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水空航行器跨介质策略研究

刘坤 刘永强 林好 肖军浩 彭辉 鲁兴举 卢惠民

刘坤, 刘永强, 林好, 等. 水空航行器跨介质策略研究[J]. 水下无人系统学报, 2024, 32(3): 1-15 doi: 10.11993/j.issn.2096-3920.2024-0038
引用本文: 刘坤, 刘永强, 林好, 等. 水空航行器跨介质策略研究[J]. 水下无人系统学报, 2024, 32(3): 1-15 doi: 10.11993/j.issn.2096-3920.2024-0038
LIU Kun, LIU Yongqiang, LIN Hao, XIAO Junhao, PENG Hui, LU Xingju, LU Huimin. Research Status of trans-medium strategy for aerial-aquatic vehicles[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0038
Citation: LIU Kun, LIU Yongqiang, LIN Hao, XIAO Junhao, PENG Hui, LU Xingju, LU Huimin. Research Status of trans-medium strategy for aerial-aquatic vehicles[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0038

水空航行器跨介质策略研究

doi: 10.11993/j.issn.2096-3920.2024-0038
基金项目: 国家重点研发计划“智能机器人”重点专项项目资助(2022YFB4701600).
详细信息
    作者简介:

    刘坤:刘 坤(1997-), 男, 在读博士, 研究方向为

  • 中图分类号: TP242.6

Research Status of trans-medium strategy for aerial-aquatic vehicles

  • 摘要: 水空跨介质航行器在军民领域都有广阔的应用前景, 近年来成为机器人领域的热点研究对象。本文以水空跨介质航行器为研究对象, 对现有的水空跨介质航行器的设计和出入水策略作一综述。虽然这些样机结构设计和相关理论研究已经在水空跨介质航行器上得到验证, 但是仍存在很多问题需要解决, 比如水空跨介质航行器跨越介质不灵活稳定、跨域过程的稳定控制问题等等。因此, 迫切需要对现有的跨介质航行器设计、动力选择以及出入水策略进行补充研究, 对关键技术进行优化。通过对现有水空跨介质航行器设计和相关技术的总结, 包括动力选择以及跨介质的转换方式, 为后续跨介质航行器的研究发展提供借鉴。

     

  • 图  1  海豚式机器人

    Figure  1.  The dolphin-inspired robots

    图  2  飞行乌贼式水空航行器

    Figure  2.  The squid-like aerial-undersea vehicles

    图  3  跳跃式机器人

    Figure  3.  The hopping robots

    图  4  扑翼式水空航行器

    Figure  4.  The flapping-wing aerial-undersea vehicles

    图  5  折翼式水空航行器

    Figure  5.  The folding-wing aerial-undersea vehicles

    图  6  旋翼式水空航行器

    Figure  6.  The multirotor-based aerial-undersea vehicles

    图  7  固定翼式水空航行器

    Figure  7.  The fixed-wing aerial-undersea vehicles

    图  8  混合式水空航行器

    Figure  8.  The hybrid aerial-undersea vehicles

    图  9  海豚跃出水面示意图

    Figure  9.  Schematic illustration of an entire dolphin leap

    图  10  滑行策略

    Figure  10.  Skid take-off strategy

    图  11  垂直起飞策略

    Figure  11.  Vertical take-off strategy

    图  12  溅落策略

    Figure  12.  Plunge landing strategy

    图  13  滑落策略

    Figure  13.  Skid landing strategy

    图  14  垂直降落策略

    Figure  14.  Vertical landing strategy

    表  1  自然界中各种动物跨介质运动的特点

    Table  1.   Characteristics of cross-medium locomotion of various animals in nature

