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

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

刘坤^1,,
刘永强^1,,
林好^1,,
肖军浩^1, ,,
彭辉^2,,
鲁兴举^1,,
卢惠民^1,

1.
国防科技大学智能科学学院, 湖南长沙, 410000
2.
中南大学电子信息学院, 湖南长沙, 410000

基金项目: 国家重点研发计划项目资助(2022YFB4701600).

详细信息

作者简介:
刘坤：刘　坤(1997-), 男, 在读博士, 研究方向为水空航行器跨介质运动控制

通讯作者:
肖军浩(1984-), 男, 副教授, 研究方向为特种机器人

中图分类号: TJ630; U674
计量
- 文章访问数: 751
- HTML全文浏览量: 95
- PDF下载量: 176
- 被引次数: 0
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

Research of Trans-Medium Strategy for Unmanned Aerial-Undersea Vehicles

LIU Kun^1
,,
LIU Yongqiang^1
,,
LIN Hao^1
,,
XIAO Junhao^{1
, ,},
PENG Hui^2
,,
LU Xingju^1
,,
LU Huimin^1
,

1.
National University of Defense Technology, College of Intelligence Science and Technology, Changsha 410000, China
2.
Central South University, School of Electronic Information, Changsha 410000, China

摘要

摘要: 水空跨介质航行器(UAUV)在军民领域均有广阔的应用前景, 近年来成为机器人领域的热点研究对象。文章详细介绍了现有的仿生式、旋翼式、固定翼式和混合式UAUV样机研制现状, 并对其出入水策略进行了综述。总结出UAUV研究中面临的重要问题, 包括仿生构型的优化设计、跨介质过程稳定控制以及动力选择等, 为后续跨介质航行器的研究发展提供借鉴。
- 水空跨介质航行器 /
- 出入水策略 /
- 动力选择 /
- 稳定控制
Abstract: Unmanned aerial-undersea vehicles(UAUVs), with broad application prospects in both military and civilian fields, have gradually become a research hotspot in the field of robotics in recent years. UAUVs were taken as the research object in this study, and the development status of the bionic, multirotor, fixed-wing, and hybrid UAUV prototypes were discussed. In addition, the water-entry/exit strategies of the prototypes were reviewed. The important issues faced in the research on UAUVs were summarized, including the optimal design of bionic configuration, stability control during the trans-medium process, and propulsion selection, providing a reference for the subsequent research and development of trans-medium vehicles.
- unmanned aerial-undersea vehicle /
- water-entry/exit strategies /
- propulsion selection /
- stability control

HTML全文

图 1 海豚式机器人

Figure 1. The dolphin-inspired robots

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图 2 飞行乌贼式水空航行器

Figure 2. The squid-inspired aerial-aquatic vehicles

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图 3 水面跳跃式机器人

Figure 3. The water jumping robots

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图 4 扑翼式水空航行器

Figure 4. The flapping-wing aerial-aquatic vehicles

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图 5 折翼式水空航行器

Figure 5. The folding-wing aerial-aquatic vehicles

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图 6 旋翼式水空航行器

Figure 6. The multirotor-based aerial-aquatic vehicles

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图 7 固定翼式水空航行器

Figure 7. The fixed-wing aerial-aquatic vehicles

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图 8 混合式水空航行器

Figure 8. The hybrid aerial-aquatic vehicles

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图 9 海豚跃出水面示意图

Figure 9. Schematic illustration of an entire dolphin leap

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图 10 滑行起飞策略

Figure 10. Skid take-off strategy

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图 11 垂直起飞策略

Figure 11. Vertical take-off strategy

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图 12 溅落策略

Figure 12. Plunge landing strategy

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图 13 滑落策略

Figure 13. Skid landing strategy

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图 14 垂直降落策略

Figure 14. Vertical landing strategy

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表 1 自然界中各种动物跨介质运动特点

Table 1. Characteristics of trans-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	—	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
飞鱼	喷射	30~65	≈18	滑落	20~30	10~15	体长≈45 翼展≈65
剑鱼	拍打尾鳍和胸鳍	30~65	≈36	溅落	45~60	8~12	体长≈210
飞行乌贼	喷射	50~80	≈25	滑落	90~180	1~2	体长≈20
海豚	拍打尾鳍和胸鳍	20~90	≈10	溅落	30~60	2~5	体长100~950

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表 2 水空跨介质航行器出入水策略

Table 2. Water entry and exit strategies of aerial-aquatic 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	溅落	[4][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	滑落	[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	空中螺旋桨	垂直起飞	垂直降落	[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	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			滑落	[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	垂直起飞	垂直降落	[42]
2019	国防科技大学	空中螺旋桨	—	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	溅落	[29]
2021	中国海洋大学	共轴反转螺旋桨+水下推进器	垂直起飞	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	溅落	[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	空中螺旋桨+水下螺旋桨	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	空中螺旋桨		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	空中螺旋桨(可倾转)		垂直降落	[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]

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