A multi-mode autonomous underwater vehicle

Abstract

A multi-mode autonomous underwater robot, which is a whole body streamlined structure of a rotary body, is composed of a bow load cabin section, a buoyancy adjusting cabin section, a battery cabin section, a navigation cabin section, a control cabin section, a steering cabin section, a propelling cabin section and an antenna in series by sequentially arranging, and is sealed and connected between adjacent cabin sections by a hoop. In the aspects of hardware and structure, the multi-mode autonomous underwater robot has the characteristics of modularity and easy expansion. When the function needs to be expanded, the load sensor in the bow load cabin section can be replaced as needed, all cabin sections adopt the same electrical interface scheme, and the function expansion can also be realized by additionally installing an additional sensor load cabin section. The multi-mode autonomous underwater robot realizes the function compatibility of an AUV, a floating buoy, an ARGO buoy and an underwater glider on the same underwater robot, can realize five operation modes of a water surface navigation mode, an underwater navigation mode, a floating buoy mode, an ARGO buoy mode and an underwater glider mode, the operation modes can be freely switched, and the application range and task capability of the underwater robot are greatly expanded.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot technology, and in particular relates to a multi-mode autonomous underwater robot. Background Technology

[0002] Underwater robots have been widely used in many fields such as marine scientific research, national defense and security, lake scientific research, river survey, swarm formation, teaching and scientific research, and have outstanding advantages such as low price, simple operation and easy expansion.

[0003] Floating buoys and ARGO buoys are widely used in scenarios requiring long-term, fixed-point operations at sea. Floating buoys operate by floating on the water's surface, transmitting real-time hydrological information wirelessly to personnel on shore. ARGO buoys, by adjusting their own weight, achieve vertical reciprocating heave motion to measure the vertical hydrological profile of the water area. When they rise to the surface, they periodically transmit the collected hydrological information to personnel on shore.

[0004] As a special type of underwater robot, underwater gliders can achieve zigzag underwater unpowered navigation through buoyancy adjustment and attitude control, and have outstanding features such as ultra-long endurance, low noise and good stealth.

[0005] However, all of the above products have limitations in their application scope and mission capabilities. When faced with complex and diverse maritime operation mission requirements, none of the above products can independently meet the mission requirements. Summary of the Invention

[0006] To address the problems existing in the prior art, this invention provides a multi-mode autonomous underwater robot that achieves functional compatibility of AUV, floating buoy, ARGO buoy, and underwater glider on the same underwater robot. It can realize five operating modes: surface navigation mode, underwater navigation mode, floating buoy mode, ARGO buoy mode, and underwater glider mode, and can freely switch between operating modes according to the complex and diverse needs of maritime operations, greatly expanding the application scope and mission capabilities of the underwater robot.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a multi-mode autonomous underwater robot, which adopts a streamlined rotating body structure, including a bow load section, a buoyancy adjustment section, a battery section, a navigation section, a control section, a maneuvering section, a propulsion section, and an antenna; the bow load section, buoyancy adjustment section, battery section, navigation section, control section, maneuvering section, propulsion section, and antenna are arranged sequentially, and adjacent sections are sealed and connected by clamps.

[0008] An acoustic or optical load sensor for underwater exploration and measurement is installed at the front end of the hull inside the bow load compartment. A main load controller is installed in the middle of the hull inside the bow load compartment. A first load sub-controller is installed at the rear end of the hull inside the bow load compartment. The acoustic or optical load sensor is electrically connected to the main load controller or the first load sub-controller.

[0009] Inside the buoyancy adjustment chamber, there is a water tank, an inlet / outlet pipe, and a micro water pump. One end of the micro water pump is sealed and connected to the water tank, and the other end of the micro water pump is connected to the external environment of the buoyancy adjustment chamber through the inlet / outlet pipe. A second load sub-controller is installed at the rear end inside the buoyancy adjustment chamber. The micro water pump is electrically connected to the second load sub-controller.

