional structure diagram of a water-air amphibious cross-media maneuvering subsea buoy in the present invention.

[0041] Figure 8 Fig. is the schematic diagram of a water-air amphibious cross-media maneuvering subsea buoy when the wing arms are extended in the present invention.

[0042] Figure 9 Fig. is the schematic diagram of a water-air amphibious cross-media maneuvering subsea buoy when the wing arms are retracted in the present invention. Detailed Embodiment

[0043] The present invention will be further described below with reference to the drawings.

[0044] In view of the problems of the large volume and insufficient operational flexibility of traditional moored buoys, the present invention conducts research on cross-medium mobile moored buoys, and provides an amphibious cross-medium mobile moored buoy and its control method, program, device, and storage medium.

[0045] Communication method: Traditional moored buoys complete data transmission to the satellite through electromagnetic communication. However, their surface movement ability is limited, and the electromagnetic propagation environment on the sea surface is affected by various factors such as seawater evaporation, sea wave fluctuations, obstruction by floating objects on the sea surface, and large day-night temperature differences. Maritime communication faces severe problems such as path loss and shadow fading, which affect the communication efficiency of the buoy floats and lead to unstable communication quality. The present invention intends to adopt a sea-air cross-medium method. The moored buoy floats to the sea surface, unfolds its rotor wings for flight on the sea surface, and realizes mobile satellite search and data transmission to the satellite.

[0046] Anchoring system: Since moored buoys need to carry out long-term underwater monitoring tasks, in order to adapt to the complex and changeable underwater environment, their anchoring systems are too large and heavy. The present invention intends to adopt a disposable lightweight anchor chain structure, and control the anchor chain by changing the angle of the mechanical claw to achieve intelligent mooring.

[0047] Environmental monitoring range: Traditional moored buoys are limited by their own structures and can only be moored at fixed points underwater, with a small monitoring range. The present invention intends to adopt a cross-medium movement method. After the moored buoy abandons the anchor chain, it floats to the sea surface for flight, conducts sea area cruising, and has a three-dimensional observation space.

[0048] An amphibious cross-medium mobile moored buoy provided by the present invention includes a sea surface flight and cruising mechanism and an underwater mooring and support mechanism; the sea surface flight and cruising mechanism includes a single-axis blade lift structure for providing lift for takeoff on the water surface and a wing arm expansion and contraction control structure for realizing attitude control of the moored buoy; the underwater mooring and support mechanism includes a tail servo adjustment structure for realizing underwater anchor chain deployment and anchor chain abandonment. As Figure 1 、 Figure 7 and Figure 8 shown, the present invention specifically includes an anchor chain clamping structure 100, a pressure-resistant cabin 200, a wing arm expansion and contraction control structure 300, an expansion and contraction control servo adjustment structure 400, and a clamping rod control servo adjustment structure 500.

[0049] As Figure 2 and Figure 3As shown in the figure, the wing arm deployment control structure 300 includes a deployment control base, a propeller, a transfer platform 4, wing arms 8, and a top cabin 9. The top cabin 9 is installed above the deployment control base through a support column. A deployment control servo 1 is installed inside the deployment control base, and the output end of the deployment control servo 1 is connected to a threaded lead screw 2. The threaded lead screw 2 is vertically arranged above the deployment control base. The transfer platform 4 has a central hole and is installed on the threaded lead screw 2. The internal thread in the hole is adapted to the threaded lead screw 2. Multiple groups of interfaces are provided circumferentially on the transfer platform 4. The propeller is installed at the front end of the wing arm 8 through a propeller motor 7. The rear end of the wing arm 8 is installed below the top cabin 9. Multiple groups of wing arms 8 are evenly arranged around the top cabin 9. The body of each group of wing arms 8 is installed in a circumferential interface of the transfer platform 4 through a support rib plate 3. The propeller adopts a three-blade propeller. The propeller motor 7 adopts a brushless motor. The transfer platform 4 adopts a cross-shaped platform, and there are a total of four groups of wing arms 8 and propellers. The deployment control servo 1 controls the rotation of the threaded lead screw 2, driving the transfer platform 4 to move up and down along the threaded lead screw 2, causing the wing arms 8 to rotate around the rear connection point, so as to control the deployment or contraction of the wing arms 8.

