Posture-adjustable underwater robot based on buoyancy adjusting system

Abstract

The attitude-adjustable underwater robot based on the buoyancy adjusting system comprises a pressure-resistant shell, a bow end cover, a communication system, a control system, wings, a CTD sensor, an antenna and a stern end cover, and is characterized by further comprising an attitude adjusting and energy supply integrated device, a buoyancy adjusting device and a propelling device. Continuous adjustment of the pitch angle of 0-90 degrees is achieved through the posture adjusting system, and energy-saving vertical snorkeling motion and efficient horizontal sailing motion are achieved through the buoyancy adjusting system and the propellers respectively. In addition, through ingenious combination of the attitude adjusting system and the energy system, the space utilization rate of the machine body is improved, and various sensors can be carried according to specific observation tasks.

Description

Technical Field

[0001] The invention belongs to the technical field of novel ocean exploration equipment, and in particular relates to an underwater robot with adjustable posture based on a buoyancy adjustment system. Background Art

[0002] The total area of ​​oceans on Earth is about 360 million square kilometers, accounting for about 71% of the Earth's surface area. The development and utilization of marine energy and resources, the study of oceans and global changes, and the marine environment and ecology are very practical ways for humans to maintain their own survival and development, expand their living space, and make full use of the precious land of oceans on Earth. With global warming and the deterioration of the marine environment, it is necessary to build a global ocean observation network in order to protect the oceans and prevent natural disasters such as tsunamis. In ocean exploration, automatic profiling buoys usually carry high-precision sensors for measuring parameters such as temperature, depth, and salinity. They use the Lagrangian circulation method to automatically measure a variety of ocean information from the sea surface to the desired water depth and record their drifting trajectories.

[0003] Self-sustaining profiling buoys have low energy consumption, long detection cycle, and low manufacturing cost. They can be used for large-scale and high-resolution continuous ocean observations and have become an important means of obtaining global real-time ocean environmental element profile data. However, due to the lack of mobility of self-sustaining profiling buoys, Argo buoys cannot independently observe rapidly evolving ocean phenomena. At present, self-sustaining profiling buoys and underwater gliders have jointly established a global ocean observation network. The movement of underwater gliders is mainly achieved by adjusting their own buoyancy and attitude, and can be equipped with a variety of professional sensors to achieve the required functions. However, both self-sustaining profiling buoys and underwater gliders lack propulsion devices, making it difficult to track and observe special mobile ocean phenomena. As an important component of underwater unmanned platforms, autonomous underwater vehicles have significant advantages such as high maneuverability, strong autonomy, and a wide range of applications. However, due to disadvantages such as high energy consumption and insufficient fixed-depth suspension capabilities, the application prospects of autonomous underwater vehicles in the field of ocean observation are limited to a certain extent. The ideal ocean observation platform should have both the low energy consumption, snorkeling and fixed-depth suspension capabilities of self-sustaining profiling buoys and the high maneuverability of autonomous underwater vehicles. At present, there is a lack of research on maneuverable profiling buoys and buoyancy-regulated autonomous underwater vehicles both at home and abroad.

[0004] Therefore, it is very necessary to develop an underwater robot that has the ability to snorkel and suspend at a fixed depth, which can not only complete the vertical profile measurement task but also perform timely and maneuverable processing of complex situations and has low energy consumption. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide an underwater robot with adjustable posture based on a buoyancy adjustment system, which realizes the switching between the two modes of self-sustaining profile buoy and unmanned underwater vehicle through the posture adjustment system, realizes the continuous adjustment of the pitch angle of 0° to 90°, and realizes energy-saving vertical snorkeling movement and efficient horizontal navigation movement through the buoyancy adjustment system and the propeller. In addition, through the ingenious combination of the posture adjustment and energy supply integrated device and the energy system, the space utilization rate of the body is improved, so that a variety of sensors can be carried according to specific observation tasks.

[0006] In order to achieve the above object, the present invention provides the following technical solutions.

[0007] On the one hand, the present invention provides an attitude-adjustable underwater robot based on a buoyancy adjustment system, comprising a pressure-resistant shell, a bow cover, a communication system, a control system, a wing, a CTD sensor, an antenna, and a stern cover, characterized in that it also comprises an attitude adjustment and energy supply integrated device, a buoyancy adjustment device, and a propulsion device.

