38 results about "Underwater glider" patented technology

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 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 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.

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 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 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 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 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 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 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.

The invention discloses an axial vibration isolation device of an underwater glider attitude adjusting motor based on an acoustic metamaterial, and belongs to the technical field of underwater equipment noise reduction, and the axial vibration isolation device comprises a vibration isolation piece made of an elastic damping material, and a periodic geometric structure is arranged on a body of the vibration isolation piece and is used for forming an elastic wave band gap for a vibration signal of a specific frequency band; the structural supporting piece is used for installing and supporting the vibration isolation piece; and the flexible transmission part is used for being connected with the transmission shaft and has a secondary vibration absorption function. The vibration isolation piece, the structure supporting piece and the flexible transmission piece are integrated, and efficient vibration isolation is achieved through the band gap characteristic of the vibration isolation piece and cooperative dissipation of the flexible transmission piece on vibration energy. The device is compact in structure, has the functions of torque bearing and vibration reduction, can effectively suppress vibration at the frequency band of 600Hz-1500Hz through parameterization design, has the maximum deformation not exceeding 0.5 mm, is suitable for the axial vibration isolation requirements of posture adjusting motors of underwater gliders of multiple models, and improves the signal acquisition precision of an acoustic sensor.

The application provides a kind of underwater glider dynamic path planning training method based on value distribution reinforcement learning, which can be applied to underwater glider technical field.The method comprises: inputting training data;Using at least one policy network, obtain the output action of each policy network at time t, the output action at time t+1;Using target evaluation network, obtain the target distribution at time t, the target distribution at time t represents the cumulative return prediction distribution based on quantile of underwater glider in sample state at time t based on policy network after executing action;Using evaluation network, obtain the sample evaluation distribution at time t;According to the sample evaluation distribution at time t and the target distribution at time t, obtain the updated evaluation network;Using the updated evaluation network, obtain the evaluation distribution at time t;According to the evaluation distribution at time t, obtain the target policy network, to control underwater glider to carry out path planning based on target policy network.

The application relates to a passive fault-tolerant control method of an underwater glider considering control allocation, aiming at the longitudinal motion attitude control of the underwater glider. First, a control allocation method is designed to combine the forces of redundant actuators with similar control effects, then a control allocation scheme is given to minimize the cost function, and finally a sliding mode component is added to realize stable control of the actuators in the case of failure, bias failure and stuck failure. Compared with the existing controller, the controller designed by the application can converge to a stable state within a pre-designed time under the premise of realizing fault-tolerant control, and the pre-designed time is irrelevant to the initial state of the system.

This invention provides a subsea pipeline oil leak early warning system and method based on multiphysics digital twins, relating to the field of marine oil and gas development technology. The early warning system includes: an anchored buoy platform, an underwater glider, multiphysics sensors, a base workstation, a digital twin cloud platform, and an intelligent early warning module. The anchored buoy platform provides fixed-point observation, while the underwater glider conducts mobile patrols, forming a collaborative observation network to collect environmental data from the pipeline's location. The digital twin cloud platform establishes a multiphysics digital twin model, analyzes it in real time, and automatically generates tiered early warnings; the intelligent early warning module executes the tiered warnings. This invention, through the collaborative design of multiphysics digital twins and intelligent early warning, fundamentally solves the problems of real-time performance and accuracy in subsea pipeline oil leak detection. It not only achieves multi-dimensional data fusion and high-fidelity simulation but also improves the system's robustness in harsh marine environments, significantly reducing the risk of environmental pollution.

The utility model discloses a novel mechanical locking type underwater glider pressure-resistant shell, which belongs to the technical field of underwater gliders, and comprises two shell units which are axially connected and a hoop used for connecting the two shell units, an embedding and clamping concave part is arranged on the outer side ring surface of the butt joint end part of the two shell units, and the embedding and clamping concave part is arranged on the outer side ring surface of the butt joint end part of the two shell units. The hoop forms a ring sleeve-shaped component with an opening, a fastener for locking is arranged at the opening of the hoop, and an embedding and clamping convex part matched with the embedding and clamping concave part is arranged on the inner ring surface of the hoop. According to the pressure-resistant shell, through mechanical locking of the circular ring clamps and the shell units, the convenience of assembly and disassembly is greatly improved, the space requirement is reduced, the stability, durability and environment friendliness of connection are improved, the production process is optimized, and the requirements of modern green production and sustainable development are better met.

