67 results about "Underwater glider" patented technology

The invention discloses an underwater glider ocean collaborative visual simulation system based on digital twinning. The underwater glider ocean collaborative visual simulation system comprises an ocean flow field setting module, a motion control module, an ocean current action mechanism module, a digital twinning module and a visualization module. The ocean flow field setting module is used for constructing a virtual ocean simulation environment, the motion control module is used for carrying out motion control on an underwater glider, and the ocean current action mechanism module is used for obtaining a motion track of the underwater glider; the digital twin module is used for simulating the complete profile of the underwater glider according to the adjustment amount of the rolling rudder angle output by the course angle compensation unit and the floating instruction output by the depth setting event trigger controller; and the visualization module is used for displaying the three-dimensional coordinates and the movement track of the underwater glider. According to the ocean collaborative visual simulation system for the underwater glider, the multi-dimensional coupling disturbance action mechanism of ocean current on the speed and attitude of the underwater glider is accurately simulated, and the simulation modeling precision of the underwater glider in a complex ocean environment is remarkably improved.

The invention discloses an underwater gliding robot anchoring process energy consumption optimization method and system based on a subdomain grey box model. The energy consumption optimization method comprises the steps that a white box energy consumption mechanism model in the underwater gliding robot anchoring process is established; the whole anchoring energy consumption stage of the underwater gliding robot is divided into a plurality of sub-domains, and a Latin hypercube design method is adopted to simulate and generate a plurality of sub-domain samples meeting variable range constraints by using a hardware-in-the-loop simulation platform; selecting a Kriging model as a sub-domain agent model, fusing the white-box energy consumption mechanism model and constraint conditions of an oil bag volume and a movable mass position to form a sub-domain grey-box model, and performing segmented energy consumption fitting by using the sub-domain grey-box model; and with minimization of energy consumption fitted by the sub-domain grey box model as a target, performing iterative optimization on the sub-domain proxy model by adopting a dynamic guidance self-adjusting particle swarm algorithm, and outputting optimal planning parameters. The method realizes anchoring full-process low-energy-consumption control, and is suitable for marine resource exploration, hydrological monitoring and other tasks.

The invention discloses an underwater glider motion control method based on multi-agent reinforcement learning, and the method comprises the steps: deploying a final first decision network # imgabs0 # and a final second decision network # imgabs1 # in an underwater glider, and calculating an optimal control quantity: inputting a target operation speed (u, v, w) into # imgabs2 #, and outputting a buoyancy adjustment control quantity Bb and a pitching adjustment control quantity lp; inputting (u, v, w, Bb, lp) into # imgabs3, outputting a rolling adjustment control quantity, # imgabs4, and completing the navigation of the current section according to # imgabs5; judging whether the observation task is completed; calculating the ocean current interference speed in the current profile; compensating (u, v, w) according to the ocean current interference speed; and taking the compensated speed (u ', v, w') as the target running speed of the next section. According to the invention, the motion control of the underwater glider is realized, the precision of the motion control is improved, and the coupling problem among the control quantities of the underwater glider is avoided.

The invention discloses an AE-LSTM-based underwater glider CTD sampling abnormal data detection method and system and a storage medium, and belongs to the technical field of ocean exploration, the detection method comprises the steps that an AE-LSTM hybrid model is constructed, and the model comprises a bidirectional long short-term memory network Bi-LSTM encoder and a unidirectional LSTM decoder; preprocessing the original CTD time sequence data, wherein the preprocessing comprises edge auxiliary point expansion and upper-layer ocean data density interpolation; inputting the preprocessed data into the AE-LSTM hybrid model for encoding and decoding, and generating reconstructed data; calculating a reconstruction error of the original data and the reconstruction data; and dynamically setting a threshold value by a POT method based on an extreme value theory EVT, and judging abnormal data according to the reconstruction error. The method has the advantages of being high in detection precision, high in adaptability, low in misjudgment rate, suitable for large-scale automatic processing and the like, the requirement for obtaining high-quality observation data in the complex dynamic marine environment can be effectively met, and reliable data guarantee is provided for marine scientific research, environmental monitoring and the like.

The underwater robot for retrieving an underwater glider according to the present invention for retrieving an underwater glider for exploring the underwater to a ship comprises a main body module; a gripping module provided on the main body module, gripping the underwater glider to prevent damage to the underwater glider by restricting movement of the underwater glider while adjacent to the underwater glider; a connecting module connected to the main body module so that the underwater glider is lifted by the gripping module to the ship in a fixed state; and a control module for controlling the main body module and the gripping module by receiving location information from a receiver provided on the underwater glider and determining a distance from the underwater glider.