[0050] As Figure 5 and Figure 6 shown in the figure, the anchor chain clamping structure 100 includes an anchor chain clamping base 16 and clamping rods 15. There are multiple groups of clamping rods 15, which are evenly distributed around the anchor chain clamping base 16 to form a manipulator grasping structure. A clamping rod control servo 17 is installed on the anchor chain clamping base 16. A protective housing 20 is installed circumferentially on the anchor chain clamping base 16, and a key-shaped hole is provided on the protective housing 20. The output end of the clamping rod control servo 17 is connected to a crank 18. The crank 18 is connected to one end of a connecting rod 19 to form a crank and connecting rod mechanism. The other end of the connecting rod 19 passes through the key-shaped hole on the protective housing 20 and is connected to the clamping rod 15.

[0051] The clamping rod 15 includes an upper rod and a lower rod. The upper rod deflects outward and forms a certain angle with the lower rod. A convex platform is provided on the lower rod for clamping the anchor chain chassis. The surface of the rod body of the lower rod below the convex platform is serrated for controlling the release of the anchor chain. Each clamping rod control servo 17 controls a group of clamping rods 15. The output end of the clamping rod control servo 17 is connected to the top end of the upper rod through a crank and connecting rod mechanism.

[0052] As Figure 4As shown in the figure, the pressure-resistant cabin 200 includes the sealed hatch covers 14 at the upper and lower ends and the cabin space. The upper sealed hatch cover is connected to the deployment control base, and the lower sealed hatch cover 14 is connected to the protective shell 20 through a watertight sealing flange ring. Watertight threading bolts 12 are provided on the sealed hatch covers at the upper and lower ends, and the lines in the cabin space are connected to the anchor chain clamping structure 100 and the wing arm deployment control structure 300 through the watertight threading bolts 12. Inside the cabin space, there are a first-level platform 10, an opening partition 11, and a second-level platform 13. The first-level platform 10 is located below the second-level platform 13 and is used for installing the control circuit board. The second-level platform 13 is used for installing the power supply.

[0053] A control method for an amphibious water-air cross-media mobile submersible buoy includes the following steps:

[0054] Step 1: The amphibious water-air cross-media mobile submersible buoy obtains its own speed information υ, position information x, and desired position information x at the current moment according to the carried equipment ref , and calculates the error e = x - x ref ;

[0055] Step 2: Calculate the sliding mode surface s through an adaptive sliding mode tracking controller;

[0056]

[0057] where λ is the convergence rate parameter;

[0058] Step 3: According to the current motion medium α of the amphibious water-air cross-media mobile submersible buoy, calculate the thrust control law through an adaptive sliding mode tracking controller;

[0059]

[0060] where M is the inertial system matrix; C(υ) is the Coriolis centripetal force matrix; D(α, υ) is the damping matrix of the amphibious water-air cross-media mobile submersible buoy in the current motion medium α, α ∈ [0, 1], α = 0 indicates that the amphibious water-air cross-media mobile submersible buoy is moving in the air, α = 1 indicates that the amphibious water-air cross-media mobile submersible buoy is moving underwater; when 0 < α < 1, the amphibious water-air cross-media mobile submersible buoy is in water-air cross-media motion, and α represents the degree of immersion of the amphibious water-air cross-media mobile submersible buoy in water; G(α) is the buoyancy matrix of the amphibious water-air cross-media mobile submersible buoy in the current motion medium α;

[0061] Step 4: According to the thrust control law τ prop , the amphibious water-air cross-media mobile submersible buoy adjusts the angle of the propeller through the wing arm deployment control structure 300 and adjusts the rotation speed through the propeller motor 7.

