Drifting detection underwater robot device and control method

A technology of an underwater robot and a control method, which is applied to underwater operation equipment, program-controlled manipulators, manipulators, etc., can solve the problems of low rudder efficiency, easy to be affected by water flow, hours to dozens of hours, etc., and achieves low power consumption. power consumption, ensure stability and flexibility, and the effect of long battery life

Active Publication Date: 2018-07-24
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing underwater robots use batteries as their energy source, and the battery life generally ranges from a few hours to tens of hours. The task needs to be completed before the battery is exhausted, and it is difficult to achieve long-term monitoring tasks.
Most underwater robots use the rudder propel

Method used

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  • Drifting detection underwater robot device and control method
  • Drifting detection underwater robot device and control method
  • Drifting detection underwater robot device and control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] Drifting detection underwater robot device includes bow ranging sonar 1, acoustic Doppler profile velocimeter 2, ranging sonar-3, bow vertical thruster-4, battery compartment 5, retractable lifting point 6, control cabin 7. Stern vertical thruster 2 8, conformal antenna 9, main switch 10, stern stabilizer wing 11, stern ranging sonar 12, longitudinal thruster 13, DVL14, ranging sonar 2 15;

[0031] Acoustic Doppler profile velocimeter 2, bow vertical thruster 1 4, battery compartment 5, control cabin 7, stern vertical thruster 2 8, and stern ranging sonar 12 are connected in sequence; acoustic Doppler profile velocity measurement The instrument 2 is composed of a cylindrical cavity and a conical body. The bow ranging sonar 1 is installed on the side of the acoustic Doppler profile velocimeter 2; the bow vertical thruster 4 and the stern vertical thruster 2 8 are both It is a cylinder, the radius of the bottom circle is equal to the radius of the bottom circle of the aco...

Embodiment 2

[0053] as attached figure 1 As shown, the present invention is controlled by the bow ranging sonar 1, the acoustic Doppler profile velocimeter (ADCP) 2, the ranging sonar 3, the bow vertical thruster 4, the battery compartment 5, the retractable lifting point 6, the control Cabin 7, stern vertical thruster 8, conformal antenna 9, main switch 10, stern stabilizer wing 11, stern ranging sonar 12, longitudinal thruster 13, DVL14, ranging sonar 15. The range-finding sonars 1, 3, 12, and 15 adopt a modular design, the processing board and the transducer are integrated in a pressure-resistant shell, and standard six-core watertight connectors are used for power supply and data transmission; the underwater The robot can meet the installation of different detection equipment, and there are watertight plugs of uniform size, and the equipment can be quickly connected to the robot. Different tasks require the installation of the required detection equipment, which is modular and versati...

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Abstract

The invention discloses a drifting detection underwater robot device and a control method, and belongs to the technical field of detection underwater robots. A robot main body is of a torpedo-shaped structure; hydrologic detection equipment ADCP (Acoustic Doppler Current Profiler), ranging sonar and an emergency load rejection device are carried at the fore body of a robot; a pressure-resistant cabin is arranged at a middle cabin section; the pressure-resistant cabin is divided into an energy source cabin and a control cabin; two high-energy density lithium batteries are arranged in the energysource cabin and are correspondingly used for supplying power to a power system and a control system; a conformal antenna (comprising Beidou positioning and communication, radio and WiFi), DVL, a depthometer and ranging sonar are carried at the tail section; high-efficiency propellers are arranged on the left side and the right side of the tail of the robot; and vertical channel propeller is arranged at each of the front and rear of the robot. According to the surrounding environment and task instructions of the robot, the effect of selecting to start or close a drifting mode is intelligentlyrealized, so that low-power-consumption, long-voyage and long-time detection monitoring tasks are realized.

Description

technical field [0001] The invention belongs to the technical field of detecting underwater robots, and in particular relates to a drifting detecting underwater robot device and a control method. Background technique [0002] The total area of ​​the ocean is 3.6x10s square kilometers, accounting for 70.8% of the total area of ​​the earth. The total volume of seawater is about 1.37xl cubic kilometers, the average water depth is about 3800 meters, and the deepest Mariana Trench is 11034 meters. In this vast ocean space, there are rich marine biological resources, mineral resources and energy. It is an important wealth for the sustainable development of human beings. The research and rational use of the ocean is of great significance to the economic and social development of human beings. Due to the urgent needs of river and marine resources development and hydrological environment monitoring, many countries in the world are constantly developing and updating hydrological dete...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J9/16B63C11/48B63C11/52B63C11/00
CPCB25J9/16B25J9/1679B25J11/00B63C11/00B63C11/48B63C11/52
Inventor 曹建孙玉山张国成冉祥瑞徐昊王子楷吴凡宇贾晨凯焦文龙王力锋
Owner HARBIN ENG UNIV
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