Recyclable buoy system for modular underwater robot and control method

Abstract

The invention relates to the technical field of robot communication control, in particular to a recoverable buoy system for a modular underwater robot and a control method.The buoy comprises a shell, a communication module and an acquisition module, and an adjusting module comprises a buoyancy adjusting mechanism and a gravity center adjusting mechanism; the buoyancy adjusting mechanism adjusts the action of an electromagnetic valve according to the buoy depth to realize buoyancy adjustment, and the gravity center adjusting mechanism adjusts the gravity center position according to a preset gravity center position and a gravity center adjusting curve; the power module comprises a first power set and a second power set. The control module is used for determining the adjusting mode of the buoyancy adjusting mechanism, the adjusting mode of the gravity center adjusting mechanism and the adjusting mode of the power module. And the power supply module realizes effective positioning and flexible release and recovery of the buoy, and promotes the same-speed cooperative movement and real-time communication of the buoy and the underwater robot.

Description

Technical Field

[0001] The present invention relates to the field of robot communication control technology, and in particular to a recoverable buoy system and a control method for a modular underwater robot. Background Art

[0002] With the development and utilization of marine resources in my country, carriers for marine surveys and detection, such as underwater robots, have also been widely used. The use of buoys as communication relay devices to achieve communication between underwater robots and shore-based platforms has promoted the rapid development of underwater robots. Existing buoys can be roughly divided into two types: anchored and floating. Anchored buoys require long-term fixed-point observation, and are difficult to deploy and recover; floating buoys can achieve large-scale operations, but the movement path is uncontrollable and difficult to recover. In addition, the prior art also involves powered buoys, but such buoys have a single operating posture and cannot meet a variety of work scenarios, making it difficult to meet the continuous and stable communication needs of underwater robots.

[0003] It can be seen that the buoys currently used to achieve communication between underwater robots and shore-based platforms have certain limitations: the buoys have to be dragged to reach the operation point, the handling of the buoys after the underwater robot completes the operation is unclear, the buoy release method is catapult release, the buoy cannot be released continuously multiple times, the buoy cannot be recovered, the communication stability is poor, and the buoy working mode is single. Summary of the invention

[0004] To this end, the present invention provides a recoverable buoy system and a control method for a modular underwater robot, so as to overcome the problems of the buoy system in the prior art, such as a single working mode, great recovery difficulty and poor passage stability.

[0005] To achieve the above object, on the one hand, the present invention provides a recoverable buoy system for a modular underwater robot, comprising an underwater robot and a buoy, wherein the underwater robot and the buoy are connected by a cable; wherein the buoy comprises:

[0006] A shell, wherein a dry tank and a wet tank are arranged inside, wherein the wet tank is connected to the external environment;

[0007] A communication module, which is arranged in a dry compartment in the shell of the buoy, and is used to realize real-time communication and data transmission and reception between the buoy and a shore-based receiving terminal;

[0008] A collection module, which is arranged in the housing, includes a positioning component for obtaining position information of the buoy, a speed measuring component for obtaining speed information of the buoy, a depth measuring device for obtaining a buoy depth of the buoy, and a posture acquisition component for obtaining posture information of the buoy;

[0009] an adjusting module, which is arranged in the housing and connected to the collecting module, and includes a buoyancy adjusting mechanism and a center of gravity adjusting mechanism, wherein the buoyancy adjusting mechanism is used to adjust the opening and closing action of the electromagnetic valve according to the depth of the buoy to adjust the buoyancy of the buoy, and the center of gravity adjusting mechanism is used to adjust the center of gravity position of the buoy according to a preset center of gravity position and a center of gravity adjustment curve, wherein the preset center of gravity position includes a first center of gravity position and a second center of gravity position;

[0010] A power module, which is connected to the housing and the collection module respectively, and includes a first power group for propelling the buoy along a first direction, and a second power group for propelling the buoy along a second direction;

[0011] a control module, connected to the adjustment module, the acquisition module, the power module and the communication module, respectively, for determining an adjustment method for the buoyancy adjustment mechanism according to a buoy working mode, a comparison result between the depth data and a preset first depth, and a comparison result between the depth data and a preset second depth, determining an adjustment method for the center of gravity adjustment mechanism according to a preset center of gravity position, a center of gravity adjustment curve and a buoy working mode, and determining an adjustment method for the power module according to the buoy attitude information, a preset attitude, a comparison result between the heading information and the attitude information of the underwater robot and the buoy working mode;

[0012] A power module, connected to the communication module, the acquisition module, the adjustment module, the power module and the control module respectively, for supplying power to the electrical components in the buoy;

[0013] Furthermore, the communication module includes:

[0014] An antenna, which is arranged on the top of the housing and is used to realize real-time communication and data transmission and reception between the buoy and the shore base;

[0015] A waterproof steering gear, which is arranged inside the housing and is used to drive the antenna to rotate;

[0016] The transmission assembly is connected to the antenna and the waterproof steering gear respectively, and is used to transmit the rotation of the waterproof steering gear to the antenna so as to rotate the antenna.

[0017] Furthermore, the buoyancy adjustment mechanism comprises:

[0018] The oil tank is arranged in the dry compartment of the buoy and is used to adjust the oil tank capacity according to the oil storage amount inside the buoy;

[0019] A wire displacement sensor is arranged on the side of the oil tank to collect the oil storage level in the oil tank in real time;

[0020] An oil bag is arranged in the buoy wet tank and is connected to the hydraulic pump and the solenoid valve through oil pipes respectively, so as to change the volume of the oil bag by sucking or discharging oil from the oil tank through the drive of the hydraulic pump;

[0021] A hydraulic pump, which is connected to the oil tank and the oil bag through oil pipes, respectively, and is used to drive the flow of oil in the oil pipes to discharge the oil in the oil tank into the oil bag, or to discharge the oil in the oil bag into the oil tank;

[0022] A solenoid valve connected to the hydraulic pump and respectively connected to the oil tank and the oil bag through oil pipes to control the opening and closing of the oil pipes;

[0023] Among them, the outside of the dry tank of the buoy where the oil bag is located is provided with a plurality of openings which are connected to the outside, so as to change the drainage volume of the buoy by changing the volume of the oil bag.

