High-precision buoyancy regulating device for autonomous underwater robot

Abstract

The invention relates to the field of autonomous underwater robots, in particular to a high-precision buoyancy regulating device for an autonomous underwater robot, comprising a water permeable shelland a sealing shell, wherein an outer oil bag is arranged in the water permeable shell, and the sealing shell is provided with an inner oil cylinder, a direct-current motor, a gear pump, the valve setA and the valve set B. The gear pump is driven to rotate through the direct-current motor; the oil outlet of the inner oil cylinder is connected with the oil inlet port of the gear pump; the oil outlet port of the gear pump is connected with the first port of the valve group A; the second port of the valve group A is connected with the oil port of the outer oil bag; the oil inlet of the outer oilsac is also connected with an oil inlet port of the valve group B; and the oil outlet port of the valve group B is connected with a connection pipeline between the inner oil cylinder and the gear pump, therein, a one-way valve and a solenoid valve A are arranged in parallel in the valve group A, and an electromagnetic valve B and a throttle valve are connected in series in the valve group B. Theinvention can independently adjust the buoyancy of the underwater robot, has small volume, low energy consumption, low noise and high reliability.

Description

Technical field [0001] The invention relates to the field of autonomous underwater robots, in particular to a high-precision buoyancy adjusting device for autonomous underwater robots. Background technique [0002] Autonomous underwater robot is an underwater vehicle that has its own energy, autonomous control, can be recycled and reused. Autonomous underwater robots have been widely used in military, marine hydrological and meteorological surveys, marine environmental monitoring, seabed terrain detection and mapping, search for underwater obstacles in the region, and scientific surveys in complex seabed terrain environments. [0003] As the sea area and depth change, the density and pressure of seawater will change, which directly affects the buoyancy state of autonomous underwater robots. Usually, autonomous underwater robots need to cooperate with the propeller and rudder to maintain normal navigation or suspension operations. Excess buoyancy, in order to reduce energy consumpt...

AI Technical Summary

Problems solved by technology

[0004] In the existing technology, in order to ensure that the autonomous underwater robot can operate autonomously at a predetermined depth, it is necessary to manually adjust the counterweight before each operation. The calculation is cumbersome, the operation is complicated, and the reliability is low. Moreover, the buoyancy adjustment device loaded on some underwater robots Large size, high cost, limited adjustment accuracy

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