Buoyancy matching calculation method for large-depth underwater robot

Abstract

The invention relates to a buoyancy matching calculation method for a large-depth underwater robot, and aims to solve the problem that after a full-sea-depth ARV dives into a Marilona sea ditch, the seawater pressure of a working environment is increased, and the temperature is reduced, so that the volume change of a carrier structure and supplementary electric appliance insulating oil is influenced. The buoyancy state of the robot can be changed by increasing the seawater density and changing the weight acceleration. The full-sea-depth ARV buoyancy balancing calculation method is obtained through formula derivation in combination with 'sea bucket number' deep diving data and compensation oil laboratory data. The method mainly comprises seawater density measurement and calculation, Maridena sea ditch gravitational acceleration measurement and calculation and robot structure and compensation oil drainage volume change measurement and calculation. On the basis of buoyancy balancing, multiple times of deep submergence of the marinade sea ditch are completed through the sea bucket number, and matching of buoyancy and gravity in the working environment of the robot is guaranteed. The balancing method provides a theoretical calculation basis for buoyancy balancing of the full-sea-depth and large-depth underwater robot.

Description

technical field [0001] The invention relates to buoyancy matching and underwater robot control, more specifically to a buoyancy matching calculation method for a deep underwater robot. Background technique [0002] The sea area with a depth greater than 6,500 meters in the ocean is called "the abyss". The large depth and ultra-high pressure extreme working environment in the abyss area are very serious challenges for underwater robots. Therefore, human beings' understanding of the abyss is still in its infancy. At present, ocean abyss exploration is an important development direction of underwater robots. In the field of abyss underwater robots, only Nereus HROV of the United States, Kaiko ROV of Japan and China's "Haidou" have completed unmanned deep dives over 10,000 meters in the Mariana Trench. [0003] ARV is the abbreviation of Autonomous and Remotely Operated Vehicle, which is characterized by an underwater robot that integrates some technologies of AUV and ROV. Com...

AI Technical Summary

Problems solved by technology

The buoyancy state of an underwater robot will affect its navigation efficiency and fixed-point operation ability. At present, the buoyancy adjustment principle of domestic "Jiaolong" and "Deep Sea Warrior", Japan's "SHINKAI6500", and American "ALVIN" are all adjusted by the hydraulic system. Tank water, this kind of buoyancy adjustment system is relatively complicated, not suitable for small unmanned underwater vehicles

The buoyancy adjustment of shallow UUV at 6000 meters usually changes the gravity by sprinkling lead particles, or uses the motor and high-pressure gas to push the piston to change the drainage volume, so these methods are not suitable for ARV underwater robots at 11000 meters

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