Information relay method for underwater fixed equipment and multi-mode unmanned underwater vehicle

Abstract

The invention discloses an information relay method for underwater fixed equipment and a multi-mode unmanned underwater vehicle. The underwater vehicle comprises an underwater vehicle main body, a posture adjusting unit, a buoyancy driving unit, an auxiliary propelling unit, a hydrodynamic shape unit and an integrated communication system. According to the underwater vehicle, at least three working modes of sawtooth section gliding, underwater depth-keeping direct navigation and vertical section observation can be achieved by adjusting the states of all the units, and the hydrodynamic profile unit comprises variable sweepback wings. According to the method, the underwater vehicle is used as a communication relay, data exchange is carried out between the underwater vehicle and underwater fixed equipment through mode switching and an underwater communication terminal underwater, and data are transmitted back through satellite communication after the underwater vehicle floats to the water surface. The problems that an existing platform is single in function and low in data return efficiency are solved, hidden and quasi-real-time return of observation data of fixed equipment is achieved, and the collaborative observation and detection capacity of a deep and far sea fixed mobile platform is remarkably improved.

Description

Technical Field

[0001] This invention belongs to the field of marine engineering equipment technology, and particularly relates to an information relay method for underwater fixed equipment and a multi-mode unmanned underwater vehicle. Background Technology

[0002] In the field of deep-sea observation and exploration technology, fixed and mobile underwater unmanned equipment plays a crucial role in large-scale, high-resolution observation and exploration of the deep sea. Mobile equipment mainly includes autonomous underwater vehicles (AUVs), profiling drifting buoys, and underwater gliders, while fixed equipment mainly includes moorings, seabed bases, and deep-sea test stations. Currently, developing a collaborative observation and exploration technology system for fixed and mobile unmanned equipment in the deep sea is an effective means to solve the problem of high spatiotemporal resolution real-time observation and exploration in the deep sea. However, existing equipment and technology systems still face bottlenecks in practical applications, such as limited functionality and low data transmission efficiency, which greatly restricts the execution of large-scale, long-term, and high-efficiency deep-sea observation missions.

[0003] The existing technological system faces the following key challenges: First, despite the rapid development of unmanned underwater vehicles (UUVs), existing autonomous underwater vehicles, profile drifting buoys, and underwater gliders have relatively limited functionality, hindering the efficiency of wide-area, long-duration, and refined ocean observation missions. Constrained by energy consumption, maneuverability, and other performance factors, a single platform cannot simultaneously perform multiple ocean mobile observation tasks, such as zigzag profile gliding, underwater depth-holding navigation, and vertical profile observation, resulting in limited observation effectiveness. Second, for deep-sea fixed equipment (such as moorings and seabed bases), observation data typically relies on periodic retrieval from the mother ship or inefficient communication relay methods for transmission. Existing communication relay solutions, such as those based on underwater gliders or wave gliders, often suffer from high power consumption, low communication efficiency, and a lack of precise maneuverability or depth-holding capabilities, making it difficult to achieve concealed, near-real-time, and high-quality data transmission from fixed equipment. This poses a major obstacle to building an efficient collaborative observation and detection technology system for deep-sea fixed and mobile unmanned equipment. Summary of the Invention

[0004] To address the bottlenecks in existing technologies where a single unmanned underwater vehicle platform cannot simultaneously handle wide-area, long-term observation, close-range, precise maneuvering, and near-real-time data transmission, thus hindering the covert, near-real-time, and high-quality relay transmission of observation data from deep-sea fixed equipment, this invention provides an information relay method for underwater fixed equipment and a multi-mode unmanned underwater vehicle.

[0005] This invention is implemented as follows: a method for providing information relay services to underwater fixed equipment using a multi-mode unmanned underwater vehicle, the method comprising the following steps:

[0006] Surface preparation and initial descent: The submersible completes satellite positioning on the sea surface, activates the buoyancy drive unit and attitude adjustment unit, switches itself to the first working mode, and begins to descend; Underwater navigation and positioning: The submersible navigates underwater using a navigation system to the vicinity of the preset communication depth of the underwater fixed equipment; Mode switching and data exchange: The submersible switches to the second operating mode and activates the auxiliary propulsion unit; The submersible communicates with the underwater fixed equipment through an integrated underwater communication terminal to collect observation and detection data and issue commands. Rapid Ascent: The submersible switches to the third operating mode and can selectively activate the auxiliary propulsion unit to rapidly ascend to the sea surface; Data transmission back to shore: The submersible transmits the observation and detection data collected from the underwater fixed equipment back to the shore via satellite communication through a pressure-resistant antenna on the sea surface.