The invention discloses a low-noise audio acquisition circuit based on an underwater glider. The low-noise audio acquisition circuit comprises a controller module used for controlling all modules and data transmission; the data storage module is used for storing effective data transmitted by the controller module and the processor module; the data interaction module is used for collecting state information of the underwater glider and sending the state information to the data storage module; the data processing module comprises an operational amplifier, a gain amplifier, a fully differential amplifier and a hydrophone for collecting audio information; audio information collected by the hydrophone is firstly subjected to preliminary amplification and impedance matching through the operational amplifier, then enters the gain amplifier to be subjected to flexible gain adjustment and signal optimization, is further amplified through the fully differential amplifier and inhibits common-mode interference, and finally, the audio information is transmitted to the analog-to-digital converter to complete analog-to-digital conversion. The processor module processes the received audio information and transmits the processed audio information to the data storage module.

The invention discloses a wide dynamic underwater sound acquisition method suitable for an underwater glider and a hydrophone, and the method comprises the steps: configuring a unique hydrophone into four parallel band-pass filtering and amplifying circuits, each band-pass filtering and amplifying circuit having different acquisition frequency bands; after the underwater glider enters water, underwater sound collection is carried out based on the only installed hydrophone, and underwater sound signals of four collection frequency bands are collected at the same time through four parallel band-pass filtering and amplifying circuits. Through four paths of differentiated gains and frequency segmentation, the wide dynamic full frequency band can be covered, the dynamic range is improved, a single hydrophone integrates four channels, cables and installation space among multiple devices are saved, and the underwater glider compact layout is adapted; the channels are activated on demand, the total power consumption can be reduced, and the endurance time is prolonged. Under the conditions of low power consumption and limited volume of the underwater glider, wide dynamic range signal acquisition can be realized, and signals can be processed in real time.

The invention discloses an underwater glider rolling path planning method based on meta reinforcement learning, a total decision network comprises a first convolution branch module, a second convolution branch module, a feature splicing module and a full-connection neural network, the input of the total decision network is the state st = (T ', C, delta x, delta y) of the current position of an underwater glider, and the output of the total decision network is the action at = delta rt, delta rt is the course angle adjustment amount required by the underwater glider to carry out the next section motion, T'is a terrain height matrix corresponding to the current position of the underwater glider, C is ocean current speed data corresponding to the current position of the underwater glider, delta x is the difference between the longitude coordinate xT of the task end point and the longitude coordinate x of the current position of the underwater glider, and delta t is the difference between the longitude coordinate xT and the longitude coordinate x of the current position of the underwater glider. Delta y is the difference between the latitude coordinate yT of the task end point and the latitude coordinate y of the current position of the underwater glider. According to the total decision network, the navigation deviation caused by ocean current in the navigation trajectory is reduced, the optimal path strategy generation efficiency is improved, and the energy consumption of the underwater glider is reduced.

This application provides a multi-agent reinforcement learning-based underwater glider formation control method, which can be applied to the field of underwater glider control technology. The method is applied to a control terminal capable of communicating with an underwater glider group, and includes: in an observation scenario where the underwater glider group is in a preset formation, determining the state spaces of the leader underwater glider and at least one follower underwater glider, and determining the action spaces of all underwater gliders in the group; predicting the leader underwater glider's state at time t; predicting the leader underwater glider's action at time t that enables it to reach its destination; outputting the follower actions at time t for each of the at least one follower underwater glider through a follower agent; and sending the follower actions at time t so that each of the at least one follower underwater glider maintains a preset formation with the leader underwater glider based on its follower actions at time t.

The application discloses a trimming device for underwater glider and a use method thereof, and belongs to the technical field of ocean exploration. The trimming device comprises a base, a support shaft, a weighing sensor, a torque sensor and a supporting component. The two end portions of the support shaft with the horizontal axis are installed on the base through the shaft seat. The weighing sensor is installed on the two end portions of the support shaft and is used for detecting the downward pressure of the end portions of the support shaft. The torque sensor is installed on the end portion of the support shaft and is used for detecting the torque of the support shaft. The supporting component is fixedly installed on the support shaft and is provided with a supporting portion which is used for supporting the underwater glider with the axis parallel to the axis of the support shaft. The trimming device realizes high accuracy, high efficiency and multi-dimensional adjustment capacity by means of the introduction of the sensor technology. The trimming device has the characteristics of simple structure, high flexibility and easy maintenance, and thus becomes a practical solution scheme meeting the trimming requirements of the underwater glider.