[0010] A battery pack and a position adjustment mechanism are installed inside the shell of the battery compartment. An umbilical cable connector is installed at the rear of the outer shell of the battery compartment. An umbilical cable hole sealing cover is provided on the outer shell of the battery compartment where the umbilical cable connector is located. The battery pack is installed on the position adjustment mechanism, and the position of the battery pack is adjusted in the direction of the robot's rotation axis through the position adjustment mechanism.

[0011] A navigation device is installed inside the shell of the navigation compartment, and a third load sub-controller is installed at the rear end of the shell of the navigation compartment; the navigation device is electrically connected to the third load sub-controller.

[0012] The main control system is installed inside the shell of the control compartment; the main load controller, the first load sub-controller, the second load sub-controller, the third load sub-controller, the battery pack and the position adjustment mechanism are all electrically connected to the main control system.

[0013] The propulsion and control controller and a pressure sensor for measuring diving depth are installed inside the hull of the control section; stabilizing fins are arranged in a cross shape along the circumferential direction on the outside of the control section, and a miniature rim thruster is installed on each rim; the miniature rim thruster is electrically connected to the propulsion and control controller; the pressure sensor and the propulsion and control controller are both electrically connected to the main control system.

[0014] Inside the propulsion section's shell are a rim-mounted main thruster for the robot to move forward or backward, and a steering assembly for adjusting the robot's heading and pitch angles; the steering assembly is located behind the rim-mounted main thruster; both the rim-mounted main thruster and the steering assembly are electrically connected to the main control system.

[0015] A folding mechanism for controlling the orientation of the antenna is provided between the antenna and the housing of the propulsion section. A wireless communication module, a satellite positioning module, and a position indicator light are installed inside the antenna.

[0016] The operating modes of the multi-mode autonomous underwater robot are divided into surface navigation mode, underwater navigation mode, floating buoy mode, ARGO buoy mode and underwater glider mode.

[0017] When the multi-mode autonomous underwater vehicle is in surface navigation mode, the robot is above the water surface, with the antenna perpendicular to the robot's axis of rotation, receiving wireless communication and satellite positioning signals through the antenna; the water tank in the buoyancy adjustment section is emptied, and the buoyancy force on the robot as a whole is greater than its gravity; the position of the battery pack in the battery compartment is adjusted by the position adjustment mechanism to make the robot's center of gravity coincide with its centroid; the robot is driven to navigate on the water surface by the cooperation of the micro rim thruster, the rim main thruster and the steering assembly.

[0018] When the multi-mode autonomous underwater robot is in underwater navigation mode, the robot is below the water surface, with the antenna distributed parallel to the robot's axis of rotation to reduce underwater navigation resistance. A miniature water pump in the buoyancy adjustment compartment draws external water into the compartment, ensuring the robot's overall buoyancy equals its weight. A position adjustment mechanism adjusts the battery pack's position within the battery compartment, aligning the robot's center of gravity with its centroid. The robot is driven underwater by a combination of miniature rim thrusters, a rim main thruster, and steering components.

[0019] When the multi-mode autonomous underwater vehicle is in floating buoy mode, the antenna is parallel to the axis of rotation of the robot, which is perpendicular to the water surface. The antenna is above the water surface and receives wireless communication and satellite positioning signals. The water tanks in the buoyancy adjustment section are emptied, and the buoyancy force on the robot as a whole is greater than its gravity. The position of the battery pack in the battery compartment is adjusted by the position adjustment mechanism to bring the robot's center of gravity closer to the bow. The micro rim thrusters, rim main thrusters, and steering components are all inactive.

