Drifting detection underwater robot device and control method

Abstract

The invention discloses a drifting detection underwater robot device and a control method, and belongs to the technical field of detection underwater robots. A robot main body is of a torpedo-shaped structure; hydrologic detection equipment ADCP (Acoustic Doppler Current Profiler), ranging sonar and an emergency load rejection device are carried at the fore body of a robot; a pressure-resistant cabin is arranged at a middle cabin section; the pressure-resistant cabin is divided into an energy source cabin and a control cabin; two high-energy density lithium batteries are arranged in the energysource cabin and are correspondingly used for supplying power to a power system and a control system; a conformal antenna (comprising Beidou positioning and communication, radio and WiFi), DVL, a depthometer and ranging sonar are carried at the tail section; high-efficiency propellers are arranged on the left side and the right side of the tail of the robot; and vertical channel propeller is arranged at each of the front and rear of the robot. According to the surrounding environment and task instructions of the robot, the effect of selecting to start or close a drifting mode is intelligentlyrealized, so that low-power-consumption, long-voyage and long-time detection monitoring tasks are realized.

Description

technical field [0001] The invention belongs to the technical field of detecting underwater robots, and in particular relates to a drifting detecting underwater robot device and a control method. Background technique [0002] The total area of ​​the ocean is 3.6x10s square kilometers, accounting for 70.8% of the total area of ​​the earth. The total volume of seawater is about 1.37xl cubic kilometers, the average water depth is about 3800 meters, and the deepest Mariana Trench is 11034 meters. In this vast ocean space, there are rich marine biological resources, mineral resources and energy. It is an important wealth for the sustainable development of human beings. The research and rational use of the ocean is of great significance to the economic and social development of human beings. Due to the urgent needs of river and marine resources development and hydrological environment monitoring, many countries in the world are constantly developing and updating hydrological dete...

AI Technical Summary

Problems solved by technology

Existing underwater robots use batteries as their energy source, and the battery life generally ranges from a few hours to tens of hours. The task needs to be completed before the battery is exhausted, and it is difficult to achieve long-term monitoring tasks.

Most underwater robots use the rudder propeller control method. At low speeds, the rudder efficiency is very low, and maneuvers such as turning the bow and diving cannot be realized. At low speeds, they are easily affected by the water flow, and it is difficult to maintain posture and cannot realize fixed-point monitoring. and other special tasks

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