[0024] Furthermore, the center of gravity adjustment mechanism includes:

[0025] An internal support frame fixedly connected to the inner wall of the dry cabin;

[0026] A lead screw, one end of which is connected to the internal support frame, and the other end of which is connected to the micro motor;

[0027] A micro motor, which is fixedly connected to the internal support frame and is used to drive the lead screw to rotate;

[0028] Wherein, the power supply module is sleeved on the lead screw and is used to move along the lead screw axis direction under the drive of the micro motor so as to adjust the center of gravity position of the buoy to a preset center of gravity position.

[0029] Furthermore, the first power group and the second power group are both arranged at the lower part of the buoy;

[0030] Wherein, the first power group includes two thrusters arranged on both sides of the exterior of the buoy shell relatively;

[0031] The second power group includes two thrusters symmetrically arranged at the lower part of the internal support frame.

[0032] In another aspect, the present invention provides a method for controlling a recoverable buoy, comprising:

[0033] When the buoy working mode is to release the buoy from the underwater robot to the sea surface and communicate with the shore, the center of gravity adjustment mechanism determines the axial movement distance of the battery module according to the center of gravity adjustment curve and the first center of gravity position, and controls the micro motor to drive the lead screw to drive the power module to move so as to adjust the center of gravity position of the buoy to the first center of gravity position;

[0034] The control module determines the adjustment method of the power adjustment mechanism according to the attitude information of the buoy after adjusting the center of gravity and the preset attitude, wherein:

[0035] If the control module determines that the buoy attitude is not in the preset attitude according to the attitude information, the control module adjusts the first speed of the first propeller and the second speed of the second propeller according to the current attitude information of the buoy so that the buoy attitude is in the preset attitude;

[0036] If the control module determines that the buoy posture is in a preset posture according to the posture information, the control module controls the hydraulic pump in the buoyancy adjustment mechanism to discharge oil to increase the buoyancy of the buoy, and controls the first power group to propel the buoy according to a preset first propulsion speed to make the buoy float.

[0037] Furthermore, when the buoy working mode is that the buoy floats vertically on the sea surface in a static mode, the control module determines whether the buoy attitude is in a preset attitude according to the current attitude information of the buoy, and determines the adjustment method of the first power group and the second power group according to the judgment result, wherein,

[0038] If the buoy attitude is not in the preset attitude, the control module determines the inclination angle of the buoy according to the current attitude information of the buoy, and adjusts the rotation speeds of the two propellers in the first power group according to the inclination angle so that the buoy attitude meets the preset attitude;

[0039] If the buoy posture is in a preset posture, the control module determines whether the position information meets the preset position range, and adjusts the rotation speed and propulsion direction of the two propellers in the second power group according to the judgment result to make the buoy return to the preset position range and meet the preset posture.

[0040] Furthermore, when the buoy working mode is that the buoy and the underwater robot move in the same direction and at the same speed, the control module determines the adjustment method of the power module according to the comparison result between the heading information of the underwater robot and the posture information of the buoy, wherein:

[0041] If the heading information is consistent with the posture information, the control module controls the first power group to propel the buoy according to the speed information of the buoy and the speed information of the underwater robot, and the control module controls the buoy to stop moving according to the preset operation point position of the underwater robot and the position information of the underwater robot;

[0042] If the heading information and the attitude information are inconsistent, the control module determines the yaw direction of the buoy according to the heading information and the attitude information, determines the yaw moment of the buoy according to the first torque of the first power group and the second torque of the second power group, and corrects the buoy heading according to the yaw direction and the yaw moment.

[0043] Furthermore, when the buoy working mode is switched from the static mode to the power mode or from the power mode to the static mode, the control module opens the solenoid valve to adjust the center of gravity position to the center of gravity position of the corresponding mode, and determines the adjustment method of the buoyancy adjustment mechanism, the center of gravity adjustment mechanism, and the power module according to the comparison result between the buoy depth and the preset first depth during the center of gravity adjustment process;

[0044] If the buoy depth is equal to the preset first depth, the control module closes the solenoid valve, determines the axial displacement of the buoy, and controls the buoyancy adjustment mechanism to perform fixed depth control according to the axial displacement and the preset offset distance;

[0045] If the axial displacement is less than the preset offset distance and the buoy working mode is when the buoy switches from the static mode to the power mode, the control module adjusts the center of gravity position of the buoy to the second center of gravity position, controls the differential rotation of the first power group, and determines the differential rotation stop timing of the first power group according to the preset first tilt angle and the preset first rotation angle;

[0046] If the axial displacement is less than the preset offset distance and the buoy working mode is when the buoy switches from power mode to static mode, the control module controls the differential rotation of the first power group, determines the differential rotation stop timing of the first power group according to the preset second inclination angle and the preset second rotation angle, and adjusts the center of gravity position of the buoy to the first center of gravity position at the differential rotation stop timing.

[0047] Furthermore, when the working mode of the buoy is that the underwater robot recovers the buoy, the buoyancy of the buoy is reduced by controlling the battery valve in the buoyancy adjustment mechanism to return oil, and at the same time, the control module determines the adjustment method of the power module and the adjustment module according to the comparison result between the buoy depth and the preset second depth.

[0048] Wherein, if the buoy depth is less than the preset second depth, the control module determines the sinking distance according to the buoy depth and the preset depth, and the buoy sinks according to the sinking distance;

[0049] If the buoy depth is equal to the preset second depth, the buoyancy adjustment mechanism is controlled to perform fixed depth control, and the center of gravity adjustment mechanism determines the axial movement distance according to the center of gravity adjustment curve and the second center of gravity position, and the power module moves according to the axial movement distance to adjust the center of gravity position of the buoy to the second center of gravity position.

