Long-term fixed-point vertical-section observation-type underwater robot

Abstract

The invention belongs to the technical field of underwater robots, in particular to a long-term fixed-point vertical-section observation-type underwater robot. The long-term fixed-point vertical-section observation-type underwater robot comprises a propulsion section, a stern buoyancy adjusting section, a battery cabin section, an electronic cabin section, a bow buoyancy adjusting section and an observation load section, wherein the propulsion section and the observation load section use open frame structures; the observation load section carries an oceanographic hydrological data observation sensing equipment; the upper part of the propulsion section is provided with a satellite antenna; the stern buoyancy adjusting section, the battery cabin section, the electronic cabin section and the bow buoyancy adjusting section are arranged in a full-sealed pressure resistant cabin; and through double-way buoyancy adjusting of the stern buoyancy adjusting section and the bow buoyancy adjusting section, the motion posture of the underwater robot is adjusted and the underwater robot can hover at a fixed point. The underwater robot realizes a high-accuracy repeatable double-way buoyancy adjusting function and can realize autonomous balancing and fixed-point hovering.

Description

technical field [0001] The invention belongs to the technical field of underwater robots, in particular to a long-term fixed-point vertical section observation type underwater robot. It can sail long-distance to the target sea area to realize long-term (not less than 30 days) fixed-point continuous observation of the vertical profile of marine hydrological data. Background technique [0002] Fixed-point continuous observation of the marine environment is an important means for people to understand the ocean. With the continuous development of science and technology, marine observation equipment has made progress in terms of types, functions and performance. Comprehensive functions, reliable performance, and high economic benefits are the strong requirements of scientific researchers for ocean observation platforms. [0003] According to the observation method, marine observation can be divided into fixed-point observation and navigation observation. The fixed-point observ...

AI Technical Summary

Problems solved by technology

Drifting buoys and profile drifting buoys can only move under the influence of ocean currents due to their own lack of power. They are follow-up observation platforms, and their target directivity is very poor.

The scientific research ship can obtain the marine environmental information of a certain sea area changing with time and space by carrying different sensors. However, for some dangerous or sensitive sea areas, the scientific research ship is obviously not a good choice, and its economy is very poor

Underwater gliders generally use the buoyancy adjustment method as the driving force, which has low energy consumption and long voyage. It can observe a large area of ​​sea area and deploy economically. The observation ability is very weak, and the anti-flow ability is not as good as the underwater robot using propellers

Traditional underwater robots have good maneuverability and can complete most of the walking observation tasks. However, due to their weak endurance and short self-sustaining time, they can only rely on their own navigation to overcome their own slightly positive buoyancy to achieve fixed depth or fixed height movement. It is impossible to conduct continuous long-term observation of fixed-point profiles in the open sea

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