[0008] Wherein, the posture adjustment and energy supply integrated device includes a roll assembly and a pitch assembly, which are used to adjust the posture of the posture adjustable underwater robot and provide energy. The roll assembly includes a rotating battery pack, a first gear, a second gear, a roll motor, and an annular protrusion component. The roll motor realizes the rotational movement of the rotating battery pack around the rotation axis through the transmission of the first gear and the second gear. The annular protrusion component is arranged on the rotation axis; the pitch assembly includes a translation battery pack, a spur rack, a pitch motor, a worm gear, and a displacement sensor. The translation battery pack is connected to the pitch motor through the worm gear, and the worm gear converts the rotational movement of the pitch motor into the linear movement of the translation battery pack on the spur rack;

[0009] The buoyancy regulating device comprises an outer oil bag, an inner oil tank, a piston, a lead screw, a lead screw nut, a DC motor, a pin shaft, and a pull-wire displacement sensor; the DC motor drives the lead screw nut to rotate, and the pin shaft limits the swing of the lead screw, thereby realizing the linear motion of the lead screw, the piston is connected to one end of the lead screw, and the reciprocating motion of the piston realizes the transfer of hydraulic oil between the outer oil bag and the inner oil tank;

[0010] The propulsion device comprises propellers symmetrically arranged on both sides of the posture-adjustable underwater robot.

[0011] Furthermore, the rotating battery pack and the translating battery pack are semi-annular, and can be used to provide energy for the posture-adjustable underwater robot.

[0012] Furthermore, the annular raised component includes a rotating battery pack track and a limiter arranged on the contact surface between the rotating battery pack and the inner oil tank, the rotating battery pack track is used to ensure that the rotating battery pack does not perform axial translation during the rotation around the axis; the limiter is located on the horizontal symmetry plane of the annular raised component, and is used to avoid travel conflicts between battery packs due to excessive rotation of the rotating battery pack.

[0013] Furthermore, the displacement sensor is fixed to the inner end of the posture-adjustable underwater robot, parallel to the moving track of the translation battery pack, and is used to feed back the moving distance of the translation battery pack.

[0014] Furthermore, the first gear is a spur gear, and the second gear is a standard gear part.

[0015] Furthermore, the wire displacement sensor feeds back the change in oil volume by measuring the moving distance of the piston in the inner oil tank.

[0016] Furthermore, the communication system, control system, attitude adjustment and energy supply integrated device, and buoyancy adjustment device are arranged in sequence inside the pressure hull; the CTD sensor is arranged in front of the bow cover and the antenna; and the external oil bag is arranged behind the stern cover.

[0017] Furthermore, the control system sends command control to the posture-adjustable underwater robot to achieve posture adjustment of the underwater robot, obtain data from the CTD sensor, and complete data feedback via the communication system.

[0018] On the other hand, the present invention also provides a method for using the posture-adjustable underwater robot based on the buoyancy adjustment system, characterized in that the method includes three modes:

[0019] 1) Profile motion mode: the buoyancy of the underwater robot can be adjusted by adjusting the posture of the underwater robot through the buoyancy adjustment device to perform profile measurement using the CTD sensor and to transmit measurement data back using the communication system;

[0020] 2) Attitude adjustment mode: the attitude of the attitude-adjustable underwater robot is adjusted from vertical to horizontal or from horizontal to vertical through the attitude adjustment and energy supply integrated device and real-time feedback is provided to the control system;

[0021] 3) Navigation mode: The attitude of the attitude-adjustable underwater robot is adjusted to a horizontal attitude with a pitch angle of 0° through the attitude adjustment and energy supply integrated device, and the thruster starts to operate under the control of the control system, so that the attitude-adjustable underwater robot sails towards the target.

[0022] Furthermore, before implementing the profile motion mode, the attitude adjustment mode, and the navigation mode, a preparation process is performed, that is, the attitude-adjustable underwater robot based on the buoyancy adjustment system is turned on and put into water, and the attitude-adjustable underwater robot is remotely set through the communication system. After the setting command is executed, the attitude-adjustable underwater robot starts to work.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The buoyancy adjustment device reduces energy consumption and provides reliable fixed depth suspension performance;

[0025] 2. Through the integrated device of attitude adjustment and energy supply, the switch between the two modes of self-sustaining profiling buoy and unmanned underwater vehicle is realized. It has the functions of snorkeling, fixed depth suspension and navigation, which can not only complete the vertical profile measurement task, but also carry out timely maneuvering processing of complex situations;