The invention provides an underwater glider dynamic path planning training method based on value distribution reinforcement learning. The underwater glider dynamic path planning training method can be applied to the technical field of underwater gliders. The method comprises the following steps: inputting training data; utilizing at least one strategy network to obtain the t-th moment output action and the (t + 1)-th moment output action of each strategy network; target distribution at the t-th moment is obtained through the target evaluation network, and the target distribution at the t-th moment represents quantile-based prediction distribution of accumulated return of the underwater glider after action execution based on the strategy network in the sample state at the t-th moment; obtaining sample evaluation distribution at the t-th moment by utilizing the evaluation network; obtaining an updated evaluation network according to the sample evaluation distribution at the t-th moment and the target distribution at the t-th moment; using the updated evaluation network to obtain evaluation distribution at the t-th moment; and obtaining a target strategy network according to the evaluation distribution at the t-th moment, and controlling the underwater glider to perform path planning based on the target strategy network.

The present application belongs to the field of underwater robots, and particularly relates to a flexible rudder mechanism device with a magnetic coupling for underwater gliders. One end of a rudder mechanism cabin seat is sealingly installed on an underwater glider, and the other end of the rudder mechanism cabin seat is sealingly installed with a rudder mechanism cabin cover. A driving mechanism is installed in a space surrounded by the rudder mechanism cabin cover and the rudder mechanism cabin seat. An output end of the driving mechanism is connected with one end of a flexible pivot shaft. The other end of the flexible pivot shaft is connected with one end of a rudder shaft through a magnetic coupling. The other end of the rudder shaft is fixedly connected with a lower end of a rotating piece. A lower end of a fixed wing is fixedly connected with the rudder mechanism cabin seat. One end of a limiting block is installed on an upper end of the fixed wing, and the other end of the limiting block is rotatably connected with an upper end of the rotating piece. A wire tube is installed on the limiting block. The flexible pivot shaft can ensure that the rotating piece is not damaged when rotating a certain angle under the action of an external force, and the rotating piece can return to the original state after the external force disappears. The present application has the advantages of compact structure, low power consumption, good sealing property, collision avoidance, high reliability, easy assembly and maintenance, etc.

The invention provides a jellyfish-imitating vector propulsion underwater glider. The jellyfish-imitating vector propulsion underwater glider comprises a gliding module, a vector joint module and a bionic propulsion module, the vector joint module comprises a spherical motor and a flexible corrugated pipe shell, the spherical motor is arranged in the flexible corrugated pipe shell, and the top end of the flexible corrugated pipe shell is connected with the tail end of the gliding module; the bionic propelling module comprises a linear motor, a center supporting rod, an umbrella-shaped structure, an elastic framework, a skin and a nozzle, one end of the elastic framework is hinged to the tail end cabin wall of the vector joint module, the other end of the elastic framework is hinged to the nozzle, the skin covers the periphery of the elastic framework, and the nozzle is connected with the tail end of the skin and penetrates through the center supporting rod; the central supporting rod is arranged on the central axis of the umbrella-shaped structure, and the linear motor is connected with the umbrella-shaped structure and can move on the central supporting rod in a reciprocating mode. The jellyfish-imitating vector propulsion underwater glider provided by the invention not only keeps the characteristics of low noise and long voyage, but also has the advantages of good maneuverability and capability of accurately detecting and surveying underwater.