[0050] Compared with the prior art, the beneficial effect of the present invention lies in that the buoy of the present invention integrates a communication module, an adjustment module, a collection module, a power module, a control module, a power supply module, and an internal support frame. Through the coordinated work of the buoyancy adjustment mechanism and the center of gravity adjustment mechanism in the adjustment module, the buoy can automatically adjust the buoyancy according to the collected buoy depth by adjusting the action of the solenoid valve, and automatically adjust the center of gravity position according to the preset center of gravity position and the center of gravity adjustment curve, so as to maintain a stable state in the water. At the same time, through the coordinated propulsion of the first power group and the second power group, the buoy can move flexibly in the water, which is conducive to switching the operating mode according to the operation scene, realizing the effective positioning, flexible release and recovery of the buoy, the effective communication between the buoy and the shore, and the same-speed coordinated movement and real-time communication between the buoy and the underwater robot.

[0051] Furthermore, the underwater robot of the present invention performs a task of releasing a buoy to the sea surface, acting as a communication relay station to communicate with the shore base, adjusting the center of gravity position of the buoy to a first center of gravity position, and adjusting the buoy posture according to posture information and a preset posture, and under the preset posture, controlling the hydraulic pump in the buoyancy adjustment mechanism to discharge oil to increase the buoyancy of the buoy, and propel the buoy to float up through the coordinated action of the first power group, thereby further ensuring stable data feedback and real-time command transmission between the buoy and the shore base.

[0052] Furthermore, when the buoy floats vertically on the sea surface in a static mode, the present invention adjusts the buoy's attitude by controlling the differential action of the two thrusters in the first power group to prevent the buoy from tilting. At the same time, when the buoy is displaced, the buoy can be positioned by controlling the action of the second power group. This further enables the buoy to resist the interference of wind and waves on the sea surface, achieve vertical floating and positioning, and further ensure stable data feedback and real-time command transmission between the buoy and the shore.

[0053] Furthermore, when the underwater robot is cruising, the present invention switches the buoy to the power mode and moves forward at the same speed with the underwater robot, compares the heading information with the attitude information, determines the buoy yaw direction and yaw moment according to the comparison result to correct the buoy heading, and controls the buoy and the underwater robot to stop moving according to the preset operation point position and the underwater robot position information. This facilitates the buoy to achieve the same-speed coordinated movement and real-time communication with the underwater robot through its own power module, improves the reliability and flexibility of the buoy system, and ensures that the underwater robot can complete various operations efficiently.

[0054] Furthermore, when the present invention switches the power mode and static mode of the buoy, the solenoid valve is controlled to return oil, and during the oil return process, the adjustment method of the buoyancy adjustment mechanism, the center of gravity adjustment mechanism, and the power module are determined according to the comparison result between the buoy depth and the preset first depth, thereby realizing the free switching of the power mode and the static mode while avoiding the problem of the power module being unable to provide power due to the switching of the working state, further improving the reliability and flexibility of the buoy system, and ensuring that the underwater robot can complete various tasks efficiently.

[0055] Furthermore, when the buoy is recovered, the present invention returns oil through the battery valve in the buoyancy adjustment mechanism to reduce the buoyancy of the buoy, and at the same time determines the buoy depth and the preset second depth, so that the buoy can sink to the position of the underwater robot. At the same time, the buoyancy adjustment mechanism is used to control the depth and adjust the center of gravity to the second center of gravity, so as to facilitate the recovery of the underwater robot. The reliability and flexibility of the buoy system are improved to ensure that the underwater robot can complete various operations efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A flow chart of a recoverable buoy system for a modular underwater robot according to the present invention;

[0057] Figure 2 This is a schematic diagram of a recoverable powered buoy system according to an embodiment of the present invention;

[0058] Figure 3 This is a schematic diagram of the overall structure of the buoy in the first direction according to an embodiment of the present invention;

[0059] Figure 4 This is a schematic diagram of the overall structure of the buoy in the second direction according to an embodiment of the present invention;

[0060] Figure 5 This is a schematic diagram of the structure of a communication module according to an embodiment of the present invention;

[0061] Figure 6 It is a structural schematic diagram of the buoyancy adjustment mechanism according to an embodiment of the present invention;

[0062] Figure 7 This is a structural schematic diagram of a center of gravity adjustment mechanism according to an embodiment of the present invention;

[0063] In the figure: 1, underwater robot; 2, cable; 3, buoy; 301, buoy shell; 4, communication module; 401, antenna; 402, waterproof servo; 403, transmission assembly; 5, GPS module; 6, buoyancy adjustment mechanism; 601, oil tank; 602, oil bag; 603, oil pipe; 604, hydraulic pump; 605, solenoid valve; 606, opening; 607, wire displacement sensor; 7, center of gravity adjustment mechanism; 701, screw; 702, micro motor; 8, power module; 9, control module; 10, power module; 101, first power group; 102, second power group; 11, inertial navigation; 12, Doppler velocimeter; 13, depth gauge; 14, internal support frame. DETAILED DESCRIPTION

[0064] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0065] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0066] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0067] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0068] See also Figure 1 to Figure 4 As shown, it is a connection block diagram of the recoverable buoy system for a modular underwater robot of the present invention. Figure 2 This is a schematic diagram of a recoverable powered buoy system according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the overall structure of the buoy in the first direction according to an embodiment of the present invention; Figure 4 It is a schematic diagram of the overall structure of the buoy in the second direction according to an embodiment of the present invention.

