The invention discloses a dual-mode motion control method for an underwater robot with an autonomous rotation hang glider, and the method comprises the steps: enabling the underwater robot to execute a mission task after the underwater robot is put into water, autonomously switching a high-maneuverability navigation motion mode or a low-power-consumption gliding motion mode according to the ocean current condition of a target region, and executing an observation task underwater; according to the high-maneuverability sailing motion mode, the underwater robot retracts a rotary hang glider, zero net buoyancy and zero trim angle are changed, power is provided by a propeller, a horizontal steering engine and a vertical steering engine, and rapid cruising is achieved. According to the low-power-consumption gliding motion mode, the underwater robot unfolds the rotary gliding wings, the propellers are closed according to the target net buoyancy and the trim angle, power is provided by the buoyancy adjusting unit and the vertical steering engine, and low-speed gliding is achieved. According to the invention, by changing the method of autonomously rotating the hang glider of the underwater robot, a low-power-consumption gliding motion mode is added to the autonomous underwater robot which can only perform high-maneuverability sailing motion originally, so that the motion energy consumption of the autonomous underwater robot can be saved, and the endurance of the autonomous underwater robot can be increased.

    本发明公开了一种带自主旋转滑翔翼的水下机器人双模式运动控制方法,包括:水下机器人布放入水后执行使命任务,根据目标区域的海流状况自主切换高机动航行运动模式或低功耗滑翔运动模式,在水下执行观测任务;所述高机动航行运动模式为,水下机器人收回旋转滑翔翼,改变为零净浮力和零纵倾角,由推进器、水平和垂直舵机提供动力,快速巡航;所述低功耗滑翔运动模式为,水下机器人展开旋转滑翔翼,按照目标净浮力和纵倾角,关闭推进器,由浮力调节单元和垂直舵机提供动力,低速滑翔。本发明通过改变水下机器人自主旋转滑翔翼的方法,使原只能高机动航行运动的自主水下机器人增加了低功耗滑翔运动模式,能够节省其运动能耗和增大续航力。


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    Title :

    Dual-mode motion control method for underwater robot with autonomous rotating hang glider


    Additional title:

    一种带自主旋转滑翔翼的水下机器人双模式运动控制方法


    Contributors:
    JIANG ZHIBIN (author) / WANG FULI (author) / QI SHENG (author) / LIU TIEJUN (author) / YAN XINGYA (author)

    Publication date :

    2022-06-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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