[0020] When the multi-mode autonomous underwater vehicle (AUV) is in ARGO buoy mode, the antenna is parallel to the robot's axis of rotation, and the robot's axis of rotation is perpendicular to the water surface, reducing the robot's diving and surfacing resistance. The position of the battery pack within the battery compartment is adjusted by the position adjustment mechanism, bringing the robot's center of gravity closer to the bow. When the robot dives, a miniature water pump in the buoyancy adjustment compartment draws external water into the tank, making the buoyancy force on the robot less than its weight. When the robot surfaces, the miniature water pump draws external water into the tank, making the buoyancy force on the robot greater than its weight. When the antenna is above the water surface, it receives wireless communication and satellite positioning signals. Vertical hydrographic profile information is measured through the robot's diving and surfacing. The miniature rim thruster, rim main thruster, and steering components are all inactive.

[0021] When the multi-mode autonomous underwater robot is in underwater glider mode, the robot is submerged, with its rotation axis tilted relative to the water surface. Its unpowered underwater gliding trajectory is zigzag. The antenna is parallel to the robot's rotation axis to reduce underwater gliding resistance. During gliding, a miniature water pump in the buoyancy adjustment compartment draws external water into the compartment, reducing buoyancy to less than gravity. The position adjustment mechanism adjusts the battery pack's position within the battery compartment, bringing the robot's center of gravity closer to the bow. During gliding, the miniature water pump in the buoyancy adjustment compartment draws external water into the compartment, increasing buoyancy to greater than gravity. The position adjustment mechanism adjusts the battery pack's position within the battery compartment, bringing the robot's center of gravity closer to the stern. When the antenna is above the water surface, it receives wireless communication and satellite positioning signals. The miniature rim thrusters, main rim thrusters, and steering components are all inactive.

[0022] The beneficial effects of this invention are: The multi-mode autonomous underwater robot of this invention achieves functional compatibility of AUV, floating buoy, ARGO buoy and underwater glider on the same underwater robot. It can realize five operation modes: surface navigation mode, underwater navigation mode, floating buoy mode, ARGO buoy mode and underwater glider mode. It can also freely switch between operation modes according to the complex and diverse needs of marine operations, which greatly expands the application scope and mission capabilities of underwater robots. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of a multi-mode autonomous underwater robot of the present invention (the antenna is distributed parallel to the axis of the robot's rotation) (viewpoint 1, overall). Figure 2 This is a schematic diagram of the structure of a multi-mode autonomous underwater robot of the present invention (the antenna is distributed perpendicularly to the axis of the robot's rotation) (viewpoint 1, overall). Figure 3 This is a schematic diagram of the structure of a multi-mode autonomous underwater robot of the present invention (the antenna is distributed parallel to the axis of the robot's rotation) (view 2, overall). Figure 4 This is a schematic diagram of the structure of a multi-mode autonomous underwater robot (the antenna is distributed parallel to the axis of the robot's rotation) according to the present invention (view 3, cross-section). Figure 5 This is a schematic diagram of the multi-mode autonomous underwater robot of the present invention in surface navigation mode. Figure 6 This is a schematic diagram of the multi-mode autonomous underwater robot of the present invention in underwater navigation mode; Figure 7This is a schematic diagram of the multi-mode autonomous underwater robot of the present invention in floating buoy mode; Figure 8 This is a schematic diagram of the multi-mode autonomous underwater robot of the present invention in ARGO buoy mode; Figure 9 This is a schematic diagram of the multi-mode autonomous underwater robot of the present invention in underwater glider mode; In the diagram, 1—bow load compartment, 2—buoyancy adjustment compartment, 3—battery compartment, 4—navigation compartment, 5—control compartment, 6—steering compartment, 7—propulsion compartment, 8—antenna, 9—clamp, 10—acoustic or optical load sensor, 11—main load controller, 12—first load sub-controller, 13—water tank, 14—inlet / outlet pipe, 15—battery pack, 16—position adjustment mechanism, 17—umbilical cable hole seal, 18—umbilical cable connector, 19—navigation equipment, 20—main control system, 21—pressure sensor, 22—propulsion and steering controller, 23—stabilizing wing, 24—miniature rim thruster, 25—rim main thruster, 26—steering assembly, 27—folding mechanism, 28—miniature water pump, 29—second load sub-controller, 30—third load sub-controller. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0025] like Figures 1-4 As shown, a multi-mode autonomous underwater robot adopts a streamlined rotating body structure, including a bow load section 1, a buoyancy adjustment section 2, a battery section 3, a navigation section 4, a control section 5, a maneuvering section 6, a propulsion section 7, and an antenna 8; the bow load section 1, buoyancy adjustment section 2, battery section 3, navigation section 4, control section 5, maneuvering section 6, propulsion section 7, and antenna 8 are arranged sequentially, and adjacent sections are sealed and connected by clamps 9.

