Autonomous water entry auxiliary device and system for underwater robot

Abstract

The invention provides an underwater robot autonomous water entry auxiliary device and a system thereof, the underwater robot autonomous water entry auxiliary device comprises a robot body, the state of the robot body before water entry comprises a first end face and a second end face, and the first end face is opposite to the second end face; the buoyancy parts are arranged on the first end face and the second end face of the robot body; and the releasing part is connected with the buoyancy part and the first end face and the second end face of the robot body, and the releasing part is dissolved in water and releases the buoyancy part after the robot body enters the water for a preset time. According to the invention, the operation efficiency and safety are improved; meanwhile, the release part provided by the embodiment of the invention is dissolved in water and loses viscosity, so that the buoyancy part is automatically released and recycled, interference possibly caused by the auxiliary device in underwater operation is avoided, and the reliability and the intelligent degree of the auxiliary device are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to an autonomous water entry auxiliary device for an underwater robot and a system thereof. Background Art

[0002] In underwater robot experiments and applications, how to quickly and safely push the robot from the shore or shallow water area to the deep water area is a key technical challenge. Traditional methods usually use manual lifting and pushing, which is not only time-consuming and labor-intensive, but also may pose risks to the robot and the operator. Especially in bad weather and complex environments, the safety and efficiency of manual operation are more difficult to guarantee.

[0003] There are also some launching auxiliary equipment on the market that aims to reduce human intervention. However, these equipment are often complex in structure, expensive, and require regular maintenance and professional operation in actual application. This not only increases operating costs, but also places high demands on the skill level of users. At the same time, the interference and failure that may occur during the underwater operation of complex equipment further limit its widespread application. Summary of the invention

[0004] The present invention provides an underwater robot autonomous water entry assisting device and a system thereof, which can at least solve the technical problems that traditional equipment has a complex structure, high cost, and requires regular maintenance and professional operation in practical applications.

[0005] The technical solution provided by the present invention is as follows:

[0006] On the one hand, an underwater robot autonomous water entry assisting device is provided, and the underwater robot autonomous water entry assisting device comprises:

[0007] The robot body, in a state before launching into water, comprises a first end face and a second end face, and the first end face is opposite to the second end face;

[0008] A buoyancy portion, arranged on a first end surface and a second end surface of the robot body;

[0009] A release portion connects the buoyancy portion and the first end surface and the second end surface of the robot body, and dissolves in water and releases the buoyancy portion after the robot body enters underwater for a preset time.

[0010] In an optional embodiment, the buoyancy part includes a first buoyancy member and a second buoyancy member, the first buoyancy member is wrapped around a first end surface of the robot body, and the second buoyancy member is wrapped around a second end surface of the robot body.

[0011] In an optional embodiment, the first buoyancy member and the second buoyancy member are both accommodating shells with an opening at one end and a closed end at the other end, and the accommodating shells are wrapped around the robot body through the opening.

[0012] In an optional embodiment, the release part is a water-soluble adhesive, which connects the buoyancy part to the first end face and the second end face of the robot body, and releases the buoyancy part at a preset time after the robot body enters underwater.

[0013] In an optional embodiment, the water-soluble adhesive is a water-soluble double-sided tape or dextrin.

[0014] In an optional embodiment, it further includes a positioning recovery part, which is connected to the buoyancy part.

[0015] In an optional embodiment, the positioning and recovery part includes a float, a recovery rope connected to the float, and the recovery rope is connected to the buoyancy part.

[0016] On the other hand, an underwater robot autonomous water entry assistance system is provided, the system comprising a memory storing execution instructions; and a processor executing the execution instructions stored in the memory, so that the processor performs the following method:

[0017] Get the weight and size of the robot body;

[0018] Determining the weight and size of the buoyancy portion based on the weight and size of the robot body so that the robot body can stably enter underwater;

[0019] Obtain the depth of the robot body entering the water and the distance it travels in the water;

[0020] The content and size of the release portion are determined based on the walking distance of the robot body in the water, so that the robot body enters a preset underwater position and releases the buoyancy portion after a preset time.

