Long-term fixed-point observation type underwater robot with three-body configuration

Abstract

The invention in particular relates to a long-term fixed-point observation type underwater robot with a three-body configuration, which belongs to the technical field of underwater robots. The long-term fixed-point observation type underwater robot with the three-body configuration comprises a main body and two sub bodies, wherein the two sub bodies are respectively arranged on the two sides of the main body; the main body comprises a propulsion section, a stern buoyancy adjusting section, a main body battery cabin section, an electronic cabin section, a bow buoyancy adjusting section and an observation load section, which are connected with each other in sequence, wherein the observation load section carries sensing equipment; the stern buoyancy adjusting section, the main body battery cabin section, the electronic cabin section and the bow buoyancy adjusting section are arranged in a full-sealed main body pressure resistant cabin; the top of the external side of the full-sealed main body pressure resistant cabin is provided with a satellite antenna; and the sub bodies comprise sub body battery sets and sub body propellers, wherein the sub body battery sets are arranged in the full-sealed main body pressure resistant cabin, and the sub body propellers are arranged on the stern of the full-sealed main body pressure resistant cabin. The invention has the advantages of long-distance passage voyage, fixed-point operation, autonomous rising and sinking and long-term observation.

Description

technical field [0001] The invention belongs to the technical field of underwater robots, specifically a long-term fixed-point observation underwater robot in a three-body configuration, capable of long-distance navigation to target sea areas to realize long-term (not less than 30 days) vertical profiles of marine hydrological data. ) An autonomous underwater robot for fixed-point continuous observation. 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 navi...

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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