[0026] An acoustic or optical load sensor 10 for underwater exploration and measurement is provided at the front end of the hull inside the bow load section 1. A load master controller 11 is provided at the middle of the hull inside the bow load section 1. A first load sub-controller 12 is provided at the rear end of the hull inside the bow load section 1. The acoustic or optical load sensor 10 is electrically connected to the load master controller 11 or the first load sub-controller 12.

[0027] Inside the buoyancy adjustment section 2, there is a water tank 13, an inlet / outlet pipe 14, and a micro water pump 28. One end of the micro water pump 28 is sealed and connected to the water tank 13, and the other end of the micro water pump 28 is connected to the external environment of the buoyancy adjustment section 2 through the inlet / outlet pipe 14. A second load sub-controller 29 is provided at the rear end inside the buoyancy adjustment section 2. The micro water pump 28 is electrically connected to the second load sub-controller 29.

[0028] A battery pack 15 and a position adjustment mechanism 16 are provided inside the housing of the battery compartment section 3. An umbilical cable connector 18 is provided at the rear of the housing of the battery compartment section 3. An umbilical cable hole sealing cover 17 is provided on the housing of the battery compartment section 3 where the umbilical cable connector 18 is located. The battery pack 15 is mounted on the position adjustment mechanism 16, and the position of the battery pack 15 is adjusted in the direction of the robot's rotating body axis by the position adjustment mechanism 16.

[0029] Specifically, the position adjustment mechanism 16 adopts an electrically driven ball screw structure, and the rotational motion of the ball screw is synchronously converted into the linear motion of the battery pack 15.

[0030] A navigation device 19 is installed inside the shell of the navigation compartment 4, and a third load sub-controller 30 is installed at the rear end of the shell of the navigation compartment 4; the navigation device 19 is electrically connected to the third load sub-controller 30.

[0031] The main control system 20 is installed inside the shell of the control compartment 5; the load main controller 11, the first load sub-controller 12, the second load sub-controller 29, the third load sub-controller 30, the battery pack 15 and the position adjustment mechanism 16 are all electrically connected to the main control system 20.

[0032] Inside the hull of the control section 6, there is a propulsion and control controller 22 and a pressure sensor 21 for measuring diving depth data; outside the hull of the control section 6, there are cross-shaped stabilizing wings 23 arranged in a circumferential direction, and a miniature rim thruster 24 is installed on each stabilizing wing 23; the miniature rim thruster 24 is electrically connected to the propulsion and control controller 22; the pressure sensor 21 and the propulsion and control controller 22 are both electrically connected to the main control system 20.

[0033] Inside the housing of the propulsion section 7, there is a rim main thruster 25 for the robot to move forward or backward and a steering assembly 26 for adjusting the robot's heading and pitch angles; the steering assembly 26 is located behind the rim main thruster 25; both the rim main thruster 25 and the steering assembly 26 are electrically connected to the main control system 20.

[0034] A folding mechanism 27 for controlling the orientation of the antenna 8 is provided between the housing of the antenna 8 and the propulsion section 7. A wireless communication module, a satellite positioning module and a position indicator are installed inside the antenna 8.

[0035] The operating modes of the multi-mode autonomous underwater robot are divided into surface navigation mode, underwater navigation mode, floating buoy mode, ARGO buoy mode and underwater glider mode.