[0069] Specifically, the present invention provides a recoverable buoy system for a modular underwater robot, comprising an underwater robot 1 and a buoy 3, wherein the underwater robot 1 and the buoy 3 are connected by a cable 2; wherein the buoy comprises:

[0070] A shell, wherein a dry tank and a wet tank are arranged inside, wherein the wet tank is connected to the external environment;

[0071] A communication module 4, which is arranged in a dry compartment in the shell of the buoy 3, and is used to realize real-time communication and data transmission and reception between the buoy 3 and a shore-based receiving terminal;

[0072] A collection module, which is arranged in the housing, includes a positioning component for obtaining position information of the buoy 3, a speed measuring component for obtaining speed information of the buoy 3, a depth measuring device for obtaining a buoy depth of the buoy 3, and a posture acquisition component for obtaining posture information of the buoy 3;

[0073] an adjusting module, which is arranged in the housing and connected to the collecting module, and includes a buoyancy adjusting mechanism 6 and a center of gravity adjusting mechanism 7, wherein the buoyancy adjusting mechanism 6 is used to adjust the opening and closing action of the electromagnetic valve 605 according to the depth of the buoy to adjust the buoyancy of the buoy 3, and the center of gravity adjusting mechanism 7 is used to adjust the center of gravity position of the buoy 3 according to a preset center of gravity position and a center of gravity adjustment curve, wherein the preset center of gravity position includes a first center of gravity position and a second center of gravity position;

[0074] A power module 10, which is connected to the housing and the collection module respectively, and includes a first power group 101 for propelling the buoy 3 along a first direction, and a second power group 102 for propelling the buoy 3 along a second direction;

[0075] The control module 9 is connected to the adjustment module, the acquisition module, the power module 10 and the communication module 4 respectively, and is used to determine the adjustment method of the buoyancy adjustment mechanism 6 according to the buoy working mode, the comparison result of the depth data and the preset first depth, and the comparison result of the depth data and the preset second depth, determine the adjustment method of the center of gravity adjustment mechanism 7 according to the preset center of gravity position, the center of gravity adjustment curve and the buoy working mode, and determine the adjustment method of the power module 10 according to the posture information of the buoy 3, the preset posture, the comparison result of the heading information and the posture information of the underwater robot 1 and the buoy working mode;

[0076] A power module 8 is connected to the communication module 4, the acquisition module, the adjustment module, the power module 10 and the control module 9 respectively, so as to supply power to the electrical components in the buoy 3;

[0077] In a specific embodiment, the outer shell of the buoy 3 is made of a waterproof and anti-corrosion material, preferably, the waterproof and anti-corrosion material is fiberglass. The upper and lower ends adopt a tapered streamlined design to reduce water flow resistance and improve fluid dynamics; the middle part is a columnar structure to ensure overall stability and structural strength. The shape of the material of the outer shell of the buoy 3 can be determined according to actual conditions, and is not specifically limited here and will not be repeated.

[0078] In a specific embodiment, the control module 9 is arranged inside the buoy 3, and can communicate and send and receive data in real time with the underwater robot 1 and the shore through the cable 2 and the communication module 4 respectively. The power module 8 is packaged by multiple groups of battery cells. The positioning component used to obtain the position information of the buoy 3 in the acquisition module can be a GPS module 5, which is arranged inside the buoy 3 and connected to the control module 9. The speed measuring component used to obtain the speed information of the buoy 3 can be a Doppler speedometer 12, which is arranged outside the middle shell of the buoy 3 and connected to the control module 9. The attitude acquisition component used to obtain the attitude information of the buoy 3 can be an inertial navigation 11, which is arranged inside the buoy 3 and connected to the control module 9. The depth measuring device used to obtain the buoy depth of the buoy 3 can be a depth gauge 13, which is arranged on the plane where the buoy center of the buoy 3 (except the communication module 4) is located and is connected to the control module 9, and its end face is exposed on the outer shell of the buoy 3 to detect the water pressure and obtain the buoy depth. In implementation, the installation positions of the control module 9, battery module, and acquisition module and the types of devices involved in the control device in the corresponding control module 9, the battery module type, and the positioning component, speed measurement component, attitude acquisition component, and depth measurement device in the acquisition module can be determined according to actual conditions, and are not specifically limited here and will not be repeated.

[0079] In a specific embodiment, the first center of gravity is the bottom of the buoy 3, the second center of gravity is the middle of the buoy 3, the first direction is the axial direction of the buoy 3, and the second direction is perpendicular to the axial direction of the buoy 3. The preset depth is, and the preset posture is that the buoy 3 is in a vertical upward posture.

[0080] The buoy 3 of the present invention integrates a communication module 4, an adjustment module, a collection module, a power module 10, a control module 9, a power module 8, and an internal support frame 14. Through the coordinated work of the buoyancy adjustment mechanism 6 and the center of gravity adjustment mechanism 7 in the adjustment module, the buoy 3 can automatically adjust the buoyancy according to the collected buoy depth by adjusting the action of the solenoid valve 605, and automatically adjust the center of gravity position according to the preset center of gravity position and the center of gravity adjustment curve, so as to maintain a stable state in the water. At the same time, through the coordinated propulsion of the first power group 101 and the second power group 102, the buoy 3 can be flexibly moved in the water, which is conducive to switching the operation mode according to the operation scene, realizing the effective positioning, flexible release and recovery of the buoy 3, the effective communication between the buoy 3 and the shore, and the same-speed coordinated movement and real-time communication between the buoy 3 and the underwater robot 1.

[0081] See also Figure 5 As shown, Figure 5 Schematic diagram of the structure of the communication module of the embodiment of the present invention; specifically, the communication module 4 includes:

[0082] An antenna 401, which is arranged on the top of the housing, is used to realize real-time communication and data transmission and reception between the buoy 3 and the shore;

[0083] A waterproof servo 402, which is disposed inside the housing and is used to drive the antenna 401 to rotate;

[0084] The transmission assembly 403 is connected to the antenna 401 and the waterproof steering engine 402 respectively, and is used to transmit the rotation of the waterproof steering engine 402 to the antenna 401, so that the antenna 401 rotates.

[0085] It can be understood that the antenna 401 is connected to the waterproof steering gear 402 located inside the buoy 3 through the transmission assembly 403. When the waterproof steering gear 402 rotates, it can drive the antenna 401 to rotate, ensuring effective communication with the shore base of the buoy 3.