[0007] In the above technical solution, preferably, the multi-mode unmanned underwater vehicle switches between the first working mode, the second working mode and the third working mode by adjusting the state of the attitude adjustment unit, the buoyancy drive unit, the auxiliary propulsion unit and the variable sweep angle wing.

[0008] In the above technical solution, preferably, the first working mode is a sawtooth profile gliding mode, and the steps include initially setting the roll angle of the movable mass block of the attitude adjustment unit to 0° and deploying the variable sweep angle wing to the position of minimum sweep angle.

[0009] In the above technical solution, preferably, the second working mode is an underwater constant depth straight-line mode, and the steps include initially setting the roll angle of the movable mass block of the attitude adjustment unit to 0°, retracting the variable sweep angle wing to the maximum sweep angle position, and activating the auxiliary propulsion unit at the same time.

[0010] In the above technical solution, preferably, the third working mode is a vertical profile observation mode, and the steps include fixing the roll angle of the movable mass block of the attitude adjustment unit to 180° and retracting the variable sweep angle wing to the maximum sweep angle position.

[0011] In the above technical solution, preferably, the movable mass block of the attitude adjustment unit is borne by the movable part of the underwater vehicle's energy carrying unit.

[0012] In the above technical solution, preferably, the underwater communication terminal adopts underwater acoustic communication or underwater optical communication.

[0013] This invention proposes a method for providing information relay services to underwater fixed equipment using a multi-mode unmanned underwater vehicle (UUV). This method organically integrates the UUV's three unique motion modes (zigzag profile gliding mode, underwater depth-holding straight navigation mode, and vertical profile observation mode) into a complete information relay service process, thereby generating multiple technological advantages and unexpected effects that traditional single-function platforms cannot achieve. This method represents a disruptive optimization of the deep-sea communication relay process based on the unique capabilities of the UUV.

[0014] First, this solution perfectly resolves the inherent contradiction between long-range cruising and high-precision maneuverability. In existing technologies, underwater gliders (primarily relying on gliding mode) have long endurance but lack precise maneuverability, making it difficult to conduct fixed-point or fixed-depth communication docking; while traditional AUVs (primarily relying on propulsion-based straight-line navigation), although highly maneuverable, consume a lot of energy and cannot perform long-term, wide-area deployments. This invention employs a zigzag profile gliding mode for long-distance deployment and initial dives, ensuring both wide-area coverage and low energy consumption. Subsequently, upon approaching the target, it switches to underwater fixed-depth straight-line navigation mode and activates the auxiliary propulsion unit, ensuring the submersible can precisely adjust its trajectory and stably approach the target at the preset communication depth. This overcomes the bottleneck of existing single-platform information relay services, which are characterized by "reaching but not being able to pinpoint the location." This flexible switching between modes is key to achieving high-efficiency, end-to-end relay services.

[0015] Secondly, this "multi-mode" design brings a leap forward in communication reliability and response speed. During mode switching and data exchange, the underwater steady-state navigation mode provides the submersible with excellent attitude stability, enabling it to precisely position underwater communication terminals (such as underwater acoustic transducers) within the optimal communication distance and angle for fixed underwater equipment. This close-range, highly stable communication docking significantly overcomes channel attenuation and multipath effects in the deep-sea environment, greatly improving the speed, reliability, and data transmission quality of underwater acoustic communication. Furthermore, after data exchange, by switching to the vertical profile observation mode and selectively activating the auxiliary propulsion unit, the submersible can ascend to the sea surface at a near-vertical attitude and at the fastest speed. This rapid ascent mechanism is a key technological guarantee for achieving accurate real-time data transmission, while minimizing the submersible's dwell time in the target area, improving mission stealth and safety—a technological effect not possessed by traditional low-speed gliding relay platforms.