[0036] like Figure 5 As shown, when the multi-mode autonomous underwater robot is in surface navigation mode, the robot is above the water surface, and the antenna 8 is perpendicular to the axis of rotation of the robot. The antenna 8 receives wireless communication and satellite positioning signals. The water tank 13 in the buoyancy adjustment section 2 is emptied, and the buoyancy of the robot as a whole is greater than the gravity. The position of the battery pack 15 in the battery compartment 3 is adjusted by the position adjustment mechanism 16 so that the center of gravity of the robot coincides with the centroid. The robot is driven to navigate on the water surface by the cooperation of the micro rim thruster 24, the rim main thruster 25 and the steering assembly 26.

[0037] like Figure 6 As shown, when the multi-mode autonomous underwater robot is in underwater navigation mode, the robot is below the water surface, and the antenna 8 is distributed parallel to the axis of rotation of the robot, reducing the underwater navigation resistance of the robot; the micro water pump 28 in the buoyancy adjustment section 2 draws external water into the water tank 13, so that the buoyancy of the robot as a whole is equal to its weight; the position adjustment mechanism 16 adjusts the position of the battery pack 15 in the battery section 3, so that the center of gravity of the robot coincides with the centroid; the micro rim thruster 24, the rim main thruster 25 and the steering assembly 26 work together to drive the robot to navigate underwater.

[0038] like Figure 7 As shown, when the multi-mode autonomous underwater vehicle is in floating buoy mode, antenna 8 is parallel to the axis of the robot's rotation, the axis of the robot's rotation is perpendicular to the water surface, and antenna 8 is above the water surface, receiving wireless communication and satellite positioning signals through antenna 8; the water tank 13 in the buoyancy adjustment section 2 is emptied, and the buoyancy force on the robot as a whole is greater than the gravity; the position of the battery pack 15 in the battery section 3 is adjusted by the position adjustment mechanism 16, so that the robot's center of gravity is closer to the bow; the micro rim thruster 24, the rim main thruster 25, and the steering assembly 26 are all in a non-operating state.

[0039] like Figure 8As shown, when the multi-mode autonomous underwater vehicle is in ARGO buoy mode, the antenna 8 is parallel to the robot's rotation axis, and the robot's rotation axis is perpendicular to the water surface, reducing the robot's diving and surfacing resistance. The position of the battery pack 15 within the battery compartment 3 is adjusted by the position adjustment mechanism 16, bringing the robot's center of gravity closer to the bow. When the robot dives, the micro water pump 28 in the buoyancy adjustment compartment 2 draws external water into the water tank 13, making the buoyancy force on the robot less than its weight. When the robot surfaces, the micro water pump 28 in the buoyancy adjustment compartment 2 draws external water into the water tank 13, making the buoyancy force on the robot greater than its weight. When the antenna 8 is above the water surface, it receives wireless communication and satellite positioning signals. The robot completes the measurement of vertical hydrological profile information through diving and surfacing. The micro rim thruster 24, the rim main thruster 25, and the steering assembly 26 are all in a non-operating state.

[0040] like Figure 9 As shown, when the multi-mode autonomous underwater robot is in underwater glider mode, the robot is below the water surface, with its rotation axis tilted relative to the water surface. Its underwater unpowered gliding trajectory is Z-shaped. The antenna 8 is parallel to the robot's rotation axis, reducing underwater gliding resistance. During gliding, the robot draws external water into the water tank 13 via a miniature water pump 28 within the buoyancy adjustment section 2, ensuring the buoyancy force on the robot is less than its weight. The position adjustment mechanism 16 adjusts the position of the battery pack 15 within the battery compartment 3. The position of the robot is such that its center of gravity is close to the bow. When the robot floats and glides, the miniature water pump 28 in the buoyancy adjustment section 2 draws water from the outside into the water tank 13, so that the buoyancy force on the robot is greater than its weight. The position adjustment mechanism 16 adjusts the position of the battery pack 15 in the battery section 3, so that the robot's center of gravity is close to the stern. When the antenna 8 is above the water surface, it receives wireless communication and satellite positioning signals. The miniature rim thruster 24, the rim main thruster 25 and the steering assembly 26 are all in a non-operating state.

