Oil sac and propeller hybrid control ROV underwater hovering and definite depth control device

Abstract

The invention belongs to the technical field of remote control unmanned submersibles and provides a hybrid control underwater control device which can flexibly control buoyancy to adapt to different environments and work tasks and can reduce energy consumption in the working process. An oil sac and propeller hybrid control ROV underwater hovering and definite depth control device is composed of acontrol box, a umbilical cable, an ROV control system, an ROV sealing pressure resistance shell, a larboard vertical propeller, a starboard vertical propeller, a bow oil sac type buoyancy adjusting device and a stern oil sac type buoyancy adjusting device. The control box is connected with the ROV control system through the umbilical cable. The ROV control system arranged in the ROV sealing pressure resistance shell is composed of an attitude control module, a propeller drive module and a buoyancy adjusting device drive module, wherein the attitude control module is composed of a system control module, a depth sensor, a three-axis acceleration sensor, a three-axis gyroscope and a three-axis magnetometer. The device is mainly applied to unmanned submersible design and manufacture occasions.

Description

technical field [0001] The invention belongs to the technical field of remote-controlled unmanned submersibles, in particular to an ROV underwater hovering and depth-fixing control device mixedly controlled by an oil bladder and a propeller. Specifically, it relates to an ROV underwater hovering and depth-fixing control device mixed with an oil bag and a thruster. Background technique [0002] Remotely Operated Vehicle (ROV) is a submersible that tows cables and controls its navigation and operation by operators on board or on shore. Applications. In the process of observing the target and fixed-point operation, in order to ensure good operation effect, ROV is required to keep hovering at a certain depth. Generally, ROV has a small positive buoyancy when it is static, and the thrust generated by the vertical thruster of ROV To change its force situation, so as to realize the functions of fixed depth and hovering. However, this design has two defects: (1) When ROV is worki...

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Problems solved by technology

[0004] In order to overcome the deficiencies of the prior art and solve the problems of poor adaptability to gravity and buoyancy changes and large energy consumption of the existing ROV underwater depth determination and hovering control devices, the present invention aims to propose a method that can flexibly control the ROV buoyancy to adapt to its Changes in gravity and buoyancy under different environments and work tasks, and ROV underwater hovering and depth-fixing control devices that can reduce energy consumption during work.

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