[0026] 3. Through the ingenious combination of the attitude adjustment and energy supply integrated device and the energy system, the space utilization rate of the body is improved, and a variety of sensors can be carried according to specific observation tasks;

[0027] 4. The system is simple and practical, low cost, and recyclable. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic diagram of the external structure of an underwater robot with adjustable posture based on a buoyancy adjustment system provided by an embodiment of the present invention;

[0029] Figure 2 is a schematic diagram of the internal structure of an underwater robot with adjustable posture based on a buoyancy adjustment system provided by an embodiment of the present invention;

[0030] Figure 3 It is a schematic diagram of an integrated device for posture adjustment and energy supply of a posture-adjustable underwater robot based on a buoyancy adjustment system provided by an embodiment of the present invention;

[0031] Figure 4 Schematic diagram of a buoyancy adjustment device of an underwater robot with adjustable posture based on a buoyancy adjustment system provided by an embodiment of the present invention;

[0032] Figure 5 Schematic diagram of an annular protruding component of an underwater robot with adjustable posture based on a buoyancy adjustment system provided by an embodiment of the present invention;

[0033] Figure 6 It is a schematic diagram of a profile buoy mode of an underwater robot with adjustable posture based on a buoyancy adjustment system provided by an embodiment of the present invention;

[0034] Figure 7 is a schematic diagram of an underwater vehicle mode of an underwater robot with adjustable posture based on a buoyancy adjustment system provided by an embodiment of the present invention;

[0035] Figure 8 It is a workflow diagram of an underwater robot with adjustable posture based on a buoyancy adjustment system provided in an embodiment of the present invention.

[0036] Explanation of the reference numerals: 1-pressure hull; 2-bow end cover; 3-communication system; 4-control system; 5-wing; 6-integrated device for attitude adjustment and energy supply; 7-buoyancy adjustment device; 8-stern end cover; 9-propulsion device; 10-CTD sensor; 11-antenna; 12-external oil bag; 13-internal oil tank; 14-piston; 15-screw screw; 16-screw nut; 17-DC motor; 18-pin shaft; 19-wire displacement sensor; 20-rotating battery pack; 21-translational battery pack; 22-first gear; 23-second gear; 24-roll motor; 25-spur rack; 26-pitch motor; 27-worm gear; 28-displacement sensor; 29-annular raised component; 30-rotating battery pack track; 31-limiter. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present application clearer, the specific embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings of the present application. It should be understood that the following embodiments are only used to illustrate the present application, and are not used to limit the scope of protection of the present application.

[0038] like Figure 1 and 2 As shown, the present invention provides an attitude-adjustable underwater robot based on a buoyancy adjustment system, including a pressure-resistant shell 1, a bow cover 2, a communication system 3, a control system 4, a wing 5, an attitude adjustment and energy supply integrated device 6, a buoyancy adjustment device 7, a stern cover 8, a propulsion device 9, a CTD sensor 10, and an antenna 11.

[0039] The communication system 3, control system 4, attitude adjustment and energy supply integrated device 6, buoyancy adjustment device 7 are sequentially arranged inside the pressure hull 1; the CTD sensor 10 and antenna 11 are arranged in front of the bow cover 2; and the external oil bag 12 is arranged behind the stern cover 8.

[0040] like Figure 3As shown, the attitude adjustment and energy supply integrated device 6 includes a roll assembly and a pitch assembly, wherein the roll assembly includes a rotating battery pack 20, a first gear 22, a second gear 23, a roll motor 24, and an annular protrusion component 29, wherein the roll motor 24 realizes the rotation of the rotating battery pack 20 around the rotation axis through the transmission of the first gear 22 and the second gear 23. The annular protrusion component 29 is arranged on the rotation axis, and includes a rotating battery pack track 30 and a stopper 31 arranged on the contact surface between the rotating battery pack 20 and the inner oil tank 13, wherein the rotating battery pack track 30 is used to ensure that the rotating battery pack 20 does not perform axial translation during the rotation around the axis; the stopper 31 is located on the horizontal symmetry plane of the annular protrusion component 29, and is used to avoid travel conflicts between battery packs caused by excessive rotation of the rotating battery pack 20. The pitch assembly includes a translation battery pack 21, a spur rack 25, a pitch motor 26, a worm gear 27, and a displacement sensor 28. The translation battery pack 21 is connected to the pitch motor 26 through the worm gear 27. The worm gear 27 converts the rotational motion of the pitch motor 26 into the linear motion of the translation battery pack 21 on the spur rack 25. The displacement sensor 28 is fixed to the inner end of the posture adjustable underwater robot, parallel to the moving track of the translation battery pack 21, and is used to feedback the moving distance of the translation battery pack 21. The rotating battery pack 20 and the translation battery pack 21 are both semi-circular, and under the drive of the roll motor 24 and the pitch motor 26, they rotate around the axis and translate along the axial direction in the body respectively. The rotating battery pack 20 and the translation battery pack 21 are used to provide long-term stable working voltage and working current for the normal operation of the communication system 3, the control system 4, the DC motor 17, the roll motor 24, the pitch motor 26 and each sensor. The first gear 22 is a spur gear internal gear, and the second gear 23 is a standard gear part. The integrated device for posture adjustment and energy supply 6 skillfully combines the rotating battery pack 20 and the translational battery pack 21 for providing energy with the components for posture adjustment, thereby greatly improving the utilization rate of the internal space of the machine body while reducing the weight of the whole machine.