[0041] Furthermore, the multi-mode autonomous underwater vehicle (AUV) features modularity and easy expansion in terms of hardware and structure. When functional expansion is required, the type of load sensor at the front end of the bow payload compartment 1 can be replaced as needed. Since all compartments of the multi-mode AUV use the same electrical interface scheme, the robot's application range and mission capabilities can be further expanded by adding additional sensor payload compartments.

[0042] The solutions in the embodiments are not intended to limit the scope of protection of the present invention. All equivalent implementations or modifications that do not depart from the present invention are included in the scope of protection of the present invention.

Claims

1. A multi-mode autonomous underwater robot, characterized in that: The overall structure adopts a streamlined rotating body and includes a bow load section, a buoyancy adjustment section, a battery section, a navigation section, a control section, a maneuvering section, a propulsion section, and an antenna. The bow load section, buoyancy adjustment section, battery section, navigation section, control section, maneuvering section, propulsion section, and antenna are arranged sequentially, and adjacent sections are sealed and connected by clamps.

2. The multi-mode autonomous underwater robot according to claim 1, characterized in that: An acoustic or optical load sensor for underwater exploration and measurement is installed at the front end of the hull inside the bow load compartment. A main load controller is installed in the middle of the hull inside the bow load compartment. A first load sub-controller is installed at the rear end of the hull inside the bow load compartment. The acoustic or optical load sensor is electrically connected to the main load controller or the first load sub-controller.

3. The multi-mode autonomous underwater robot according to claim 2, characterized in that: Inside the buoyancy adjustment chamber, there is a water tank, an inlet / outlet pipe, and a micro water pump. One end of the micro water pump is sealed and connected to the water tank, and the other end of the micro water pump is connected to the external environment of the buoyancy adjustment chamber through the inlet / outlet pipe. A second load sub-controller is installed at the rear end inside the buoyancy adjustment chamber. The micro water pump is electrically connected to the second load sub-controller.

4. A multi-mode autonomous underwater robot according to claim 3, characterized in that: A battery pack and a position adjustment mechanism are installed inside the shell of the battery compartment. An umbilical cable connector is installed at the rear of the outer shell of the battery compartment. An umbilical cable hole sealing cover is provided on the outer shell of the battery compartment where the umbilical cable connector is located. The battery pack is installed on the position adjustment mechanism, and the position of the battery pack is adjusted in the direction of the robot's rotation axis through the position adjustment mechanism.

5. A multi-mode autonomous underwater robot according to claim 4, characterized in that: A navigation device is installed inside the shell of the navigation compartment, and a third load sub-controller is installed at the rear end of the shell of the navigation compartment; the navigation device is electrically connected to the third load sub-controller.

6. A multi-mode autonomous underwater robot according to claim 5, characterized in that: The main control system is installed inside the shell of the control compartment; the main load controller, the first load sub-controller, the second load sub-controller, the third load sub-controller, the battery pack, and the position adjustment mechanism are all electrically connected to the main control system.

7. A multi-mode autonomous underwater robot according to claim 6, characterized in that: The propulsion and control controller and a pressure sensor for measuring diving depth are installed inside the hull of the control section; stabilizing fins are arranged in a cross shape along the circumferential direction on the outside of the control section, and a miniature rim thruster is installed on each rim; the miniature rim thruster is electrically connected to the propulsion and control controller; the pressure sensor and the propulsion and control controller are both electrically connected to the main control system.

8. A multi-mode autonomous underwater robot according to claim 6, characterized in that: Inside the propulsion section's shell are a rim-mounted main thruster for the robot to move forward or backward, and a steering assembly for adjusting the robot's heading and pitch angles; the steering assembly is located behind the rim-mounted main thruster; both the rim-mounted main thruster and the steering assembly are electrically connected to the main control system.