[0016] Finally, through overall scheme optimization, this method ultimately achieved the goal of covert and near real-time transmission of observation data from fixed deep-sea equipment, significantly improving the collaborative observation and detection capabilities of fixed and mobile platforms in the deep sea. This method matches each key link of data acquisition, transmission, and feedback with the optimal motion mode of the submersible, ensuring efficient coordination throughout the entire chain from underwater data collection (fixed-depth straight-line mode) to surface launch (rapid vertical profiling mode and satellite communication). This integrated "multi-mode" information relay scheme provides core technical support for building a future high spatiotemporal resolution and high reliability observation and detection technology system for the deep sea.

[0017] A second objective of this invention is to provide a multi-mode unmanned underwater vehicle (UUV) with communication relay capabilities. This UUV is suitable for performing the aforementioned information relay method and includes a UUV body, a multi-mode maneuvering assembly, and an integrated communication system. The UUV body has a split-type pressure hull, a buoyancy drive unit, an energy carrying unit, a control and navigation unit, and an emergency jettison unit. The multi-mode maneuvering assembly includes an attitude adjustment unit for adjusting the UUV's pitch and roll attitude, an auxiliary propulsion unit for generating thrust, and a variable-sweep wing. The integrated communication system includes an underwater communication terminal and a pressure-resistant antenna for surface communication. The integrated communication system is suitable for realizing acoustic communication, optical communication, and satellite communication.

[0018] In the above technical solution, preferably, the underwater communication terminal includes an acoustic transducer and a signal processor.

[0019] In the above technical solution, preferably, the auxiliary propulsion unit is electrically connected to the control and navigation unit inside the submersible, and the control and navigation unit is configured to drive the auxiliary propulsion unit to work in the sawtooth profile gliding mode or the vertical profile observation mode.

[0020] The aforementioned multi-mode unmanned underwater vehicle (UUV) can simultaneously achieve three core operating modes: sawtooth profile gliding, underwater depth-fixed straight navigation, and vertical profile observation. This overcomes the shortcomings of existing single-platform systems, which cannot simultaneously complete multi-mode marine mobile observation tasks under constraints such as energy consumption and maneuverability. The UUV integrates acoustic, optical, and satellite communication methods, enabling it to provide observation and detection information relay services for underwater fixed equipment. Equipped with a variable-sweep wing, the UUV can actively change its sweep angle, contributing to improved response speed. By adopting the solution of this invention, the concealed and near-real-time transmission of observation data from fixed equipment can be achieved, effectively serving the collaborative observation and detection of deep-sea fixed and mobile equipment, thereby significantly enhancing the collaborative observation and detection capabilities of deep-sea fixed and mobile platforms. Attached Figure Description

[0021] Figure 1 This is the overall structural composition of the multi-mode unmanned underwater vehicle in this invention; Figure 2 This is a structural diagram of the attitude control unit in an unmanned underwater vehicle; Figure 3 This is a schematic diagram of the attitude adjustment unit in a 180° state; Figure 4 This is a schematic diagram of the information relay method for underwater fixed equipment in this invention; Figure 5 It refers to the state and position of the movable structure of the unmanned underwater vehicle during different working processes.

[0022] 1. Environmental measurement unit; 2. Front fairing; 3. Front pressure hull; 4. Mid-pressure hull; 5. Variable sweep angle wing; 6. Rear fairing; 7. Pressure-resistant antenna; 8. Auxiliary propulsion unit; 9. Tail rudder; 10. Emergency jettison unit; 11. Buoyancy drive unit; 12. Energy carrying unit; 13. Attitude adjustment unit; 1301, Rib ring; 1302, Square guide rail; 1303, Movable battery pack; 1304, Roll drive motor; 1305, Angle sensor; 1306, Large gear; 1307, Roll motor driver; 1308, Disc-shaped retaining ring; 1309, Displacement sensor; 1310, Pitch motor; 1311, Pitch motor driver; 1312, Bearing end cap; 14. Acoustic transducer; 15. Rear pressure-resistant housing; 16. Underwater acoustic signal processor; 17. Main control module; 18. Communication module; 19. Main body of the mooring buoy; 20. Mooring acoustic communication unit of the mooring buoy; 21. Descent and gliding trajectory; 22. Straight-line communication trajectory; 23. Rapid ascent trajectory; 24. Sea surface. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0024] This invention provides an information relay method for underwater fixed equipment and a multi-mode unmanned underwater vehicle. To further illustrate the structure of this invention, a detailed description is provided below with reference to the accompanying drawings: Example 1 This embodiment describes the system configuration of a multi-mode unmanned underwater vehicle (hereinafter referred to as "underwater vehicle") with communication relay function.