[0041] like Figure 4As shown, the buoyancy regulating device 7 uses the piston principle to achieve the change of the overall sealed volume of the body through the reciprocating motion of the piston 14. The buoyancy regulating device 7 adopts a plunger buoyancy pump system, including an outer oil bag 12, an inner oil tank 13, a piston 14, a lead screw 15, a lead screw nut 16, a DC motor 17, a pin 18, and a pull-wire displacement sensor 19. The DC motor 17 drives the lead screw nut 16 to rotate, and the pin 18 limits the swing of the lead screw 15, thereby achieving the linear motion of the lead screw 15. The piston 14 adopts dynamic sealing treatment and is connected to one end of the lead screw 15. The rotational motion of the motor is converted into the linear motion of the piston through a ball screw. The reciprocating motion of the piston 14 realizes the transfer of hydraulic oil between the outer oil bag 12 and the inner oil tank 13. The outer oil bag 12 is directly in contact with seawater, thereby completing the change of the body displacement volume. The pull-wire displacement sensor 19 feedbacks the change of oil volume by measuring the moving distance of the piston 14 in the inner oil tank 13.

[0042] The propulsion device 9 includes thrusters symmetrically arranged on both sides of the underwater robot. The wings 5 ​​are used to enhance the stability of the underwater robot during movement. The communication system 3 and the control system 4 are located at the stern end of the underwater robot. The control system 4 controls the working state of each part by sending instructions to each system module, realizes the attitude adjustment mode, profile movement mode, and navigation mode of the underwater robot, obtains sensor data such as the CTD sensor 10, and completes the transmission and feedback of various data through the communication system 3. The thrusters are symmetrically arranged on the outside of the underwater robot to provide propulsion for the robot in a horizontal posture.

[0043] The annular protruding component 29 includes a rotating battery group track 30 and a stopper 31 arranged on the contact surface between the rotating battery group 20 and the inner oil tank 13. The rotating battery group track 30 is used to ensure that the rotating battery group 20 does not perform axial translation during the rotation around the axis; the stopper 31 is located on the horizontal symmetry plane of the annular protruding component 29, and is used to prevent the rotating battery group 20 from excessively rotating and causing a travel conflict between the two battery groups.

[0044] The working process of the posture-adjustable underwater robot based on the buoyancy adjustment system of the present invention is as follows:

[0045] Preparation process:

[0046] When the posture-adjustable underwater robot based on the buoyancy adjustment system provided by the embodiment of the present invention is turned on and enters the water, the outer oil bag 12 is in a fully expanded state, providing maximum buoyancy, and the underwater robot floats vertically on the sea level. The underwater robot drifts with the waves, and the CTD sensor 10 and the antenna 11 are exposed above the sea level. The control end of the base shore remotely sets the underwater robot through the communication system 3, and the setting command includes parameters such as the sampling frequency of the CTD sensor 10, the positioning recovery frequency, and the target diving depth. After the setting command is executed, the control end of the base shore remotely sends a profile measurement start command, and the underwater robot starts working.

[0047] Usage process:

[0048] In combination with the two working states of the posture-adjustable underwater robot of the present invention, the use process is divided into three modes, namely, profile movement mode, posture adjustment mode, and navigation mode.