9. A multi-mode autonomous underwater robot according to claim 1, characterized in that: A folding mechanism for controlling the orientation of the antenna is provided between the antenna and the housing of the propulsion section. A wireless communication module, a satellite positioning module, and a position indicator light are installed inside the antenna.

10. A multi-mode autonomous underwater robot according to claim 8, characterized in that: The operating modes of the multi-mode autonomous underwater robot are divided into surface navigation mode, underwater navigation mode, floating buoy mode, ARGO buoy mode and underwater glider mode; When the multi-mode autonomous underwater robot is in surface navigation mode, the robot is above the water surface, and the antenna is distributed perpendicular to the axis of rotation of the robot. The robot receives wireless communication and satellite positioning signals through the antenna. The water tank in the buoyancy adjustment section is emptied, and the buoyancy of the robot as a whole is greater than the gravity. The position of the battery pack in the battery compartment is adjusted by the position adjustment mechanism so that the center of gravity of the robot coincides with the centroid. The robot navigates on the water surface by using a miniature rim thruster, a rim main thruster, and a steering assembly. When the multi-mode autonomous underwater robot is in underwater navigation mode, the robot is below the water surface, and the antenna is distributed parallel to the axis of rotation of the robot to reduce the resistance of underwater navigation. The external water is drawn into the water tank by the micro water pump in the buoyancy adjustment section, so that the buoyancy of the robot is equal to its weight. The position adjustment mechanism adjusts the position of the battery pack in the battery compartment so that the center of gravity of the robot coincides with the centroid. The robot is driven to navigate underwater by a combination of a miniature rim thruster, a rim main thruster, and a steering assembly. When the multi-mode autonomous underwater vehicle is in floating buoy mode, the antenna is parallel to the robot's axis of rotation, which is perpendicular to the water surface. The antenna is positioned above the water surface and receives wireless communication and satellite positioning signals. The water tanks in the buoyancy adjustment section are emptied, and the buoyancy force on the robot as a whole is greater than its weight. The position of the battery pack in the battery compartment is adjusted by the position adjustment mechanism to bring the robot's center of gravity closer to the bow. The miniature rim thrusters, rim main thrusters, and steering components are all inactive. When the multi-mode autonomous underwater vehicle (AUV) is in ARGO buoy mode, the antenna is parallel to the robot's axis of rotation, and the robot's axis of rotation is perpendicular to the water surface. This reduces the robot's diving and surfacing resistance. The position of the battery pack within the battery compartment is adjusted via a position adjustment mechanism, bringing the robot's center of gravity closer to the bow. When the robot dives, a miniature water pump in the buoyancy adjustment compartment draws external water into the tank, making the buoyancy force on the robot less than its weight. When the robot surfaces, the miniature water pump draws external water into the tank, making the buoyancy force on the robot greater than its weight. When the antenna is above the water surface, it receives wireless communication and satellite positioning signals. Vertical hydrographic profile information is measured through the robot's diving and surfacing. The miniature rim thruster, rim main thruster, and steering components are all inactive. When the multi-mode autonomous underwater robot is in underwater glider mode, the robot is submerged, with its rotation axis tilted relative to the water surface. Its unpowered underwater gliding trajectory is zigzag. The antenna is parallel to the robot's rotation axis to reduce underwater gliding resistance. During gliding, a miniature water pump in the buoyancy adjustment compartment draws external water into the compartment, reducing buoyancy to less than gravity. The position adjustment mechanism adjusts the battery pack's position within the battery compartment, bringing the robot's center of gravity closer to the bow. During gliding, the miniature water pump in the buoyancy adjustment compartment draws external water into the compartment, increasing buoyancy to greater than gravity. The position adjustment mechanism adjusts the battery pack's position within the battery compartment, bringing the robot's center of gravity closer to the stern. When the antenna is above the water surface, it receives wireless communication and satellite positioning signals. The miniature rim thrusters, main rim thrusters, and steering components are all inactive.

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