Underwater robot adjusted by three oil-bags and depth-setting control method thereof

Abstract

The invention provides an underwater robot adjusted through three oil pockets, and a depth-setting control method thereof. The method comprises the following steps: information, such as depth, longitudinal velocity and attitude angle, etc., is obtained through corresponding sensors; the static submergence or dynamic submergence is determined according to a host computer instruction; if the instruction indicates the static submergence, a bow, a midship and a stern respectively pump oil from the oil pockets at the same time, therefore, the displacement volumes of the oil pockets are reduced, the buoyancy force of the underwater robot is smaller than the gravity force in general, and the underwater robot sinks; if the instruction indicates the dynamic submergence, an axial main thruster is started, and enters a constant speed motion state with acceleration, an oil storage tank at the bow part sucks oil from the bow oil pocket, and therefore, the displacement volumes of the bow oil pocket is reduced; since the oil is discharged to the stern oil pocket from an oil storage tank at the stern part, the displacement volume of the bow oil pocket is increased; the underwater robot is changed into a state of trim by head from zero pitch, and bow trim occurs; the bow trim motion is coupled by the axial motion at the moment, and longitudinal trim submergence is realized; and the oil suction action and the oil discharge action are opposite when the static floating or dynamic floating occurs. The method has significance for the long-distance voyage underwater robot regarding to energy conservation.

Description

(1) Technical field [0001] The invention relates to an underwater robot, and the invention also relates to a control method of the underwater robot. (2) Background technology [0002] The output propulsion device of the depth control system of an underwater robot is generally two types: one is an ordinary propeller, in order to meet its vertical motion requirements and generate vertical thrust, at least one slot must be arranged in the vertical direction of the hull Propeller; the other is to arrange the horizontal rudder (or horizontal wing), which generates lift when the horizontal rudder moves, thereby changing the pitch angle of the underwater robot, coupling the axial movement, and generating rising and diving motions. [0003] However, the above two approaches have the following disadvantages: [0004] 1. When navigating at high speed underwater, the slotted propeller has a large thrust derating problem, and even the depth is out of control; the slotted propeller cons...

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Problems solved by technology

[0004] 1. When navigating at high speed underwater, the slotted propeller has a large thrust derating problem, and even the depth is out of control; the slotted propeller consumes more energy when sailing at a fixed depth, which reduces the range of the underwater robot; When there is a strong vertical sea current, the resistance provided by only the vertical slot paddle is relatively weak

[0005] 2. Adjusting the trim with the horizontal rudder only has a high rudder effect at high speeds; simply using the horizontal rudder cannot achieve vertical latent movement, but can only perform motion latency; adjusting the trim through the horizontal rudder while sailing, although the energy consumption is relatively large less, but while the level rudder provides lift, it also has greater resistance, requiring the main propeller to consume more energy to complete the constant speed movement

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