[0049] (1) Profile motion mode: After the underwater robot receives the profile measurement command, the DC motor 17 in the buoyancy adjustment device 7 starts, and the piston 14 in the inner oil tank 13 moves backward under the drive of the screw 15 and the screw nut 16, and the hydraulic oil is transferred from the outer oil bag 12 to the inner oil tank 13. As the volume of the outer oil bag 12 decreases, the displacement volume of the underwater robot decreases, the buoyancy it receives decreases, and under the action of gravity, the underwater robot begins to dive. During the diving process of the underwater robot, the CTD sensor 10 performs depth measurement. When the control system 4 detects that the underwater robot dives to the target diving depth, the underwater robot enters a dormant state. At this time, the buoyancy and gravity are balanced, and the underwater robot is suspended and drifts with the ocean current for 7 to 10 days. After the delayed hovering is over, the buoyancy adjustment device 7 is started, and the piston 14 in the inner oil tank 13 moves forward driven by the lead screw 15 and the lead screw nut 16, the hydraulic oil in the inner oil tank 13 is pumped out, the volume of the outer oil bag 12 increases, the buoyancy of the underwater robot is greater than the gravity, and the underwater robot begins to float. During the floating process of the underwater robot, the CTD sensor 10 performs profile measurement and storage of temperature, salinity, depth and other data according to the set sampling frequency. The underwater robot continues to rise until the antenna 11 is raised above the sea level. After the measurement data is transmitted back through the communication system 3, the underwater robot receives the next task command.

[0050] (2) Posture adjustment mode: see Figure 5 and Figure 6The initial state of the attitude-adjustable underwater robot of the present invention is a vertical profile buoy attitude. In this state, the translation battery pack 21 in the attitude adjustment and energy supply integrated device 6 is located at the most stern end in the activity range. At this time, the rotation battery pack 20 and the translation battery pack 21 are located on the same plane, and the plane is parallel to the stern cover 8. When the control system 4 issues an attitude adjustment command, the attitude adjustment and energy supply integrated device 6 is started. First, the pitch motor 26 drives the worm gear 27 to rotate, and the worm gear 27 is connected to the translation battery pack 21, driving the translation battery pack 21 to move to the bow of the underwater robot on the spur rack 25 to the front end of the stroke. Then, the rotating battery pack 20 rotates 180° around the axis along the first gear 22 under the action of the second gear 23 and the roll motor 24. With the movement of the rotating battery pack 20 and the translation battery pack 21, the pitch angle of the underwater robot is adjusted from 90° to 0° (the pitch angle of 90° means that the underwater robot is vertical, the bow is facing up, and the stern is facing down), that is, the vertical posture is adjusted to the horizontal posture. When the control system 4 issues a posture adjustment command again, the rotating battery pack 20 first rotates 180° to overcome gravity under the action of the roll motor 24 until it contacts the limiter 31, and then the translation battery pack 21 moves to the stern of the underwater robot to the end of the stroke, and the horizontal posture is adjusted to the vertical posture. At this time, the pitch angle of the underwater robot is adjusted from 0° to −90° again. During the adjustment process, the displacement sensor 28 detects the position of the translation battery pack 21 and provides real-time feedback to the control system 4 .

[0051] (3) Navigation mode: The control terminal on the shore sends a navigation command to the underwater robot through the antenna 12, and the attitude adjustment and energy supply integrated device 6 is started. When the displacement sensor 28 detects that the translation battery pack 21 is at the end of the movable range and the rotation battery pack 20 is on the same side as the translation battery pack 21, the underwater robot is adjusted to a horizontal attitude with a pitch angle of 0°. The propeller starts to operate under the control of the control system 4, and the underwater robot sails towards the target. Figure 7 Detailed description of the working flow of the posture-adjustable underwater robot based on the buoyancy adjustment system provided in an embodiment of the present invention is shown in FIG.

[0052] It should be noted that the above-described embodiments are only preferred embodiments of the present invention. For those skilled in the art, without departing from the principles of the present invention, the present invention may be modified, improved and replaced with equivalents, and these modifications, improvements and equivalent replacements are also considered to fall within the scope of protection of the claims of the present invention.