[0086] In a specific embodiment, the rotation range of the antenna 401 is (-90°, 90°). The transmission component 403 may be a gear transmission component 403. In implementation, the type of the transmission component 403 may be determined according to actual conditions and is not specifically limited here. As long as the transmission component 403 can drive the antenna 401 to rotate when the waterproof servo 402 rotates, it will not be described in detail here.

[0087] The present invention is provided with a rotatable communication module 4 to ensure that the antenna 401 of the buoy 3 is perpendicular to the sea surface and extends out of the sea surface in different working modes, effectively realizing real-time communication and data transmission and reception between the buoy and the shore, thereby further realizing effective communication between the buoy 3 and the shore.

[0088] See also Figure 6 As shown, Figure 6 Schematic diagram of the structure of the buoyancy adjustment mechanism of an embodiment of the present invention; specifically, the buoyancy adjustment mechanism 6 includes:

[0089] The oil tank 601 is arranged in the dry compartment of the buoy 3 and is used to adjust the oil tank capacity according to the oil storage amount inside the buoy 3;

[0090] A wire displacement sensor 607, which is arranged on the side of the oil tank 601, and is used to collect the oil storage level in the oil tank 601 in real time;

[0091] The oil bag 602 is arranged in the wet tank of the buoy 3 and is connected to the hydraulic pump 604 and the solenoid valve 605 through the oil pipe 603, so as to change the volume of the oil bag 602 by sucking or discharging oil from the oil tank 601 through the drive of the hydraulic pump 604;

[0092] A hydraulic pump 604, which is connected to the oil tank 601 and the oil bag 602 through an oil pipe 603, respectively, and is used to drive the flow of oil in the oil pipe 603 to discharge the oil in the oil tank 601 into the oil bag 602, or to discharge the oil in the oil bag 602 into the oil tank 601;

[0093] The solenoid valve 605 is connected to the hydraulic pump 604 and is respectively connected to the oil tank 601 and the oil bag 602 through the oil pipe 603 to control the opening and closing of the oil pipe 603;

[0094] Among them, a plurality of openings 606 communicating with the outside are provided outside the dry compartment of the buoy 3 where the oil bladder 602 is located, so as to change the drainage volume of the buoy 3 when the volume of the oil bladder 602 changes.

[0095] It is understandable that the hydraulic pump 604 and the solenoid valve 605 can discharge or absorb oil, thereby changing the volume of the oil bag 602. At the same time, when the volume of the oil bag 602 changes (for example, the oil is pumped from the hydraulic pump 604 into the oil bag 602 through the hydraulic pump 604 to increase its volume, or the oil is returned from the oil bag 602 to the oil tank 601 through the solenoid valve 605 to reduce its volume), the buoyancy of the buoy 3 will change accordingly. The plurality of openings 606 allow the buoy 3 to discharge more water when the volume of the oil bag 602 increases, and to absorb more water when the volume of the oil bag 602 decreases, thereby jointly achieving the buoyancy adjustment of the buoy 3.

[0096] In a specific embodiment, the shape of the oil tank 601 is a corrugated compression shape, and the oil bladder 602 can be deformed. When the gravity of the buoy 3 is equal to the buoyancy of the buoy 3, the oil tank 601 and the oil bladder 602 each have half the oil volume. Through the displacement parameter of the pull-wire displacement sensor 607, the volume of the oil in the oil tank 601 can be determined as the product of the cross-sectional area of ​​the oil tank 601 and the displacement parameter, and then the buoyancy of the buoy 3 can be obtained. The number of the openings 606 ranges from 1 to 4, and preferably, the number of the openings 606 is 2; in implementation, the shape of the oil tank 601, the shape of the oil bladder 602 and the number of the openings 606 are determined according to actual conditions, and are not specifically limited here and will not be repeated.

[0097] See also Figure 7 As shown, Figure 7 Schematic diagram of the structure of the center of gravity adjustment mechanism of the embodiment of the present invention; specifically, the center of gravity adjustment mechanism 7 includes:

[0098] An internal support frame 14, which is fixedly connected to the inner wall of the dry cabin;

[0099] A lead screw 701, one end of which is connected to the internal support frame 14, and the other end of which is connected to the micro motor 702;

[0100] A micro motor 702, which is fixedly connected to the internal support frame 14 and is used to drive the lead screw 701 to rotate;

[0101] The power module 8 is sleeved on the lead screw 701 to move smoothly along the axis of the lead screw 701 under the drive of the micro motor 702, so as to adjust the center of gravity of the buoy 3 to a preset center of gravity.

[0102] It can be understood that the power module 8 also serves as a part of the center of gravity adjustment mechanism 7. The micro motor 702 drives the screw 701 to rotate, and relative movement is generated between the screw 701 and the screw 701 nut, thereby driving the power module 8 to move axially, thereby assisting in completing the center of gravity adjustment of the buoy 3.

[0103] In a specific embodiment, by controlling the movement of the center of gravity adjustment mechanism 7 multiple times, a relationship curve between the axial movement distance of the power module 8 and the center position of the corresponding buoy 3 can be obtained, which is defined as a center of gravity adjustment curve. The axial movement distance of the power module 8 can be obtained through the center of gravity adjustment curve and the preset center of gravity position, and then the corresponding movement amount of the micro motor 702 can be determined.

[0104] In implementation, the center of gravity adjustment curve can be constructed according to actual conditions, which is not specifically limited here and will not be elaborated.

[0105] Specifically, the first power group 101 and the second power group 102 are both arranged at the lower part of the buoy 3;

[0106] The first power group 101 includes two thrusters arranged on both sides of the outer shell of the buoy 3;

[0107] The second power group 102 includes two thrusters symmetrically arranged at the lower part of the internal support frame 14 .