[0025] Please see Figures 1 to 3The submersible's main body adopts a split pressure hull design, specifically including a front fairing 2, a front pressure hull 3, a middle pressure hull 4, a rear fairing 6, and a rear pressure hull 15. Internally, it houses a control and navigation unit, a buoyancy drive unit 11, an energy carrying unit 12, and an emergency jettison unit 10. The control and navigation unit is used to control the stable operation of the submersible's various functional units and complete preset tasks. The submersible is also equipped with an environmental measurement unit 1 for measuring the temperature, conductivity, and pressure parameters of the marine environment.

[0026] The core of the submersible lies in its multi-mode maneuvering assembly, which includes an attitude adjustment unit 13, an auxiliary propulsion unit 8, and a hydrodynamic shape unit.

[0027] The auxiliary propulsion unit is used to generate thrust at the tail of the submersible. The hydrodynamic shape unit includes a variable sweep angle wing 5 and a tail rudder 9. The variable sweep angle wing can actively change its sweep angle. This design allows the submersible to dynamically balance drag and lift according to different operating modes. This not only ensures high efficiency with low energy consumption and long range in the sawtooth profile gliding mode, but also reduces wingspan and hydrodynamic drag in the underwater depth-holding straight-line mode, improving the submersible's response speed and depth-holding accuracy. It also avoids interference with the trajectory caused by the wing in the vertical profile observation mode, and significantly expands the platform's maneuverability envelope.

[0028] The attitude adjustment unit consists of two parts: a pitch adjustment axis system and a roll adjustment axis system. The pitch adjustment axis system includes a pitch motor, a pitch motor driver, a displacement sensor, and a movable mass block. The roll adjustment axis system includes a roll motor, a roll motor driver, an angle sensor, and a rotatable mass block. Through coordinated adjustment, the underwater vehicle's pitch attitude angle can be adjusted within a range of ±90°, and its centering height can be stably and continuously adjusted within the range of 0mm to 7mm. In this embodiment, the movable mass block and the rotatable mass block are supported by the same movable mass block, which is supported by the movable part of the underwater vehicle's power carrier unit. This design, which integrates pitch adjustment and centering adjustment functions into the underwater vehicle's power carrier unit, significantly reduces the total number of moving parts inside the underwater vehicle, optimizes the internal mass distribution and spatial layout, thereby effectively reducing the system failure rate and improving the underwater vehicle's stability and maneuverability in complex underwater environments. In this embodiment, the attitude adjustment unit adopts a known existing structure, mainly including a rib ring 1301, a square guide rail 1302, a movable battery pack 1303, a roll drive motor 1304, an angle sensor 1305, a large gear 1306, a roll motor driver 1307, a disc-shaped retaining ring 1308, a displacement sensor 1309, a pitch motor 1310, a pitch motor driver 1311, and a bearing end cover 1312. It also includes auxiliary components such as a displacement sensor mounting plate, a pitch screw protective cover, a spiral, and bearings. The movable battery pack is the movable part of the energy-carrying unit.

[0029] In this invention, the continuous adjustability of the submersible's eccentric altitude is achieved through the coordinated control of the radially eccentric arrangement of the movable battery pack 1303 in the attitude adjustment unit 13 and the roll angle. Specifically, the movable battery pack 1303, as the movable part of the energy carrying unit 12, has its center of mass offset from the central axis of the submersible body by a certain radial distance. When the 1304 roll drive motor drives the battery pack to rotate between 0° and 180°, the submersible's center of gravity shifts in a plane perpendicular to its axis, thereby changing the distance between the center of gravity and the center of buoyancy. Stability Height With roll angle The adjustment logic follows the formula:

[0030] in, The total mass of the submersible. For the mass of the movable battery pack, This is the base stabilization altitude. When the roll angle is 0°, the battery pack is at its lowest point, and the system achieves its maximum stabilization altitude (approximately 7mm), improving the static stability of the submersible in gliding and straight-line modes; when the roll angle is controlled to rotate to 180° (e.g., ... Figure 3As shown in the diagram, the center of gravity shifts significantly upward, and the metacentric height drops to its minimum (approximately 0 mm). At this point, the submersible is in a highly unstable critical state. With the adjustment of the buoyancy drive unit 11, the submersible can be induced to rapidly generate a large pitching moment, enabling rapid rotation towards the vertical profile observation mode. This mechanism, which utilizes the circular motion of a single mass block to simultaneously achieve pitching moment trim and metacentric height optimization, is the core physical basis for ensuring that the submersible possesses extremely high maneuverability efficiency under different hydrodynamic environments.