[0021] In an optional embodiment, determining the weight and size of the buoyancy part based on the weight and size of the robot body includes:

[0022] Determining the gravity of the robot body in water based on the weight of the robot body, and determining the buoyancy of the buoyancy portion in water, so that the buoyancy of the buoyancy portion in water is greater than the gravity of the robot body in water; and

[0023] The size of the buoyancy part is made larger than the size of the robot body so that the buoyancy part can wrap the two end surfaces of the robot body.

[0024] In an optional embodiment, determining the content and size of the release portion based on the walking distance of the robot body in water includes:

[0025] Determining the time when the releasing part is fully released based on the walking distance of the robot body in the water;

[0026] The content and size of the release portion are determined based on the time it takes for the release portion to be completely released.

[0027] The method provided by the embodiment of the present invention has at least the following beneficial effects:

[0028] The auxiliary device provided in the embodiment of the present invention enables the robot to float autonomously after encountering water, and to move autonomously from shallow water areas to deep water areas through its built-in power system, thereby eliminating dependence on manpower and improving operational efficiency and safety; at the same time, the release part provided in the embodiment of the present invention dissolves in water and loses its viscosity, thereby automatically releasing the buoyancy part and recovering the buoyancy part, avoiding interference that may be caused by the auxiliary device during underwater operation and improving the reliability and intelligence of the auxiliary device. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and other objects, features and advantages of the present disclosure will become more apparent through a more detailed description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present disclosure.

[0030] Figure 1 The schematic diagram shows the structure of an underwater robot autonomous water entry auxiliary device.

[0031] Figure 2 The schematic diagram shows the structure of another underwater robot autonomous water entry auxiliary device.

[0032] Figure 3 A schematic diagram of the steps of executing the method of the underwater robot autonomous water entry assistance system is shown.

[0033] Wherein, the accompanying drawings are marked as follows:

[0034] 1- robot body, 2- buoyancy part, 21- first buoyancy member, 22- second buoyancy member, 3- recovery rope. DETAILED DESCRIPTION

[0035] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0036] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0037] Glossary: ​​The underwater robot (Underwater Vehicle) provided in the embodiment of the present invention is a robot that can perform various tasks in an underwater environment, including two types: AUV (Autonomous Underwater Vehicle) and ROV (Remotely Operated Vehicle), and is widely used in ocean exploration, environmental monitoring, scientific research, seabed resource development and other fields.

[0038] Autonomy: refers to the ability of underwater robot systems to make decisions and operate independently without relying on human intervention during the execution of tasks.

[0039] The buoyancy part 2 may also be called a buoyancy device: a device for providing buoyancy so that the underwater robot can float or sink in the water. In the present invention, it refers to a device that is bonded to the surface of the robot body 1 to help the robot go into the water.

[0040] On the one hand, see Figure 1 and Figure 2 An embodiment of the present invention provides an underwater robot autonomous water entry assistance device, the underwater robot autonomous water entry assistance device comprising: a robot body 1, a buoyancy portion 2 and a release portion, wherein the robot body 1 before entering the water comprises a first end face and a second end face, and the first end face is opposite to the second end face; the buoyancy portion 2 is arranged on the first end face and the second end face of the robot body 1; the release portion connects the buoyancy portion 2 and the first end face and the second end face of the robot body 1, and dissolves and releases the buoyancy portion 2 when encountering water within a preset time after the robot body 1 enters the water.

[0041] The auxiliary device provided in the embodiment of the present invention enables the robot to float autonomously after encountering water, and to move autonomously from shallow water areas to deep water areas through its built-in power system, thereby eliminating dependence on manpower and improving operational efficiency and safety; at the same time, the release part provided in the embodiment of the present invention dissolves in water and loses its viscosity, thereby automatically releasing the buoyancy part 2 and recovering the buoyancy part 2, avoiding interference that may be caused by the auxiliary device during underwater operations, and improving the reliability and intelligence of the auxiliary device.

[0042] In addition, the present invention also has the following beneficial effects:

[0043] 1. Autonomy and unmanned operation: The traditional way of launching underwater robots usually relies on manual pushing and operation, which is not only time-consuming and labor-intensive, but also has operational risks. The present invention attaches buoyancy parts 2 to both end surfaces of the robot, so that the underwater robot can float and launch autonomously after contacting the water surface, realizing completely unmanned operation, significantly improving the autonomy and efficiency of the underwater robot operation, and reducing the necessity of human intervention in the underwater robot.