[0108] In a specific embodiment, the power module 10 includes four thrusters, two thrusters in a group, and the two groups of thrusters are orthogonally distributed. The thrusters in the first power group 101 are arranged on both sides of the buoy 3, and the thrusters in the second power group 102 are all arranged at the lower part of the buoy 3 near the internal support frame 14.

[0109] On the other hand, the present invention provides a control method for a recoverable buoy 3 system of a modular underwater robot 1, specifically, comprising:

[0110] When the buoy working mode is to release the buoy 3 from the underwater robot 1 to the sea surface and communicate with the shore, the center of gravity adjustment mechanism determines the axial movement distance of the battery module 8 according to the center of gravity adjustment curve and the first center of gravity position, and controls the micro motor 702 to drive the lead screw 701 to drive the power module 8 to adjust the center of gravity position of the buoy 3 to the first center of gravity position;

[0111] The control module 9 determines the adjustment method of the power adjustment mechanism according to the posture information of the buoy 3 after adjusting the center of gravity and the preset posture, wherein:

[0112] If the control module 9 determines that the buoy 3 is not in the preset posture according to the posture information, the control module 9 adjusts the first speed of the first propeller and the second speed of the second propeller according to the current posture information of the buoy so that the buoy 3 is in the preset posture;

[0113] If the control module 9 determines that the posture of the buoy 3 is in a preset posture according to the posture information, the control module 9 controls the hydraulic pump 604 in the buoyancy adjustment mechanism 6 to discharge oil to increase the buoyancy of the buoy 3, and controls the first power group 101 to propel the buoy 3 according to the preset first propulsion speed to make the buoy 3 float.

[0114] In a specific embodiment, when the buoy 3 is not released, it remains relatively still with the underwater robot 1 as a part of the underwater robot 1. In this working condition, the two thrusters in the first power group 101 of the buoy 3 are controlled to act as an additional power source for the underwater robot 1 to assist the maneuvering of the underwater robot 1. When the buoy 3 needs to be released from the underwater robot 1 according to the operation requirements, after the buoy 3 is released, the center of gravity adjustment mechanism 7 is controlled to act, and the axial movement distance of the power module 8 is determined according to the center of gravity adjustment curve and the first center of gravity position, and then the corresponding movement amount of the micro motor 702 is determined, and the corresponding movement amount is the ratio of the axial movement distance to the pitch of the screw 701. The micro motor 702 moves according to the corresponding movement amount, and then adjusts the center of gravity position to the first center of gravity position.

[0115] The first propeller and the second propeller are propellers in the second power group 102. The control module 9 can adjust the first speed of the first propeller and the second speed of the second propeller according to the current posture information of the buoy 3 so that the buoy 3 is in a vertical upward posture. According to the current posture information of the buoy 3, the offset angle from the vertical upward posture is determined, and the first speed of the first propeller and the second speed of the second propeller are adjusted according to the offset angle. For example, assuming that the first propeller is a left propeller and the second propeller is a right propeller, and the offset angle is offset to the left, the speed of the first propeller is reduced and the speed of the second propeller is increased, so that the buoy 3 is offset to the right, and the posture is adjusted to a vertical upward posture. After the posture adjustment is completed, the hydraulic pump 604 discharges oil until the stored oil in the oil tank 601 is discharged to the oil bag 602. The control module 9 controls the action of the propeller in the first power group 101 to provide the buoy 3 with a floating speed. The value range of the preset first propulsion speed is 3m / s to 8m / s. Preferably, the preset first propulsion speed is 5m / s. Under the combined action of the first power group 101 and the buoyancy regulating mechanism, the buoy 3 floats up autonomously. When the buoy 3 is able to communicate with the shore, it is considered that the buoy 3 has completed the floating process.

[0116] In implementation, the corresponding action amount, the adjusted first speed, the adjusted second speed, and the preset first propulsion speed can be determined according to actual conditions, and are not specifically limited here and will not be repeated.

[0117] When the underwater robot 1 performs a task, the present invention releases the buoy 3 to the sea surface, acting as a communication relay station to communicate with the shore base, and adjusts the center of gravity position of the buoy 3 to the first center of gravity position, and adjusts the posture of the buoy 3 according to the posture information and the preset posture. Under the preset posture, the hydraulic pump 604 in the buoyancy adjustment mechanism 6 is controlled to discharge oil to increase the buoyancy of the buoy 3, and the buoy 3 is propelled through the coordinated action of the first power group 101 to make the buoy 3 float, thereby further ensuring stable data feedback and real-time command transmission between the buoy 3 and the shore base.

[0118] Specifically, when the buoy working mode is that the buoy 3 floats vertically on the sea surface in a static mode, the control module 9 determines whether the buoy 3 is in a preset posture according to the current posture information of the buoy 3, and determines the adjustment method of the first power group 101 and the second power group 102 according to the judgment result, wherein,

[0119] If the buoy 3 is not in the preset posture, the control module 9 determines the inclination angle of the buoy 3 according to the current posture information of the buoy 3, and adjusts the rotation speed of the two propellers in the first power group 101 according to the inclination angle to make the buoy 3 conform to the preset posture;

[0120] If the buoy 3 is in the preset posture, the control module 9 determines whether the position information meets the preset position range, and adjusts the rotation speed and propulsion direction of the two propellers in the second power group 102 according to the judgment result to return the buoy 3 to the preset position range.

[0121] It is understandable that when the buoy 3 floats to the sea surface according to the operation requirements and floats vertically on the sea surface in a static mode, when it is necessary to control the buoy 3 in a static mode for communication, the communication module 4 can be used to establish communication with the shore, and at the same time, the data transmission with the underwater robot 1 can be maintained through the cable 2. When the sea surface wind and waves act on the buoy 3, the buoy 3 may be tilted or shifted, resulting in a decrease in communication quality and data accuracy. Therefore, the first power group 101 and the second power group 102 can adjust the posture of the buoy 3. When the buoy 3 tilts to one side, the two thrusters in the first power group 101 are controlled to rotate differentially, and the control module 9 judges the posture of the buoy 3 according to the posture information and the preset posture. When the buoy 3 is in the preset posture (vertical upward posture), the first power group 101 stops moving. When the buoy 3 produces a displacement beyond the acceptable range, the second power group 102 is controlled to operate, and the control module 9 reads the position information of the GPS module 5 in real time and determines the position of the buoy 3. When the buoy 3 returns to the preset position and does not exceed the displacement within the acceptable range, the second power group 102 stops operating.

