Low energy consumption micro underwater detection robot and control method based on sonar remote control

Abstract

The invention provides a low-energy-consumption miniature underwater exploration robot based on sonar remote control, which comprises a mechanical structure and a hardware control structure, wherein the mechanical structure comprises a plastic outer shell and a power shaft, the power shaft is provided with an advancing propeller, a pressure sensor is installed outside the plastic outer shell, and a gyroscope and a telescopic pump are arranged inside the plastic outer shell; the hardware control structure comprises a central control platform, an inverter, a power generator-motor, a storage battery, a telescopic pump driving module, a sonar transmitting module and a sonar receiving module; water depth and tilt angle of a robot are obtained according to data acquired by the pressure sensor, and direction of the robot is obtained according to data acquired by the gyroscope; and the telescopic pump is controlled to increase or decrease the volume of the plastic outer shell through analysis of data and / or instructions sent from outside, and the inverter is controlled to drive the power generator-motor to generate power through rotation of the advancing propeller or the storage battery supplies power to the advancing propeller. The low-energy-consumption miniature underwater exploration robot achieves manual remote control and energy-storage power generation during the diving and surfacing of the robot, and reduces energy consumption.

Description

technical field [0001] The invention relates to an underwater detection robot, in particular to a low-energy consumption miniature underwater detection robot based on sonar remote control and a control method. Background technique [0002] At present, the electromagnetic wave is generally used as the carrier, and the electromagnetic wave signal is combined with the control signal to control the remote control device. However, the dissipation of electromagnetic waves in water is too large, and the communication transmission distance is not far away, so it is difficult to transmit the control signal to the object to be controlled, making underwater remote control more difficult. [0003] Moreover, today's detection robots used on the seabed are mainly divided into two categories: one is a cabled underwater robot, that is, a remote operated vehicle (ROV for short); the other is a cableless underwater robot, that is, an autonomous vehicle. Autonomous underwater vehicle (AUV for...

AI Technical Summary

Problems solved by technology

Although the cable robot can realize real-time control, its detection distance and detection environment are limited due to the constraints of the umbilical cable; in addition, the entire detection device of the cable robot has high energy consumption, high cost, and is bulky and requires the support of large ships and Umbilical cables help, seriously impact long-term exploration and surveying of the deep sea

The cableless robot has no cable to charge in time, and only relies on the battery power of the robot itself, which greatly shortens the working hours of the underwater detection robot; control

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