[0062] The calculation method of the damping matrix D(α) of the amphibious water-air cross-media mobile submersible buoy in the current motion medium α is:

[0063] The damping matrix D(α, υ) is decomposed into two parts: linear damping and quadratic damping:

[0064] D(α, υ) = αD L +(1 - α)D Q (υ)

[0065] Wherein, X u 、Y v 、Z w are hydrodynamic coefficients; υ = [u, v, w] T , where u, v, and w are the longitudinal velocity, lateral velocity, and vertical velocity respectively;

[0066] The calculation method of the buoyancy matrix G(α) of the water-air amphibious cross-media maneuvering submersible buoy in the current moving medium α is as follows:

[0067] G(α) = α·G water +(1 - α)·G air

[0068] Wherein, G water is the buoyancy matrix of the water-air amphibious cross-media maneuvering submersible buoy underwater, obtained according to the net buoyancy in the moored state; G air is the buoyancy matrix of the water-air amphibious cross-media maneuvering submersible buoy in the air flight state, obtained according to the lift in the air flight state.

[0069] Example 1:

[0070] As Figure 2 shown, in this example, four groups of three-blade propellers are coaxially connected to 4 brushless motors 7, and the wing arms are folded on the side of the fuselage through the support rib plates 3, the cross-shaped adapter platform 4, and the threaded screw rod 2; the pressure-resistant cabin 200 is coaxially connected to the anchor chain clamping structure 100 through a watertight sealing flange ring; the wing arm retraction and extension control structure 300 is connected to the pressure-resistant cabin 200 through the flange of the servo motor fixed housing 5. The servo motor fixed housing 5 is connected to the pressure-resistant cabin 200 through a watertight sealing flange and M3 screws, with a rectangular opening left in the middle for fixing the retraction and extension control servo motor 1; the threaded screw rod 2 is coaxially fixed to the steering wheel to achieve coaxial rotation; the cross-shaped adapter platform 4 has a hole in the middle, the thread in the hole is the same as the thread of the threaded screw rod 2, and the end is a U-shaped groove, and the two side walls of the groove are provided with holes and connected to the support rib plate 3 through M8 screws; both ends of the support rib plate 3 are provided with holes and connected to the end of the cross-shaped adapter platform 4 through M8 screws.

[0071] As Figure 3 shown, the rotor structure includes a brushless motor 7, a carbon fiber wing arm 8, and a three-blade propeller; the three-blade propeller is coaxially connected to the motor; the brushless motor is fixed on the end platform of the wing arm through M3 screws; the wing arm realizes the folding function through the connection of the support rib plate 3 and the cross-shaped adapter platform 4.

[0072] As Figure 4 shown, inside the pressure-resistant cabin are provided with: an opening partition 11, a first-level platform 10, and a second-level platform 13; motor wires, servo wires, debugging and downloading wires, and antennas penetrate through the cabin body via watertight threading bolts to realize the connection between the inside and outside of the sealed cabin; the control circuit board is placed on the first-level platform; the battery is fixed on the second-level platform.

[0073] As Figure 5 and Figure 6 shown, the anchor chain clamping structure 100 includes three clamping rods 15, a clamping rod control servo 17, a crank 18, a connecting rod 19, and a protective housing 20; the clamping rod control servo 17 is fixed on the anchor chain clamping base 16 via M2 screws, and the upper end is connected to the crank 18 with an opening at the end via M2 screws; one end of the crank 18 is connected to the clamping rod control servo 17 via M2 screws, and the other end is connected to the connecting rod 19 via M2 screws; one end of the connecting rod 19 is connected to the crank 18 via M2 screws, and the other end is connected to the clamping rod 15 via M2 screws; one end of the clamping rod 15 is connected to the connecting rod 19 via M2 screws, and the middle part is fixed on the anchor chain clamping base 16 via M4 screws and can rotate around the axis, and the inner surface of the rod body is serrated for controlling the release of the anchor chain.

[0074] The underwater buoy is equipped with a high-precision wireless gyroscope attitude sensor, which constantly monitors the working state of the fuselage when affected by ocean currents or winds, and transmits the data to the minimum system of the underwater buoy for processing and calculation; the working position and attitude of the underwater buoy are adjusted to achieve stable control during the operation of the underwater buoy.