The invention relates to the technical field of underwater vehicles, and provides an underwater glider which comprises a main body, a driving mechanism and a plurality of wings, the driving mechanism is arranged in the main body; the wings are arranged in the circumferential direction of the main body, the wings are connected with the driving mechanism, and the driving mechanism is used for driving the wings to rotate relative to the main body. According to the underwater glider, by arranging the driving mechanism, the driving mechanism can drive the wings to rotate relative to the main body, when the underwater glider is stored or transported, under the action of the driving mechanism, the multiple wings can be all parallel to the main body, the size of the underwater glider is reduced, and the transportation volume of the underwater glider is increased; and simultaneous delivery of batch underwater gliders is realized.

The application discloses a virtual anchor type underwater glider motion planning method, system and medium, comprising: estimating local flow field information, and fusing the local flow field information and pre-extracted global flow field prediction data to obtain target flow field information; based on the target flow field information, a first motion planning result of each glider station is determined through a preset model predictive control strategy and a first reinforcement learning method; if the station cost corresponding to a preset number of gliders is greater than the position transfer cost, a first control parameter is determined through a second reinforcement learning method, a second motion planning result of glider array station shape is determined based on the first control parameter and artificial potential field normal force, and each glider is controlled to move according to the second motion planning result. The application can perform anti-flow motion planning on multiple gliders.

The application discloses an underwater glider robot anchoring process energy consumption optimization method and system based on a sub-domain gray box model, and the energy consumption optimization method comprises the following steps: establishing a white box energy consumption mechanism model in the underwater glider robot anchoring process; dividing the whole anchoring energy consumption stage of the underwater glider robot into multiple sub-domains, and using a Latin hypercube design method to simulate and generate multiple sub-domain samples meeting variable range constraints by using a hardware-in-the-loop simulation platform; selecting a Kriging model as a sub-domain surrogate model, fusing the white box energy consumption mechanism model and constraint conditions of an oil tank volume and a movable mass position, forming a sub-domain gray box model, and performing segmented energy consumption fitting by using the sub-domain gray box model; taking energy consumption minimization fitted by the sub-domain gray box model as a target, iteratively optimizing the sub-domain surrogate model by using a dynamic guidance self-adjusting particle swarm optimization algorithm, and outputting optimal planning parameters. The application realizes low-energy consumption control of the whole anchoring process, and is suitable for tasks such as ocean resource exploration and hydrological monitoring.

The application discloses a kind of underwater glider acoustic data processing method and storage medium based on Conformer, belong to underwater acoustic signal processing technical field.The method includes: using MCR-AAD model to the original acoustic data collected by glider Effective signal detection, output the probability of each frame as effective signal, and using double threshold post-processing method to determine effective signal and noise signal;The detected effective signal is input into the causal BGformer noise reduction model, generates and reverses noise mask by audio feature fusion, DCC encoder, Conformer decoder and label embedding module, to obtain the audio result after noise reduction.MCR-AAD model is composed of mel feature extractor, multi-scale depth separable convolution, dynamic position coding, Conformer encoder and multi-task classification module.The application constructs efficient, real-time underwater acoustic data processing scheme, effectively improves the application performance of glider in marine observation and target identification.

The present disclosure provides a method, device, and electronic device for processing the vertical structure of a mesoscale vortex, which can be applied to the field of underwater observation technology. The method includes: obtaining cross-sectional data of multiple sections of a single underwater glider in a mesoscale vortex; obtaining the vertical density of each of the multiple sections based on the cross-sectional data, wherein the vertical density represents the density of the section at different depths in the mesoscale vortex; determining N cross-sectional segment intervals from the multiple sections based on the vertical density of each of the multiple sections, where N is a positive integer; constructing a multivariate ordinal modal sequence for each of the N cross-sectional segment intervals based on the vertical density difference between adjacent sections in each of the N cross-sectional segment intervals, wherein the multivariate ordinal modal sequence represents the structural characteristics of multiple cross sections of the mesoscale vortex at different depths; and obtaining a visualization result of the vertical structure of the mesoscale vortex based on the multivariate ordinal modal sequence for each of the N cross-sectional segment intervals.