[0031] Another core component of the submersible is the integrated communication system, which includes an underwater communication terminal for underwater communication. In this embodiment, the underwater communication terminal includes an acoustic transducer 14, an underwater acoustic signal processor 16, and a pressure-resistant antenna 7 for surface communication. The acoustic transducer is installed directly below the submersible's front fairing to facilitate stable communication with fixed underwater equipment. The underwater acoustic signal processor is installed inside the front fairing. The integrated communication system is suitable for realizing underwater acoustic, optical, and satellite communication, ensuring high-quality and efficient data exchange between the submersible and fixed equipment underwater, as well as reliable and near-real-time information transmission between the surface and shore-based systems. The submersible's main control module 17 and communication module 18 are installed inside the intermediate pressure-resistant hull. The main control module is the main hardware carrier for controlling the navigation unit and is responsible for executing the submersible's control, navigation, and mission logic. It is installed together with the communication module inside the submersible's intermediate pressure-resistant hull. The main control module is the core processing device that realizes the function of the control and navigation unit. The communication module is a hardware execution unit that is scheduled by the control and navigation unit through the instructions issued by the main control module to execute specific communication tasks.

[0032] By combining and adjusting the states of the attitude adjustment unit, buoyancy drive unit, auxiliary propulsion unit, and variable sweep angle wing, the submersible achieves flexible switching between three core operating modes: sawtooth profile gliding mode, underwater constant depth straight navigation mode, and vertical profile observation mode. This overcomes the inefficiency of existing single-function underwater platforms in wide-area, long-term, and refined observation, and realizes the integration of platform functions.

[0033] Example 2 This embodiment describes in detail an information relay method for underwater fixed equipment, which uses the multi-mode unmanned underwater vehicle described in Embodiment 1 as a relay device.

[0034] Please see Figure 4 and Figure 5 The method solves the problems of inefficiency and unreliability in data transmission from deep-sea fixed platforms by organically combining the three core working modes of the submersible, and achieves concealed and near real-time data transmission.

[0035] 1. Initial dive and long-distance navigation (first working mode) The initial phase of this method involves surface preparation and initial descent. After completing surface communication and satellite positioning at the sea surface 24, the submersible activates its buoyancy drive unit and attitude adjustment unit to adjust its buoyancy and attitude angle, switching to its first operating mode, the sawtooth profile gliding mode, and begins its descent. During the gliding motion trajectory 21, the roll angle of the movable mass block of the attitude adjustment unit is initially set to 0°, and the variable sweep angle wing is deployed to its minimum sweep angle position. Utilizing buoyancy drive and wing hydrodynamics, the submersible performs an efficient and low-energy descent along a "sawtooth" profile gliding trajectory. This mode maximizes gliding efficiency, ensuring that the submersible can achieve long-distance wide-area cruising and deployment with minimal energy consumption before executing a mission, significantly extending the mission's endurance.

[0036] 2. Underwater navigation and communication docking (second working mode) During the descent, the submersible enters the underwater navigation and positioning phase. The submersible uses dead reckoning and combined navigation methods for underwater navigation, navigating to the vicinity of the preset communication depth of the underwater fixed equipment (e.g., a bottom-sitting mooring). Subsequently, the method enters the crucial mode switching and data exchange phase. When the submersible reaches the predetermined position, it switches to the second operating mode, namely the underwater constant-depth direct navigation mode. During the direct navigation communication trajectory 22, the roll angle of the movable mass block of the attitude adjustment unit is initially set to 0°, the variable-sweep wing retracts to its maximum sweep angle position, and the auxiliary propulsion unit is activated. The submersible precisely navigates along the constant-depth navigation trajectory to the vicinity of the bottom-sitting mooring. Subsequently, the submersible communicates with the mooring through an integrated underwater communication terminal (e.g., underwater acoustic communication) to collect observation data and issue commands. In this embodiment, the mooring includes a mooring body 19 and a mooring underwater acoustic communication unit 20. This precise switching from low-speed gliding to high-speed steady-dep navigation, along with the use of propulsion, endows the submersible with high-precision maneuverability near the target area. It can shorten the underwater acoustic communication distance with the mooring to the optimal range, thereby effectively overcoming the challenges posed by deep-sea channel attenuation and multipath effects, and significantly improving communication rate and data transmission reliability.