[0075] Under the water surface, the underwater buoy is carried and released by an AUV or an underwater glider, and realizes underwater static mooring through a disk-shaped mooring structure; during air movement, the lift is mainly provided by four brushless motors 7 and three-blade propellers; when landing on the ground, the bottom clamping rod 15 can firmly support the stable landing of the underwater buoy.

[0076] The present invention adopts an intelligent cross-medium design, having both the ability to collect underwater diving and floating information and air mobility flight, and being able to balance long-term underwater monitoring, large-scale air / water surface detection, and autonomous satellite search and stable communication tasks. The wing arm expansion and contraction control structure designed by the present invention can contract the wing arms in the underwater mooring state, expand the wing arms during movement, and control the thrust direction; the anchor chain clamping structure designed by the present invention forms a manipulator grasping structure through the clamping rods, and adopts a disk-shaped mooring structure to achieve the underwater mooring state, ensuring the stable operation of the underwater buoy above the seabed. When movement is required, only need to open the manipulator for throwing the load. The present invention also designs a control method for the water-air amphibious cross-medium mobile underwater buoy, designs a thrust control law for cross-medium movement, so that the water-air amphibious cross-medium mobile underwater buoy can adapt to different movement conditions. The water-air amphibious cross-medium mobile underwater buoy designed by the present invention has the advantages of small volume, low power consumption of components, and low cost.

[0077] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A water-air amphibious cross-medium mobile buoy, characterized by: It comprises an anchor chain clamping structure (100), a pressure-resistant cabin (200) and a wing arm retraction and extension control structure (300); the anchor chain clamping structure (100) is installed at the lower end of the pressure-resistant cabin (200), and the wing arm retraction and extension control structure (300) is installed at the upper end of the pressure-resistant cabin (200); The wing arm extension and retraction control structure (300) comprises an extension and retraction control base, a propeller, a transfer platform (4), a wing arm (8) and a top cabin (9); the top cabin (9) is installed above the extension and retraction control base through a supporting column; a extension and retraction control servo (1) is installed in the extension and retraction control base, and the output end of the extension and retraction control servo (1) is connected to a threaded screw (2), and the threaded screw (2) is vertically arranged above the extension and retraction control base; the transfer platform (4) has a central opening and is installed on the threaded screw (2), the thread in the hole is adapted to the threaded screw (2), and the transfer platform (4) is provided with a plurality of groups of interfaces in the circumferential direction; the propeller is installed at the front end of the wing arm (8) through a propeller motor (7), and the rear end of the wing arm (8) is installed below the top cabin (9), and a plurality of groups of wing arms (8) are evenly arranged around the top cabin (9), and the arm body of each group of wing arms (8) is installed in a circumferential interface of the transfer platform (4) through a supporting rib plate (3); The retraction and extension control steering gear (1) controls the rotation of the threaded screw (2), driving the transfer platform (4) to move up and down along the threaded screw (2), so that the wing arm (8) rotates around the rear end connection, thereby controlling the wing arm (8) to expand or retract.

2. The water-air amphibious cross-medium mobile buoy according to claim 1 is characterized by: The anchor chain clamping structure (100) comprises an anchor chain clamping base (16) and a clamping rod (15); the clamping rod (15) comprises a plurality of groups, which are evenly distributed around the anchor chain clamping base (16) to form a manipulator grasping structure; a clamping rod controlling steering gear (17) is installed on the anchor chain clamping base (16), a protective shell (20) is installed circumferentially on the anchor chain clamping base (16), and a key-shaped hole is provided on the protective shell (20); the output end of the clamping rod controlling steering gear (17) is connected to a crank (18), the crank (18) is connected to one end of a connecting rod (19) to form a crank-connecting rod mechanism, and the other end of the connecting rod (19) passes through the key-shaped hole on the protective shell (20) and is connected to the clamping rod (15).