The application discloses a wing-leg hybrid propulsion underwater glider and a working method thereof. The glider comprises a glider body, a bidirectional flexible wing-leg hybrid propulsion device and a control panel. The bidirectional flexible wing-leg hybrid propulsion device comprises a wire mechanism driving part, a limiting block assembly, flexible wings, a driving control unit and a shell assembly. The wire mechanism driving part is installed inside the shell assembly. The limiting block assembly is arranged at the middle part outside the shell assembly. The flexible wings are arranged symmetrically on the opposite sides of the limiting block assembly and are connected with the limiting block assembly. The driving control unit comprises a driving servo motor installed in the cabin of the glider body. The motor shaft of the driving servo motor is connected with the shell assembly. The flexible wings are connected with the driving control unit. The underwater glider can realize various motion modes according to different tasks and operation requirements, such as seabed operation, floating, sinking, moving and hovering, so that the operation range, operation capacity, maneuverability and practicability are improved.

The invention discloses a folding wing air-drop underwater glider based on a high-speed cross-medium water entry buffer device, and relates to the technical field of ocean exploration equipment. The underwater glider mainly comprises a hydrodynamic profile unit, a rapid retarding unit arranged at the tail and glider wing stretching devices located on the two sides. According to the rapid retarding unit, an opening and closing buckle is controlled through a steering engine to lock or release an unhooking pin shaft connected with the parachute, rapid separation of the parachute is achieved through the ejection effect of a high-elasticity element after the parachute enters water, and water entering impact is effectively reduced. According to the hang glider stretching device, the wings are restrained to be in a folded state through water-soluble fiber pieces, after the wings are dissolved in water, transmission racks are pushed through pre-compression springs, then wing changing gears connected with the wings are driven to rotate, and automatic unfolding and self-locking of the wings are achieved. The underwater glider has the advantages of being simple and light in structure, high in space utilization rate, good in underwater buffering effect and the like, and the problems that impact is large and carrying space is limited during air-drop laying of a traditional underwater glider are solved.

The invention relates to intelligent control of an underwater vehicle, in particular to a longitudinal plane depth control method of a hybrid drive underwater glider, which comprises the following steps of: establishing a longitudinal motion mathematical model of the hybrid drive underwater glider; in the kinematics aspect of the hybrid drive underwater glider, adaptive sight guidance is adopted to convert a depth control problem into a sight distance tracking problem, and a pitch angle parameter is calculated; for the dynamics aspect of the hybrid drive underwater glider, an active-disturbance-rejection controller for forming nonlinear state error feedback based on a tracking differentiator and an expansion observer is constructed; a pitch angle parameter obtained through self-adaptive sight guidance calculation is input into the active-disturbance-rejection controller, and the active-disturbance-rejection controller outputs a pitch angle control signal to adjust the depth of the hybrid-driven underwater glider in real time; according to the technical scheme, the defects that in the prior art, the control precision is low, and meanwhile the control process is complex can be effectively overcome.

The application provides a variable wing underwater glider dynamics modeling method and motion control method, the dynamics modeling method comprises the following steps: A. defining the coordinate system and transformation rule; B. deriving the rigid body kinematics equation; C. calculating the static force and torque; D. calculating the dynamics force and torque; E. calculating the fin combined external force and combined external torque; F. calculating the inertia parameter; G. integrating the dynamic control model. The application aims to systematically solve the technical defects of existing underwater vehicles, including: first, breaking through the maneuverability bottleneck of traditional underwater gliders, giving the platform multi-modal motion capability on the basis of retaining the long-range advantage; second, for bionic gliders, establishing a unified and accurate dynamics model framework to describe the nonlinear coupling between systems, providing a basis for stability and maneuverability evaluation and analysis; third, clarifying the influence law of key control parameters on motion performance, providing theoretical support for platform design optimization and motion control strategy formulation.

The invention discloses a self-powered underwater glider based on attitude adjustment of a wave power generation device, and belongs to the technical field of underwater unmanned vehicles. The core innovation of the invention lies in that a set of energy conversion module with both power generation and driving functions is integrated in the streamline cabin. When the device floats to the sea surface, the device enters a power generation state, wave excitation force drives a stator and a rotor of a motor to generate relative linear motion, and wave energy in the heaving direction is efficiently captured and converted into electric energy to be stored; when the equipment dives and glides, the equipment is converted into a driving state and serves as a motor to accurately control the axial position of a rotor, so that the gravity center of the whole machine is adjusted, and pitching attitude control and floating and diving movement are achieved in cooperation with the buoyancy adjusting unit. According to the invention, the utilization rate of the space in the cabin is obviously improved, the maintenance cost is reduced, and an efficient and reliable energy self-supply solution is provided for long-time-sequence and large-range ocean observation tasks.