This invention discloses a method and apparatus for continuous coverage observation of a cluster of underwater gliders, comprising: acquiring a cluster of underwater gliders, the cluster including several individual underwater gliders, and constructing motion models for each individual underwater glider based on a preset communication cycle; acquiring an observation area, determining the coverage area of ​​the cluster of underwater gliders in each communication cycle based on the observation area and the motion models of each individual underwater glider, and constructing a revisit period map and a priority coverage map based on the coverage area; constructing an agent for the underwater gliders based on preset underwater conditions, a target reinforcement learning algorithm, the revisit period map, and the priority coverage map, and performing continuous coverage observation of the observation area based on the agent of the underwater gliders; during the continuous coverage observation process, acquiring the state information of the cluster of underwater gliders, evaluating communication conditions based on the state information, and dynamically matching a target reinforcement learning algorithm based on the communication conditions.

The application relates to underwater vehicle intelligent control, in particular to a longitudinal plane depth control method of a hybrid driving underwater glider, a longitudinal motion mathematical model of the hybrid driving underwater glider is established; for the kinematics of the hybrid driving underwater glider, an adaptive line-of-sight guidance is adopted to convert the depth control problem into a line-of-sight distance tracking problem, and a pitch angle parameter is calculated; for the dynamics of the hybrid driving underwater glider, an active disturbance rejection controller based on a tracking differentiator and an extended observer is constructed to form a nonlinear state error feedback; the pitch angle parameter calculated by using the adaptive line-of-sight guidance is input into the active disturbance rejection controller, and a pitch angle control signal is output by the active disturbance rejection controller to realize real-time adjustment of the depth of the hybrid driving underwater glider; the technical scheme provided by the application can effectively overcome the defects of low control precision and complex control process existing in the prior art.

The invention discloses a foldable wing for a small underwater glider and the underwater glider, and belongs to the technical field of underwater detectors. The core of the invention lies in that a split type folding and unfolding structure is adopted, the wing fixing assembly comprises a fixed rigid wing root part, the wing is used as a movable part, and in an unfolding state, the root part of the wing and a clamping groove of the wing root part are embedded and butted, and are jointly spliced to form a complete rigid wing body. The folding and unfolding mechanism drives gear and rack transmission through spring tension, and automatic unfolding of the wings is achieved; and the limiting mechanism is configured to automatically pop out the pin shaft for mechanical locking after the wings are unfolded in place. The size of the glider is effectively reduced so as to adapt to multi-platform hidden deployment, the underwater impact resistance is improved, and through double guarantee of fixed wing root and mechanical locking, it is ensured that the wings have the same structural strength and underwater navigation stability as traditional fixed wings after being unfolded.

The application provides a research method for cooperative operation mode of AUV and underwater glider cluster, and relates to the technical field of underwater vehicles. The research method for cooperative operation mode of AUV and underwater glider cluster comprises an underwater glider and a mother ship, the underwater glider is arranged on the top of the mother ship, and comprises the following steps: step 1: a positioning and launching system is carried on the bottom of the underwater glider, and the underwater glider is dived to the underwater position for fixed-point launching. The research method for cooperative operation mode of AUV and underwater glider cluster, the No.2 AUV keeps unchanged at the position, the sound and image of the marine organisms at the water surface height are monitored, the No.3 AUV is launched according to the above principle, and the launching is ended according to the method. The fixed-point launching method can make the AUV dive farther, and the exploration of the underwater organisms is more in-depth.

The invention relates to the field of underwater gliders, in particular to an underwater glider capable of achieving spot hovering and a spot hovering method. The underwater glider comprises a streamline cabin, a pump arranged in the cabin from front to back in the longitudinal axis direction, a balance weight adjusting assembly and a vector propeller assembly arranged on the outer side of the cabin and located behind the balance weight adjusting assembly, and the balance weight adjusting assembly comprises a lead screw and a battery cabin also serving as a balance weight. The screw rod comprises a front threaded section and a rear threaded section which are opposite in rotation direction, the battery cabin is connected to the rear threaded section through a rear nut seat, the battery cabin is located at the neutral position of the glider in the initial state, the pump is provided with a communicating water opening extending out of the cabin, and a piston rod of the pump is connected to the front threaded section through a front nut seat; the piston rod moves backwards to enable the pump to suck water, the battery cabin moves forwards to enable the gravity center of the glider to move forwards, on the contrary, the gravity center of the glider moves backwards, and the underwater glider has the advantage of being capable of achieving dual-mode operation of long-distance gliding and spot hovering.