[0122] In a specific embodiment, the tilt angle of the buoy 3 is the roll angle and the pitch angle. The pitch angle is the tilt angle of the buoy 3 around its transverse axis (perpendicular to the bottom surface of the buoy 3 and parallel to the sea level). The first tangent value is the ratio of the measurement value of the accelerometer on the longitudinal axis (front-to-back direction) of the buoy 3 to the measurement value of the accelerometer on the vertical axis (up-down direction) of the buoy 3. The pitch angle can be calculated by the inverse tangent function. The roll angle is the tilt angle of the buoy 3 around its longitudinal axis (perpendicular to the bottom surface of the buoy 3 and perpendicular to the water surface). The second tangent value is the ratio of the measurement value of the accelerometer on the transverse axis (left-right direction) of the buoy 3 to the measurement value of the accelerometer on the vertical axis (up-down direction) of the buoy 3. The roll angle can be calculated by the inverse tangent function. The rotation speed of the two thrusters in the first power group 101 is adjusted according to the tilt angle so that the posture of the buoy 3 conforms to the vertical posture. At the same time, the control module 9 can determine whether the position information conforms to the preset position range, with the initial position of the buoy 3 after rising to the water surface as the center of the circle and a radius of 10cm to 20cm, preferably, the radius is 12cm, which is the preset position range; when it does not conform, adjust the rotation speed of the two propellers in the second power group 102 to make the buoy 3 return to the preset position range.

[0123] When the buoy 3 floats vertically on the sea surface in a static mode, the present invention adjusts the attitude of the buoy 3 by controlling the differential action of the two propellers in the first power group 101 to prevent the buoy 3 from tilting. At the same time, when the buoy 3 is displaced, the buoy 3 can be positioned by controlling the action of the second power group 102. Thus, the buoy 3 can be further protected from the interference of wind and waves on the sea surface, and vertical floating and positioning can be achieved, thereby further ensuring stable data feedback and real-time command transmission between the buoy 3 and the shore.

[0124] Specifically, when the buoy working mode is that the buoy 3 and the underwater robot 1 move in the same direction and at the same speed, the control module determines the adjustment method of the power module 10 according to the comparison result of the heading information of the underwater robot 1 and the posture information of the buoy 3, wherein:

[0125] If the heading information is consistent with the posture information, the control module 9 controls the first power group 101 to propel the buoy 3 according to the speed information of the buoy 3 and the speed information of the underwater robot 1, and the control module 9 controls the buoy 3 to stop moving according to the preset operation point position of the underwater robot 1 and the position information of the underwater robot 1;

[0126] If the heading information and the attitude information are inconsistent, the control module 9 determines the yaw direction of the buoy 3 according to the heading information and the attitude information, determines the yaw moment of the buoy 3 according to the first torque of the first power group 101 and the second torque of the second power group 102, and corrects the heading of the buoy 3 according to the yaw direction and the yaw moment.

[0127] It can be understood that when the buoy 3 is switched to the power mode according to the operational requirements, the power module 10 is started, and the buoy 3 and the underwater robot 1 move forward in coordination at the same speed, and can continue to play a communication relay role during the cruising process of the underwater robot 1 and monitor the status information of the underwater robot 1 in real time.

[0128] In a specific embodiment, the buoy 3 reads the heading information of the underwater robot 1. The control module 9 of the buoy 3 reads the attitude information and determines the heading of the buoy 3 according to the attitude information of the buoy 3. Since the attitude information of the buoy 3 will be affected by the interference of the earth's magnetic field, resulting in errors in the heading angle information, the heading angle in the attitude information is converted into a magnetic heading angle, which is used to represent the angle of the buoy 3 relative to the geographic North Pole. Then, it is determined whether the heading of the buoy 3 is consistent with the heading of the underwater robot 1. If they are consistent, there is no need to adjust the heading of the buoy 3; if they are inconsistent, the first power group 101 and the second power group 102 of the buoy 3 are controlled to act together to synthesize the torque in the yaw direction, thereby correcting the heading of the buoy 3. The control module 9 determines the yaw direction of the buoy 3 according to the heading information and the magnetic heading angle. The yaw direction can be determined according to the positive or negative of the yaw angle. For example, if the heading of the buoy 3 is clockwise relative to the heading of the underwater robot 1, the yaw direction is clockwise and the yaw angle is greater than 0; if it is counterclockwise, the yaw direction is counterclockwise and the yaw angle is less than 0. The yaw angle is the difference between the heading angle of the buoy 3 and the heading of the underwater robot 1. The yaw moment of the buoy 3 is determined according to the first torque of the first power group 101 and the second torque of the second power group 102. The first torque is the product of the total thrust of the first power group 101 and the distance between the total thrust and the center of mass of the buoy 3. The second torque is the product of the total thrust of the second power group 102 and the distance between the total thrust and the center of mass of the buoy 3. In an underwater environment, because the influence of water flow and buoyancy is mainly in the horizontal direction, the yaw moment is the square root of the sum of the square of the first moment and the square of the second moment. The heading of the buoy 3 is corrected according to the yaw direction and the yaw moment.

[0129] At the same time, when the heading of the buoy 3 is consistent with the heading of the underwater robot 1, the buoy 3 and the underwater robot 1 are controlled to move forward at the same speed, and forward thrust can be achieved by controlling the two propellers in the first power group 101 of the buoy 3 to rotate at the same speed. When the position information of the underwater robot 1 is the preset operation point position, the control module 9 controls the buoy 3 to stop moving.