The application relates to an underwater glider with retractable linkage wings, and relates to the technical field of underwater autonomous underwater vehicles. The glider comprises a main body structure, a buoyancy adjusting assembly, a four-bar linkage skin wing assembly and a double-screw rod linkage driving assembly. The main body structure serves as the installation base of the whole machine; the buoyancy adjusting assembly realizes counterweight adjustment by injecting and discharging seawater through a syringe; the four-bar linkage skin wing assembly adopts a six-bar linkage hinged mechanism matched with a pressure-resistant skin to realize reliable contraction and expansion of the wing; the double-screw rod linkage driving assembly adopts a double-head screw rod motor to synchronously drive double screw rods, and linkage controls the buoyancy adjustment and wing movement. The design solves the problems of the existing equipment, such as complex structure, high energy consumption and poor synchronism, and has the advantages of compact and stable wing contraction, efficient and energy-saving double-mechanism linkage, precise control, durable structure and the like, and can adapt to the operation requirements of various underwater environments.

Provided is a differential buoyancy steering system for an underwater glider. The inventive system utilizes multiple buoyancy engines to intentionally shift the buoyancy of the glider, thus moving the center of gravity. The shifting of the center of gravity and center of buoyancy causes the glider to roll and / or pitch, which can be used to control the steering of the glider as it travels through a column of water. A control system can independently adjust one or more buoyance engine bladders / plungers to independently control pitch and or roll. Additionally, one or more external turbines on the body of the glider can recharge the power system while the gilder is underway. The inventive method of glider control reduces complexity in the control system, reduces the number of moving parts, and extends times between battery recharge, thus improving reliability and lowering cost.

The invention discloses a hybrid drive type wing body fusion configuration underwater glider and a control method thereof.The underwater glider is provided with a glider body and hydrofoils located on the two sides of the glider body, horizontal through holes are symmetrically formed in the two hydrofoils, and a horizontal propeller is arranged in each horizontal through hole; two vertical through holes are symmetrically formed in the middle of the fuselage, and a vertical propeller is arranged in each of the two vertical through holes; two tail vane plates capable of independently turning over up and down are symmetrically arranged at the tail part of the fuselage; the horizontal propellers and the vertical propellers are shaftless propellers; two mechanical arm storage cabins are symmetrically arranged at the bottom of the machine body, an underwater operation mechanical arm is arranged in each of the two mechanical arm storage cabins, and the underwater operation mechanical arms can be unfolded for underwater operation or retracted into the mechanical arm storage cabins. The underwater robot has higher operation flexibility and can meet the requirement for executing high-power underwater operation; and the underwater operation mechanical arm and the machine body are integrally designed, so that the influence of hydrodynamic performance is reduced.

The invention relates to the technical field of underwater vehicles, and provides an underwater glider which comprises a main body, a driving assembly, a first rotating assembly, a second transmission assembly and a pair of wings, and the driving assembly is arranged in the main body; the first transmission assembly is connected with the driving assembly, the second transmission assembly is in transmission connection with the first transmission assembly, the rotation direction of the second transmission assembly is opposite to that of the first transmission assembly, and parts of the first transmission assembly and the second transmission assembly extend out of the main body and are connected with the wings correspondingly; when the first transmission assembly and the second transmission assembly rotate, the pair of wings can be driven to be overlapped or unfolded. According to the underwater glider, by arranging the driving assembly and the transmission assembly, the pair of wings can be driven to be folded or unfolded, and when the underwater glider is stored or transported, the pair of wings are overlapped on the main body under the action of the transmission assembly, so that the size of the underwater glider is reduced, and the transportation volume of the underwater glider is increased; and simultaneous delivery of batch underwater gliders is realized.

The utility model discloses a water surface sail driving / underwater gliding double-sailing-mode observation platform which comprises a fixed left wing fixedly installed on the side edge of a platform body, a rotatable rotating left wing is arranged on the outer side of the fixed left wing, and a left balancing weight is installed in the fixed left wing; the right wing is fixedly installed on the other side of the platform body, and a right balancing weight capable of sliding is arranged in the right wing. When the observation platform sails on the water surface, the observation platform is in a lateral three-dimensional position, the left wing is rotated to extend out of the water surface and serves as a sail, and the observation platform is driven to sail on the water surface under the action of wind power. The observation platform has the water surface maneuvering sailing capacity which is not possessed by an existing glider, and the defects that an existing underwater glider cannot do countercurrent motion in a high-current area and cannot be rapidly transferred from one section observation point to another section observation point are overcome. The observation platform provided by the utility model can be maneuvered to any position to complete profile measurement of diving and floating.