[0044] 2. Automatic release and recovery mechanism: The embodiment of the present invention provides a release part (dextrin or water-soluble tape as an adhesive) to adhere the buoyancy part 2 to the aluminum alloy shell of the underwater robot. Shortly after entering the water, these release parts can dissolve in water and lose their stickiness, thereby automatically releasing the buoyancy part 2 and recovering it. This avoids the interference that traditional devices may cause during underwater operations and improves the reliability and intelligence of the system.

[0045] 3. Simple design: The buoyancy part 2 of the embodiment of the present invention has a simple manufacturing process and low material cost, and is suitable for large-scale production and application. The installation and operation process of the buoyancy part 2 is simple and clear, and does not require complicated maintenance and manual operation. Users can quickly deploy and use it, which greatly improves work efficiency.

[0046] 4. Environmental protection: The buoyancy part 2 and the release part of the embodiment of the present invention are made of environmentally friendly materials, such as soluble dextrin and water-soluble tape, to ensure that they are harmless to the environment during use. This design not only meets the requirements of sustainable development, but also reduces the potential impact on the marine ecological environment.

[0047] 5. Cost-effectiveness: Compared with other complex launching auxiliary devices, the present invention has significant cost advantages. Low material cost and simple manufacturing process enable it to be mass-produced and applied, thus significantly reducing operating and experimental costs. This makes the present invention particularly suitable for long-term marine research and multiple experimental applications, providing an efficient and economical solution.

[0048] It should be noted that the underwater robot provided in the embodiment of the present invention is in a non-operating state before entering the water, and Figure 1 As shown, it has a first end surface and a second end surface to facilitate the installation of the buoyancy part 2.

[0049] In an optional embodiment, the buoyancy part 2 includes a first buoyancy member 21 and a second buoyancy member 22 , the first buoyancy member 21 is wrapped around a first end surface of the robot body 1 , and the second buoyancy member 22 is wrapped around a second end surface of the robot body 1 .

[0050] The first buoyancy member 21 provided in the embodiment of the present invention wraps the first end surface of the robot body 1. On the one hand, it can ensure that the underwater robot can operate stably and safely in the water. On the other hand, it reserves parts for the robot to walk for the robot body 1 without affecting the normal operation of the robot underwater.

[0051] In an optional embodiment, the first buoyancy member 21 and the second buoyancy member 22 are both accommodating shells with an opening at one end and a closed end at the other end, and the accommodating shells are wrapped around the robot body 1 through the openings.

[0052] The first buoyancy member 21 and the second buoyancy member 22 may have the same shape, and the first buoyancy member 21 and the second buoyancy member 22 are symmetrically arranged to ensure the smooth operation of the underwater robot in the water, avoid capsizing or tilting, and thus ensure the smooth autonomous launching of the underwater robot.

[0053] Furthermore, the material of the first buoyancy member 21 and the second buoyancy member 22 may be foam plastic.

[0054] In an optional embodiment, the release part is a water-soluble adhesive, which connects the buoyancy part 2 to the first end face and the second end face of the robot body 1, and releases the buoyancy part 2 at a preset time after the robot body 1 enters underwater.

[0055] In an optional embodiment, the water-soluble adhesive is a water-soluble double-sided tape or dextrin.

[0056] Dextrin: A low molecular weight carbohydrate obtained by partial hydrolysis of starch. It has good viscosity and water solubility and is often used in adhesives.

[0057] Water-Soluble Tape: A tape material that dissolves quickly when in contact with water. It is often used in situations where temporary bonding is required. It loses its stickiness after dissolving and leaves no residue.

[0058] The foam plastic fixes the buoyancy part 2 and the robot body 1 by a water-soluble adhesive. The water-soluble adhesive does not lose its viscosity immediately when it comes into contact with water, but gradually loses its effectiveness, ensuring that the foam plastic does not fall off or float up before the underwater robot completes its task. Exemplarily, the underwater robot provided in the embodiment of the present invention is in a rectangular state when not in operation, and the foam plastic is a cuboid. The total volume of the foam plastic exceeds the volume of the robot body 1 itself, and is symmetrically installed on the left and right sides (the first end face and the second end face) of the robot to ensure its balance and stability.