[0037] 3. Rapid ascent and data feedback (third working mode) After data exchange, the method enters the rapid ascent step. The submersible switches to the third operating mode, namely the vertical profile observation mode. In this mode, the roll angle of the movable mass block of the attitude adjustment unit is fixed at 180°, and the variable sweep angle wing retracts to the maximum sweep angle position. The submersible activates the buoyancy drive unit and can selectively activate the auxiliary propulsion unit, rapidly ascending to the sea surface in the rapid ascent trajectory 23. This mode enables the submersible to traverse the water at a near-vertical attitude and the fastest vertical speed, minimizing underwater time and effectively improving mission efficiency and stealth. Finally, in the data transmission back to shore-based operations, after the submersible ascends to the sea surface, it uses a pressure-resistant antenna and satellite communication to transmit the underwater mooring observation and detection data acquired by the submersible back to shore-based operations, ultimately achieving the goal of covert and near-real-time transmission of observation data from fixed equipment. The method, through the organic combination of three motion modes, breaks through the performance limitations of traditional underwater platforms, and achieves the organic unity of long-distance low-energy cruise, short-range precise maneuver communication, and rapid data transmission, significantly improving the execution efficiency and success rate of collaborative observation missions between fixed and mobile platforms.

[0038] The driving logic of the auxiliary propulsion unit 8 in this invention is dynamically adjusted based on the different requirements of maneuverability and energy consumption for each working mode. Its specific working logic is as follows: In the first operating mode (zigzag profile gliding): In this mode, the net buoyancy provided by the buoyancy drive unit 11 is the main power source, and the auxiliary propulsion unit 8 is in a dormant or low-thrust state in principle. Only when encountering strong ocean current interference that causes the gliding trajectory to deviate significantly from the preset route, or when it is necessary to quickly cross a specific thermocline, will the control and navigation unit briefly drive the auxiliary propulsion unit to compensate for the power, ensuring the essential attribute of low-energy cruise.

[0039] In the second operating mode (underwater constant depth straight navigation): the auxiliary propulsion unit 8 switches to the normal operating mode. At this time, the horizontal thrust generated by the propeller and the dynamic lift generated by the variable sweep angle wing 5 work together to overcome the drawback of traditional gliders being unable to maintain horizontal navigation in a zero net buoyancy state, thereby ensuring the trajectory accuracy and attitude stability when exchanging data with underwater fixed equipment.

[0040] In the third operating mode (vertical profile observation): the auxiliary propulsion unit 8 acts as an accelerator for rapid ascent. In conjunction with the maximum positive buoyancy output of the buoyancy drive unit 11, the propulsion unit provides an upward auxiliary vector thrust, enabling the submersible to traverse the water at maximum vertical speed, thereby minimizing underwater dwell time and achieving efficient and covert data transmission.

[0041] The information relay method described in this invention constructs a closed-loop state switching mechanism based on real-time sensor feedback through an internal control navigation unit, ensuring logical coupling and action continuity between various operating modes. Specifically, in the first operating mode (zigzag profile gliding), the main control module continuously compares the geographic coordinates output by the integrated navigation system with the preset underwater fixed equipment position. When the horizontal distance enters a preset threshold and the depth gauge feedback reaches the communication depth, the system automatically triggers the buoyancy drive unit and wing actuator, smoothly switching to the second operating mode by adjusting the variable sweep angle wing to the maximum sweep angle position and activating the auxiliary propulsion unit. During the data exchange phase, the communication module monitors the signal link quality in real time. Once the underwater acoustic signal processor sends a confirmation signal indicating that the data packet transmission / reception is complete, the main control module immediately terminates the auxiliary propulsion and drives the attitude adjustment unit to roll the movable battery pack to a 180° position. The generated pitch moment forces the submersible into a high pitch angle surfacing attitude, thereby achieving an instantaneous logical jump to the third operating mode (vertical profile observation). This logical chain, which triggers descent and turning based on navigation coordinates and rapid ascent based on communication feedback, enables the submersible to complete the sequence of actions in real time and automatically according to the mission progress, ensuring the autonomy and operability of the entire relay process.