3. The water-air amphibious cross-medium mobile buoy according to claim 2 is characterized by: The clamping rod (15) comprises an upper rod and a lower rod, the upper rod is bent outward and forms a certain angle with the lower rod, and a boss is provided on the lower rod for clamping the anchor chain chassis; the rod body surface of the lower rod below the boss is serrated and is used to control the release of the anchor chain; each clamping rod control steering gear (17) controls a group of clamping rods (15), and the output end of the clamping rod control steering gear (17) is connected to the top end of the upper rod through a crank connecting rod mechanism.

4. The water-air amphibious cross-medium mobile buoy according to claim 2 is characterized by: The pressure-resistant cabin (200) comprises sealed hatch covers (14) at upper and lower ends and a cabin space, wherein the upper sealed hatch cover is connected to a retraction and extension control base, and the lower sealed hatch cover (14) is connected to a protective shell (20) via a watertight sealing flange ring, and watertight threading bolts (12) are provided on the upper and lower sealed hatch covers, and the lines in the cabin space are connected to an anchor chain clamping structure (100) and a wing arm retraction and extension control structure (300) via the watertight threading bolts (12).

5. The water-air amphibious cross-medium mobile buoy according to claim 2 is characterized by: The propeller is a three-blade propeller; the propeller motor (7) is a brushless motor; the transfer platform (4) is a cross-shaped platform, with four sets of wing arms (8) and propellers; a primary platform (10), a perforated partition (11) and a secondary platform (13) are provided inside the cabin space; the primary platform (10) is located below the secondary platform (13) and is used to install a control circuit board; the secondary platform (13) is used to install a power supply.

6. A control method for the water-air amphibious cross-medium mobile buoy as claimed in claim 1, characterized in that: The following steps are involved: Step 1: The water-air amphibious cross-medium mobile buoy obtains its own speed information υ, position information x and expected position information x at the current moment according to the equipment carried ref , and calculate the error e = xx ref ; Step 2: Calculate the sliding surface s through the adaptive sliding mode tracking controller; Among them, λ is the convergence rate parameter; Step 3: According to the current motion medium α of the water-air amphibious cross-medium maneuvering buoy, the thrust control law is calculated through an adaptive sliding mode tracking controller; Wherein, M is the inertial system matrix; C(υ) is the Coriolis centripetal force matrix; D(α,υ) is the damping matrix of the water-air amphibious cross-medium mobile buoy in the current moving medium α, α∈[0,1], α=0 means that the water-air amphibious cross-medium mobile buoy moves in the air, α=1 means that the water-air amphibious cross-medium mobile buoy moves underwater; when 0<α<1, the water-air amphibious cross-medium mobile buoy moves in the water-air cross-medium, α indicates the degree of immersion of the water-air amphibious cross-medium mobile buoy in the water; G(α) is the buoyancy matrix of the water-air amphibious cross-medium mobile buoy in the current moving medium α; Step 4: According to the thrust control law τ prop The water-air amphibious cross-medium maneuverable buoy adjusts the angle of the propeller through the wing arm retraction and extension control structure (300) and adjusts the rotation speed through the propeller motor (7).

7. The control method of the water-air amphibious cross-medium mobile buoy according to claim 1 according to claim 6, characterized in that: The calculation method of the damping matrix D(α) of the water-air amphibious cross-medium mobile buoy in the current moving medium α is: Decompose the damping matrix D(α,υ) into two parts: linear damping and quadratic damping: D(α,υ)=αD L +(1-a)D Q (u) in, X u , Y v , Z w is the hydrodynamic coefficient; υ=[u,v,w] T , u, v, w are longitudinal velocity, lateral velocity, and vertical velocity respectively; The calculation method of the buoyancy matrix G(α) of the water-air amphibious cross-medium mobile buoy in the current moving medium α is: G(a)=a·G water +(1-a)·G air Among them, G water G is the buoyancy matrix of the water-air amphibious cross-medium mobile buoy underwater, which is obtained according to the net buoyancy in the anchored state; air It is the buoyancy matrix of the water-air amphibious cross-medium mobile buoy in the air flight state, which is obtained according to the lift in the air flight state.

8. A computer device / equipment / system comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 6 to 7.

9. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 6 to 7 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 6 to 7 are implemented.

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