[0059] Furthermore, the release part provided by the embodiment of the present invention, i.e., the water-soluble adhesive, has a dissolution failure time of less than ten minutes under normal outdoor water temperature conditions. Since the time required for the underwater robot to completely enter the water is relatively short, the adhesive will not fall off prematurely during this period, ensuring that the buoyancy part 2 can be separated from the underwater robot in time after completing the underwater mission, thereby avoiding affecting subsequent experiments or mission execution. Such a design not only ensures the smooth progress of the underwater robot's mission, but also facilitates recycling on the water surface through the recycling design of the buoyancy part 2, thereby avoiding environmental pollution.

[0060] The water-soluble adhesive of the release part provided in the embodiment of the present invention adopts environmentally friendly materials, such as soluble dextrin and water-soluble double-sided adhesive, to ensure that it is harmless to the environment during use.

[0061] In an optional embodiment, it further includes a positioning recovery part, which is connected to the buoyancy part 2.

[0062] In an optional embodiment, the positioning and recovery part includes a float, a recovery rope 3 connected to the float, and the recovery rope 3 is connected to the buoyancy part 2.

[0063] See also Figure 3 On the other hand, an underwater robot autonomous water entry assist system is provided, the system includes a memory, the memory stores execution instructions; and a processor, the processor executes the execution instructions stored in the memory, so that the processor performs the following method:

[0064] Step 201: Obtain the weight and size of the robot body 1.

[0065] Step 202: Determine the weight and size of the buoyancy part 2 based on the weight and size of the robot body 1, so that the robot body 1 can stably enter underwater.

[0066] Step 203: Obtain the depth of the robot body 1 entering the water and the walking distance in the water.

[0067] Step 204: determine the content and size of the release portion based on the walking distance of the robot body 1 in the water, so that the robot body 1 enters a preset underwater position and releases the buoyancy portion 2 after a preset time.

[0068] For example, the buoyancy part 2 may be released 5 minutes or 10 minutes after the underwater robot enters the water.

[0069] In an optional embodiment, the weight and size of the buoyancy part 2 are determined based on the weight and size of the robot body 1, including:

[0070] Determine the gravity of the robot body 1 in water based on the weight of the robot body 1, and determine the buoyancy of the buoyancy portion 2 in water, so that the buoyancy of the buoyancy portion 2 in water is greater than the gravity of the robot body 1 in water; and

[0071] The size of the buoyancy part 2 is made larger than that of the robot body 1 , so that the buoyancy part 2 can wrap the two end surfaces of the robot body 1 .

[0072] In an optional embodiment, determining the content and size of the release portion based on the walking distance of the robot body 1 in water includes:

[0073] Determine the time when the release part is fully released based on the walking distance of the robot body 1 in the water;

[0074] The content and size of the release portion are determined based on the time it takes for the release portion to be completely released.

[0075] Furthermore, the embodiments of the present invention can monitor the dissolution process of the release part (e.g., water-soluble adhesive) in a water environment through experimental methods, and determine the time point from the beginning of dissolution to the complete failure of the water-soluble adhesive. The time point can be accurately determined by experimental data or according to the characteristics of the water-soluble adhesive (e.g., thickness, dissolution rate, ambient temperature).

[0076] In order to accurately determine the time point from the beginning of dissolution to the complete failure of the water-soluble adhesive, a mathematical model can be established to link the dissolution process of the water-soluble adhesive with variables such as its thickness, dissolution rate and ambient temperature. The following are the relevant mathematical formulas and steps:

[0077] 1. Basic parameters

[0078] Define the following variables:

[0079] T d : Complete dissolution time of water-soluble adhesive (unit: minutes or seconds).

[0080] h: initial thickness of the water-soluble adhesive (unit: mm or m).

[0081] r(T): Dissolution rate (unit: mm / min or m / s), which is a function of temperature.

[0082] T w : Water temperature (unit: Celsius).

[0083] r0: Dissolution rate at reference temperature (e.g. 20°C) (unit: mm / min).

[0084] k: The coefficient of influence of temperature on dissolution rate, which can usually be measured through experiments.