    动物 出水方式 出水角度/(°) 出水速度/(m/s) 入水方式 入水角度/(°) 入水速度/(m/s) 体长特征/cm 出入水瞬间
    翠鸟 拍打翅膀 60~75 溅落 45~60 2~4 体长15~28
    翼展20~25
    鲣鸟 拍打翅膀 60~90 溅落 30~45 5~8 体长60~100
    翼展152~158
    鸬鹚 拍打翅膀 45左右 滑落 60~90 3~5 体长60~80
    翼展80~90
    塘鹅 拍打翅膀 60~90 滑落 45~60 4~6 体长140-175
    翼展200左右
    飞鱼 喷射 30~65 18左右 滑落 20~30 10~15 体长45左右
    翼展65左右
    剑鱼 拍打尾鳍和胸鳍 30~65 36左右 溅落 45~60 8~12 体长210左右
    飞行乌贼 喷射 50~80 25左右 滑落 90~180 1~2 体长20左右
    海豚 拍打尾鳍和胸鳍 20~90 10左右 溅落 30~60 2~5 体长100~950
    下载: 导出CSV

    表  2  水空航行器出入水策略

    Table  2.   Trans-medium solutions of aerial-undersea vehicles

    年份 研究机构 驱动方式 水-空过渡策略 空-水过渡策略 参考文献
    2008 哈佛大学 弹簧机构 弹跳 [19]
    2011 麻省理工学院 弹弓机构 弹射 [25]
    2012 哈尔滨工业大学 弹簧机构 弹跳 [20][21]
    2012 麻省理工学院 空中螺旋桨 溅落 [27]
    2013 北京航空航天大学 空中螺旋桨+水下螺旋桨 垂直起飞 [3][28]
    2014 北京航空航天大学 空中螺旋桨+注水推进装置 滑行 滑落 [26]
    2014 英国帝国理工学院 高压喷射 喷射 [80][81]
    2014 米纳斯吉拉斯联邦大学 空中螺旋桨+水下螺旋桨 垂直起飞 垂直降落 [34][36]
    2014 美国海军研究实验室 水下推进器 溅落/滑落 [57][58]
    2015 哈佛大学 仿生拍打 溅落 [22]
    2015 罗格斯大学 空中螺旋桨 垂直起飞 垂直降落 [35][82][83]
    2015 奥克兰大学 [38][39][40]
    2016 中国科学院自动化研究所 尾部推进 仿生拍打 溅落 [9][10]
    2017 科罗拉多州立大学 仿生拍打 [24]
    2017 英国帝国理工学院 高压气体喷射+空中螺旋桨 喷射 溅落 [30]
    2017 哈佛大学 仿生拍打+高压喷射 喷射 [23]
    2017 舍布鲁克大学 空中螺旋桨 垂直起飞 [63]
    2017 美国天主教大学 空中螺旋桨+水下螺旋桨 [59]
    2017 北卡罗来纳州立大学 空中螺旋桨 滑落 [60]
    2018 上海交通大学 垂直降落 [67][68][69][70]
    2018 约翰霍普金斯大学 [64]
    2018 北卡罗来纳州立大学 垂直降落 [61]
    2018 皇家墨尔本大学 高压喷射 喷射 [14][15][16]
    2019 北京航空航天大学 滑落 [17][18]
    2019 帝国理工学院 [65]
    2019 新加坡国立大学 空中螺旋桨(可倾转) 垂直起飞 垂直降落 [47][48][49]
    2019 加利福尼亚大学伯克利分校 空中螺旋桨 [42]
    2019 国防科技大学 溅落 [31]
    2021 苏黎世联邦理工学院 空中螺旋桨+水下螺旋桨 垂直起飞 [29]
    2021 中国海洋大学 共轴反转螺旋桨+水下推进器 垂直降落 [54]
    2021 吉林大学 高速入水推进机构 溅落 [32]
    2022 中国科学院自动化研究所 尾部推进 仿生拍打 [11]
    2022 上海交通大学 空中螺旋桨+水下螺旋桨 垂直起飞 垂直降落 [73]
    2022 南京航空航天大学 滑行 [74]
    2022 北京航空航天大学 空中螺旋桨 垂直起飞 [45]
    2022 上海交通大学 滑落 [66]
    2023 同济大学 空中螺旋桨(可倾转) 垂直降落 [55]
    2023 广东工业大学 [56]
    2023 哈尔滨工程大学 空中螺旋桨+水下螺旋桨 垂直起飞 滑落 [33]
    下载: 导出CSV
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出版历程
  • 收稿日期:  2024-02-29
  • 修回日期:  2024-05-20
  • 录用日期:  2024-05-22
  • 网络出版日期:  2024-05-28

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