Claims

1. An attitude-adjustable underwater robot based on a buoyancy adjustment system, comprising a pressure-resistant shell, a bow cover, a communication system, a control system, a wing, a CTD sensor, an antenna, and a stern cover, characterized in that: It also includes an integrated device for attitude adjustment and energy supply, a buoyancy adjustment device, and a propulsion device. Wherein, the posture adjustment and energy supply integrated device includes a roll assembly and a pitch assembly, which are used to adjust the posture of the posture adjustable underwater robot and provide energy. The roll assembly includes a rotating battery pack, a first gear, a second gear, a roll motor, and an annular protrusion component. The roll motor realizes the rotational movement of the rotating battery pack around the rotation axis through the transmission of the first gear and the second gear. The annular protrusion component is arranged on the rotation axis; the pitch assembly includes a translation battery pack, a spur rack, a pitch motor, a worm gear, and a displacement sensor. The translation battery pack is connected to the pitch motor through the worm gear, and the worm gear converts the rotational movement of the pitch motor into the linear movement of the translation battery pack on the spur rack; The buoyancy regulating device comprises an outer oil bag, an inner oil tank, a piston, a lead screw, a lead screw nut, a DC motor, a pin shaft, and a pull-wire displacement sensor; the DC motor drives the lead screw nut to rotate, and the pin shaft limits the swing of the lead screw, thereby realizing the linear motion of the lead screw, the piston is connected to one end of the lead screw, and the reciprocating motion of the piston realizes the transfer of hydraulic oil between the outer oil bag and the inner oil tank; The propulsion device comprises propellers symmetrically arranged on both sides of the posture-adjustable underwater robot.

2. The posture-adjustable underwater robot based on the buoyancy adjustment system according to claim 1, characterized in that: The rotating battery pack and the translating battery pack are semi-annular and can be used to provide energy for the posture-adjustable underwater robot.

3. The posture-adjustable underwater robot based on the buoyancy adjustment system according to claim 1, characterized in that: The annular raised component includes a rotating battery pack track and a limiter arranged on the contact surface between the rotating battery pack and the inner oil tank. The rotating battery pack track is used to ensure that the rotating battery pack does not perform axial translation during rotation around the axis; the limiter is located on the horizontal symmetry plane of the annular raised component, and is used to avoid travel conflicts between battery packs due to excessive rotation of the rotating battery pack.

4. The posture-adjustable underwater robot based on the buoyancy adjustment system according to claim 1, characterized in that: The displacement sensor is fixed to the inner end of the posture-adjustable underwater robot, parallel to the moving track of the translation battery pack, and is used to feed back the moving distance of the translation battery pack.

5. The posture-adjustable underwater robot based on the buoyancy adjustment system according to claim 1, characterized in that: The first gear is a spur gear internal gear, and the second gear is a standard gear part.

6. The posture-adjustable underwater robot based on the buoyancy adjustment system according to claim 1, characterized in that: The wire displacement sensor feeds back the change in oil volume by measuring the moving distance of the piston in the inner oil tank.

7. The posture-adjustable underwater robot based on the buoyancy adjustment system according to claim 1, characterized in that: The communication system, control system, attitude adjustment and energy supply integrated device, and buoyancy adjustment device are arranged in sequence inside the pressure hull; the CTD sensor and antenna are arranged in front of the bow end cover; and the external oil bag is arranged behind the stern end cover.

8. The posture-adjustable underwater robot based on the buoyancy adjustment system according to claim 1, characterized in that: The control system sends command control to the posture-adjustable underwater robot to achieve posture adjustment of the underwater robot, obtain data from the CTD sensor, and complete data feedback via the communication system.

9. The method for using an underwater robot with adjustable posture based on a buoyancy adjustment system according to any one of claims 1 to 8, characterized in that: The method of use includes three modes: 1) Profile motion mode: the buoyancy of the underwater robot can be adjusted by adjusting the posture of the underwater robot through the buoyancy adjustment device to perform profile measurement using the CTD sensor and to transmit measurement data back using the communication system; 2) Attitude adjustment mode: the attitude of the attitude-adjustable underwater robot is adjusted from vertical to horizontal or from horizontal to vertical through the attitude adjustment and energy supply integrated device and real-time feedback is provided to the control system; 3) Navigation mode: The attitude of the attitude-adjustable underwater robot is adjusted to a horizontal attitude with a pitch angle of 0° through the attitude adjustment and energy supply integrated device, and the thruster starts to operate under the control of the control system, so that the attitude-adjustable underwater robot sails towards the target.

10. The method for using the posture-adjustable underwater robot based on the buoyancy adjustment system according to claim 9, characterized in that: Before implementing the profile motion mode, the attitude adjustment mode and the navigation mode, a preparation process is performed, that is, the attitude-adjustable underwater robot based on the buoyancy adjustment system is turned on and put into water, and the attitude-adjustable underwater robot is remotely set through the communication system. After the setting command is executed, the attitude-adjustable underwater robot starts to work.

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