[0042] The integrated communication system described in this invention possesses a practical anti-wave interference guarantee mechanism in the third operating mode. Physically, the antenna system at the rear of the submersible adopts a telescopic pressure-resistant structure design. When the sensor detects that the submersible has fully surfaced, the antenna can be further raised vertically, ensuring its effective radiation band is above the wave crest envelope, effectively reducing multipath effects and shielding. In terms of attitude control, the control and navigation unit incorporates a dynamic wave compensation algorithm. Utilizing the rapid center-of-gravity shift capability of the internal attitude adjustment unit 13, it dynamically adjusts the battery pack position based on real-time sea state roll and pitch data fed back by the attitude sensor, ensuring the submersible maintains the optimal communication attitude with the antenna pointing vertically upwards at all times on the surface. In terms of communication logic, the integrated communication system is configured with a breakpoint resumption strategy. By monitoring the satellite link signal strength, it automatically buffers data during signal gaps caused by wave troughs and performs burst transmission during periods of signal enhancement at wave crests. These designs ensure that this invention maintains at least 95% communication link availability even in harsh environments of sea state 3 or higher, demonstrating strong deep-sea operational capabilities.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-mode unmanned underwater vehicle with communication relay function, characterized in that, include: The main body of the submersible consists of a split pressure hull, a buoyancy propulsion unit, an energy carrying unit, a control and navigation unit, and an emergency jettison unit; The multi-mode maneuvering assembly includes an attitude control unit for adjusting the pitch and roll attitude of the submersible, an auxiliary propulsion unit for generating thrust, and a variable sweep wing. An integrated communication system, comprising an underwater communication terminal and a pressure-resistant antenna for surface communication, is suitable for realizing acoustic communication, optical communication and satellite communication.

2. The multi-mode unmanned underwater vehicle with communication relay function according to claim 1, characterized in that, The underwater communication terminal includes an acoustic transducer and a signal processor.

3. An information relay method for underwater fixed equipment based on the multi-mode unmanned underwater vehicle according to any one of claims 1 and 2, characterized in that, The method includes the following steps: Surface preparation and initial descent: The submersible completes satellite positioning on the sea surface, activates the buoyancy drive unit and attitude adjustment unit, switches itself to the first working mode, and begins to descend; Underwater navigation and positioning: The submersible navigates underwater using a navigation system to the vicinity of the preset communication depth of the underwater fixed equipment; Mode switching and data exchange: The submersible switches to the second operating mode and activates the auxiliary propulsion unit; The submersible communicates with the underwater fixed equipment through an integrated underwater communication terminal to collect observation and detection data and issue commands. Rapid Ascent: The submersible switches to the third operating mode and can selectively activate the auxiliary propulsion unit to rapidly ascend to the sea surface; Data transmission back to shore: The submersible transmits the observation and detection data collected from the underwater fixed equipment back to the shore via satellite communication through a pressure-resistant antenna on the sea surface.

4. The information relay method for underwater fixed equipment according to claim 3, characterized in that, The submersible switches between the first, second, and third operating modes by adjusting the states of the attitude adjustment unit, buoyancy drive unit, auxiliary propulsion unit, and variable sweep angle wing.

5. The information relay method for underwater fixed equipment according to claim 3, characterized in that, The first working mode is the sawtooth profile gliding mode. The steps include initially setting the roll angle of the movable mass block of the attitude adjustment unit to 0° and deploying the variable sweep angle wing to the minimum sweep angle position.

6. The information relay method for underwater fixed equipment according to claim 3, characterized in that, The second working mode is the underwater constant depth straight navigation mode. The steps include initially setting the roll angle of the movable mass block of the attitude adjustment unit to 0°, retracting the variable sweep angle wing to the maximum sweep angle position, and activating the auxiliary propulsion unit at the same time.

7. The information relay method for underwater fixed equipment according to claim 3, characterized in that, The third working mode is the vertical profile observation mode. The steps include fixing the roll angle of the movable mass block of the attitude adjustment unit to 180° and retracting the variable sweep angle wing to the maximum sweep angle position.

8. The information relay method for underwater fixed equipment according to claim 3, characterized in that, The movable mass block of the attitude adjustment unit is supported by the movable part of the submersible's energy carrying unit.

9. The information relay method for underwater fixed equipment according to claim 3, characterized in that, The underwater communication terminal uses either underwater acoustic communication or underwater optical communication.

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