[0085] 2. Relationship between dissolution rate and temperature

[0086] The dissolution rate r(T) is usually the temperature T w The function can be expressed as:

[0087]

[0088] Where: T0 is the reference temperature (such as 20°C).

[0089] k is the temperature sensitivity coefficient associated with the water-soluble adhesive and can usually be measured experimentally.

[0090] r0 is the dissolution rate at the reference temperature.

[0091] This formula states that the rate of binder dissolution increases exponentially with increasing temperature.

[0092] 3. Dissolution time calculation

[0093] Complete dissolution time of water-soluble adhesive T d It can be expressed as the initial thickness h divided by the temperature-corrected dissolution rate r (T w ):

[0094]

[0095] The dissolution rate r(T w ) into the formula, we get:

[0096]

[0097] Under the premise of knowing the initial amount of water-soluble adhesive, the consumption rate of water-soluble adhesive can be calculated by monitoring the complete release time of water-soluble adhesive, that is, the consumption rate of water-soluble adhesive is obtained by dividing the initial amount of water-soluble adhesive by the complete release time of water-soluble adhesive, and then the actual content of water-soluble adhesive used is determined according to the product of the consumption rate of water-soluble adhesive and the complete release time of water-soluble adhesive. Based on the complete release time of water-soluble adhesive and its consumption rate, combined with the characteristics of water-soluble adhesive, the appropriate size of water-soluble adhesive when used is calculated. That is, the longer the dissolution time, the thicker the water-soluble adhesive layer or the larger the amount used. Therefore, by the correspondence between the complete release time of water-soluble adhesive and the physical size of water-soluble adhesive, the optimal adhesive size can be determined to ensure that the duration of buoyancy assistance and the adhesion effect meet the experimental requirements.

[0098] For example, assuming that the thickness of a water-soluble adhesive is h = 0.5 mm, the dissolution rate at the reference temperature is r0 = 0.05 mm / min, the temperature sensitivity coefficient is k = 0.05, and the water temperature is T w =25°C, the dissolution time can be calculated by the following steps:

[0099] (1) Calculate the dissolution rate:

[0100] r(25)=0.05·e 0.05(25-20) =0.05·e 0.25 ≈0.05·1.284=0.0642mm / min

[0101] (2) Calculate the complete dissolution time:

[0102]

[0103] The complete dissolution time corresponding to the thickness of the water-soluble adhesive h=0.5 mm is 7.78 minutes.

[0104] This embodiment is based on an underwater robot with a volume of 100cm×80cm×50cm and a weight of 50 kg, and describes in detail the design and installation of the release part (foam plastic), the use and debugging of the release part (water-soluble double-sided tape), and the recycling of the foam plastic.

[0105] 1. Design the foam buoyancy part 2.

[0106] According to the size and weight of the underwater robot, design a foam plastic block of appropriate size (e.g. 110cm×90cm×60cm) and density. Use high-density foam plastic (density 0.91g / cm 3 -0.940g / cm 3 ), ensuring that the buoyancy of the foam plastic can give the underwater robot good buoyancy and stability in the water.

[0107] 2. Install foam buoyancy device.

[0108] Fix the foam blocks to the first and second end faces of the robot to ensure even distribution and stability.

[0109] 3. Select and adhere water-soluble double-sided tape.

[0110] Choose a water-soluble double-sided adhesive with good initial tack and appropriate dissolution speed.

[0111] Initial viscosity: The initial viscosity of water-soluble double-sided tape (i.e. water-soluble adhesive) is usually measured by peel strength. In order to ensure the stable adhesion of foam plastics and underwater robots in underwater experiments, it is recommended to choose double-sided tape with a peel strength of 10N / 25mm to 15N / 25mm. This range of viscosity can ensure:

[0112] When the underwater robot goes into the water, the foam plastic has sufficient adhesion in shallow water areas to maintain stable buoyancy.

[0113] Water-soluble double-sided tape will not cause excessive adhesion of foam plastics due to excessive viscosity, affecting subsequent separation.

