An underwater autonomous operation robot and its operation method

Abstract

The invention relates to the field of underwater operating robots, and provides an underwater autonomous operating robot which is suitable for acoustic and optical detection of various underwater operating surfaces, and an operating method of the underwater autonomous operating robot. The underwater autonomous operating robot comprises an energy power module, a mechanical structure design module,an appearance design module, a master control module, a power propelling module and a functional module, wherein the master control module comprises a strong-current electronic control cabinet and a weak-current electronic control cabin; the power propelling module comprises at least two side thrusters, at least two vertical thrusters and at least one longitudinal main thruster; and the functionalmodule comprises a doppler velocity sonar, an imaging sonar, an optical camera integrated with an LED lamp, an optical communication MODEM, a depth and height meter, a front-end cloud deck and a rear-end cloud deck. The underwater autonomous operating robot provided by the embodiment of the invention is wider in detecting range, is more flexible in detecting way, and can realize autonomous operation.

Description

technical field [0001] The invention relates to the field of underwater operation robots, in particular to an underwater autonomous operation robot suitable for acoustic and optical detection of various underwater operation surfaces and an operation method thereof. Background technique [0002] With the implementation of my country's marine power strategy, both the marine economy and the marine military have put forward urgent requirements for underwater autonomous operating robots. In terms of marine economy, underwater infrastructure needs to be regularly inspected after a long period of underwater operation to ensure the safety of underwater infrastructure operations. For example, the sides of reservoirs in the water conservancy industry, the sides of dams in the power industry and underwater facilities for offshore wind power generation, the sides of underwater bridge piers in the transportation industry, the sides and bottom of drilling platforms in the offshore oil and...

AI Technical Summary

Problems solved by technology

The advantage of this method is that it can realize rapid detection of a large area; the main disadvantages: 1) Since the sonar and optical imaging equipment are fixedly installed on the robot shell, it can only detect a specific working surface, and it does not have Detection capabilities of vertical sides, inclined surfaces, top surfaces, and bottom surfaces; 2) Robots can usually only perform on-the-fly detection on the working surface, and it is difficult to achieve fixed-point hovering detection; 3) In order to achieve autonomous underwater detection, robots usually use inertial navigation equipment to measure the heading and attitude of the robot, and the Doppler velocimeter facing the seabed to measure the absolute speed of the robot relative to the seabed, so as to realize the absolute navigation of the robot underwater. However, since the navigation error will accumulate over time, it is difficult to follow-up. The acoustic and optical images detected by the robot are accurately spliced; 4) The information detected by the robot can only be uploaded afterwards, lacking real-time performance

The advantages of this method are as follows: 1) Although the sonar and optical imaging equipment are fixedly installed on the robot shell, since the remote-controlled underwater robot adopts the structural layout of multiple thrusters, it is still possible to control the attitude of the remote-controlled underwater robot. 2) Fixed-point hover detection can be realized; 3) The information detected by the robot can be uploaded in real time; main disadvantages: 1) The detection of the robot lacks autonomy; 2) The detection efficiency is low due to the entanglement of cables , the operating area is limited; 3) The detection operation depends on the experience of the operator, and the operator has high technical requirements; 4) The operator's experience is limited, and it is difficult to achieve 100% full coverage detection

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