The application discloses a kind of underwater glider robot energy consumption optimization path smooth generation method and system of asymmetric turning radius, first, establish considering oil bag excursion roll model, by analyzing oil bag and movable mass momentum influence, construct system kinematics equation and dynamics equation containing oil bag excursion;Based on the model, the forgetting factor recursive least squares algorithm is used to identify the oil bag gravity center excursion amount on line;Real-time left and right turning radius of robot is calculated using the identification result;Finally, based on asymmetric turning radius, generate suboptimal Dubins-Helix path, the path is composed of pitch angle smooth section and Dubins-Helix trajectory section, by optimizing pitch angle and helix section parameters, while meeting the motion constraint, realize energy consumption optimization.Modeling and parameter identification accurately, solve the model mismatch problem, the path generated is more in line with the actual maneuverability of robot, while ensuring the feasibility of the path, significantly reduce the system energy consumption.

The application discloses a data processing method of an underwater glider for obtaining a sea current profile, and belongs to the technical field of ocean exploration. The underwater glider for obtaining the sea current profile comprises a pressure-resistant unit, a tail unit and a flow velocity profile obtaining unit. The flow velocity profile obtaining unit comprises an acoustic Doppler flow velocity profiler, a current meter and a temperature-salinity-depth sensor. The underwater glider can obtain the sea current information by integrating the flow velocity sensor, but the obtained sea current information is the relative velocity relative to the moving glider platform, and is not the absolute velocity of the sea current. The application obtains the accurate sea current profile based on the motion information of the underwater glider and the flow velocity profile observation data.

The present application relates to a kind of fuzzy adaptive underwater glider fault diagnosis method based on, it is related to underwater glider fault detection field.The present application includes: the nonlinear system of establishing the pitch angle of centroid adjustment mechanism control;According to the nonlinear system of centroid adjustment mechanism control pitch angle, design fault detection observer, the difference of state variable and the estimated value of state variable in fault detection observer is as state estimation error, whether there is fault is judged by the threshold of state estimation error;Design fault diagnosis estimator, the size of fault is identified.Through the design of fault detection observer and fault diagnosis estimator, the online diagnosis and estimation of actuator failure are realized, the precision of residual signal is improved, the phase lag is reduced, the disturbance signal can be observed, the occurrence of fault is detected in time and measures are taken.

The invention relates to the technical field of underwater glider balancing, and particularly discloses an underwater glider counterweight configuration scheme generation method and device and a storage medium. The method comprises the following steps: respectively measuring supporting force to the underwater glider in an air state and an underwater state through a balancing device, automatically calculating the gravity, buoyancy, gravity center and buoyancy center position of the underwater glider based on a measurement result, and further calculating the required total weight of a balance weight according to the density difference between a target water area and a test water area. And finally, a specific counterweight scheme for mounting at a specified position is generated. The invention also correspondingly provides a special device for realizing the method and a medium for storing related programs. According to the method, a traditional tedious iterative balancing process is optimized into high-precision automatic measurement which can be completed through one-time hanging, errors caused by hanging bending moment are effectively avoided, and the balancing efficiency, the balancing precision and the adaptability to different water environments are remarkably improved.

This invention discloses a long-range underwater vehicle with retractable wings, belonging to the technical field of underwater exploration equipment. It includes a vehicle body with a shell and a propulsion system. The vehicle body is characterized by further including a rotating shaft, retractable wings, and a wing drive motor. The rotating shaft is symmetrically mounted on both sides of the shell, forming a rotating pair with the shell. The axis of the rotating shaft is neither parallel nor intersecting with the axis of the vehicle body. Two retractable wings are respectively mounted on the rotating shaft. The wing drive motor is connected to and drives the rotating shaft to rotate. This vehicle, through the deployment and retraction of the retractable wings, can, from a physical structure perspective, possess both the gliding motion mode of an underwater glider with a sawtooth trajectory and the autonomous high-speed, constant-depth navigation mode of an autonomous underwater vehicle. It combines endurance and maneuverability, and features a simple structure and low failure rate.