[0114] Dissolution rate: The dissolution rate of water-soluble double-sided adhesive is usually affected by water temperature, adhesive thickness and chemicals in the water. Under standard conditions (such as water temperature 20°C), the typical dissolution time is 15-20 minutes. The specific data are as follows:

[0115] At 20°C, the dissolution time of 0.5mm thick water-soluble double-sided tape is about 15 minutes. This time is enough to ensure that the robot has sufficient buoyancy for floating and propulsion after entering shallow water.

[0116] As the water temperature increases, the dissolution time will be shortened accordingly. For example, at a water temperature of 30°C, the dissolution time is about 10 minutes.

[0117] According to the design requirements, water-soluble double-sided adhesive is bonded to the foam plastic and the outer surface of the robot body 1. Ensure uniform bonding to prevent the foam plastic from shifting before it falls off in the water.

[0118] 4. Testing and debugging.

[0119] The water-soluble double-sided adhesive was tested to ensure that it would dissolve promptly after the underwater robot was fully submerged in water and that the foam could be detached and recovered in time without affecting the experiment.

[0120] 5. Foam recovery device.

[0121] A long nylon rope (recovery rope 3) is used to connect the tails of the foam blocks on the left and right sides to facilitate pulling back the buoyancy part 2 (foam plastic) on the shore.

[0122] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An underwater robot autonomous water entry assisting device, characterized in that: The underwater robot autonomous water entry auxiliary device comprises: The robot body, in a state before launching into water, comprises a first end face and a second end face, and the first end face is opposite to the second end face; A buoyancy portion, arranged on a first end surface and a second end surface of the robot body; A release portion connects the buoyancy portion and the first end surface and the second end surface of the robot body, and dissolves in water and releases the buoyancy portion after the robot body enters underwater for a preset time.

2. The underwater robot autonomous water entry assisting device according to claim 1, characterized in that: The buoyancy part includes a first buoyancy member and a second buoyancy member, wherein the first buoyancy member is wrapped around a first end surface of the robot body, and the second buoyancy member is wrapped around a second end surface of the robot body.

3. The underwater robot autonomous water entry assisting device according to claim 2, characterized in that: The first buoyancy member and the second buoyancy member are both accommodating shells with an opening at one end and a closed end at the other end, and the accommodating shells are wrapped around the robot body through the opening.

4. The underwater robot autonomous water entry assisting device according to claim 3, characterized in that: The release part is a water-soluble adhesive, which connects the buoyancy part to the first end surface and the second end surface of the robot body, and releases the buoyancy part at a preset time after the robot body enters underwater.

5. The underwater robot autonomous water entry assisting device according to claim 4, characterized in that: The water-soluble adhesive is a water-soluble double-sided adhesive or dextrin.

6. The underwater robot autonomous water entry assisting device according to claim 1, characterized in that: It also includes a positioning recovery part, which is connected to the buoyancy part.

7. The underwater robot autonomous water entry assisting device according to claim 6, characterized in that: The positioning recovery part includes a float and a recovery rope connected to the float, and the recovery rope is connected to the buoyancy part.

8. An underwater robot autonomous water entry assistance system, characterized in that: The system includes a memory storing an execution instruction; and a processor executing the execution instruction stored in the memory, so that the processor performs the following method: Get the weight and size of the robot body; Determining the weight and size of the buoyancy portion based on the weight and size of the robot body so that the robot body can stably enter underwater; Obtain the depth of the robot body entering the water and the distance it travels in the water; The content and size of the release portion are determined based on the walking distance of the robot body in the water, so that the robot body enters a preset underwater position and releases the buoyancy portion after a preset time.

9. The underwater robot autonomous water entry assistance system according to claim 8, characterized in that: Determining the weight and size of the buoyancy portion based on the weight and size of the robot body includes: Determining the gravity of the robot body in water based on the weight of the robot body, and determining the buoyancy of the buoyancy portion in water, so that the buoyancy of the buoyancy portion in water is greater than the gravity of the robot body in water; and The size of the buoyancy part is made larger than the size of the robot body so that the buoyancy part can wrap the two end surfaces of the robot body.

10. The underwater robot autonomous water entry assistance system according to claim 8, characterized in that: The content and size of the release portion are determined based on the walking distance of the robot body in the water, including: Determining the time when the releasing part is fully released based on the walking distance of the robot body in the water; The content and size of the release portion are determined based on the time it takes for the release portion to be completely released.

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