[0130] In implementation, the position of the preset operation point can be determined according to the specific working scene of the underwater robot 1, which is not specifically limited here and will not be repeated.

[0131] When the underwater robot 1 performs a cruising operation, the present invention switches the buoy 3 to a power mode and moves forward in coordination with the underwater robot 1 at the same speed, compares the heading information with the attitude information, determines the yaw direction of the buoy 3 and the yaw moment according to the comparison result, and controls the buoy 3 to stop moving according to the preset operation point position and the position information of the underwater robot 1. This facilitates the buoy 3 to achieve coordinated movement and real-time communication with the underwater robot 1 at the same speed through the power module 10 carried by the buoy 3, improves the reliability and flexibility of the buoy 3 system, and ensures that the underwater robot 1 completes various operations efficiently.

[0132] Specifically, when the buoy working mode is that the buoy 3 switches from the static mode to the power mode or from the power mode to the static mode, the control module 9 opens the solenoid valve 605 to adjust the center of gravity position to the center of gravity position of the corresponding mode, and determines the adjustment method of the buoyancy adjustment mechanism 6, the center of gravity adjustment mechanism 7, and the power module 10 according to the comparison result between the buoy depth and the preset first depth during the center of gravity adjustment process;

[0133] If the buoy depth is equal to the preset first depth, the control module 9 closes the solenoid valve 605, determines the axial displacement of the buoy 3, and controls the buoyancy adjustment mechanism 6 to perform fixed depth control according to the axial displacement and the preset offset distance;

[0134] If the axial displacement is less than the preset offset distance and the buoy working mode is when the buoy 3 switches from the static mode to the power mode, the control module 9 adjusts the center of gravity position of the buoy 3 to the second center of gravity position, controls the differential rotation of the first power group 101, and determines the differential rotation stop timing of the first power group 101 according to the preset first tilt angle and the preset first rotation angle;

[0135] If the axial displacement is less than the preset offset distance and the buoy working mode is when the buoy 3 switches from the power mode to the static mode, the control module 9 controls the differential rotation of the first power group 101, determines the differential rotation stop timing of the first power group 101 according to the preset second inclination angle and the preset second rotation angle, and adjusts the center of gravity position of the buoy 3 to the first center of gravity position at the differential rotation stop timing.

[0136] In a specific embodiment, the preset first depth is 1 / 2 of the length of the buoy 3 excluding the communication module 4, the preset offset distance has a value range of 10 cm to 20 cm, preferably, the preset offset distance has a value range of 15 cm, the preset first tilt angle is 45°, the preset second tilt angle is -45°, the preset first rotation angle is 90°, and the preset second rotation angle is -90°. In implementation, the value ranges and preferred values ​​of the preset first depth, the preset offset distance, the preset first tilt angle, the preset second tilt angle, the preset first rotation angle, and the preset second rotation angle can be determined according to actual conditions, and are not specifically limited here, and will not be repeated.

[0137] In a specific embodiment, according to the operation requirements, controlling the buoy 3 to switch from the static mode to the power mode includes the following steps:

[0138] S11, the control module 9 opens the solenoid valve 605 to return oil, and sucks the oil in the oil bag 602 back to the oil tank 601 to reduce the buoyancy of the buoy 3 until the buoyancy of the buoy 3 is less than the gravity of the buoy 3, so that the buoy 3 begins to sink. When the buoy depth is the preset first depth, the solenoid valve 605 is closed; it is ensured that the axial displacement of the buoy 3 is less than the preset offset distance to achieve fixed depth control. At this time, the buoy 3 is stable below the sea surface.

[0139] S12, the control module 9 adjusts the center of gravity of the buoy 3 to the second center of gravity, determines the axial movement distance of the power module 8 through the center of gravity adjustment curve and the second center of gravity, and then determines the corresponding movement amount of the micro motor 702. During the execution process, the micro motor 702 drives the lead screw 701 to rotate, driving the power module 8 to move smoothly along the axis direction of the lead screw 701.

[0140] S13, the control module 9 controls the first power group 101 to rotate at a differential speed, so that the buoy 3 tilts, and the tilt direction of the buoy 3 depends on the forward direction of the underwater robot 1. In this process, the tilt angle can be adjusted by adjusting the speed of the two propellers in the first power group 101, so that the tilt angle is 45°, and the first power group 101 stops working;

[0141] S14, the antenna 401 rotates based on the first rotation angle of 90°, extends out of the sea surface, and maintains communication and data transmission with the shore;

[0142] S15, control the differential rotation of the first power group 101 again to tilt the buoy 3. The tilting direction is consistent with that in S13, and the tilting angle is 45°. The buoy 3 tilts to a horizontal state again, and the first power group 101 stops moving.

[0143] S16, controlling the hydraulic pump 604 to operate, opening the oil drain passage to drain all the oil in the oil tank 601 into the oil bag 602.

[0144] In a specific embodiment, according to the operation requirements, the control buoy 3 is switched from the power mode to the static mode, including the following steps:

[0145] S21: The control module 9 opens the solenoid valve 605 to return oil, and sucks the oil in the oil bag 602 back to the oil tank 601 to reduce the buoyancy of the buoy 3 until the buoyancy of the buoy 3 is less than the gravity of the buoy 3, so that the buoy 3 begins to sink. When the buoy depth is the preset first depth, the solenoid valve 605 is closed; ensuring that the axial displacement of the buoy 3 is less than the preset offset distance, fixed depth control is achieved. At this time, the buoy 3 is stable below the sea surface.

[0146] S22: The control module 9 controls the first power group 101 to rotate at a differential speed, so that the buoy 3 tilts, and the tilt direction of the buoy 3 depends on the forward direction of the underwater robot 1. In this process, the tilt angle can be adjusted by adjusting the speed of the two propellers in the first power group 101, so that the tilt angle is -45°, and the first power group 101 stops working;

[0147] S23: The antenna 401 rotates based on a second rotation angle of -90°, extends out of the sea surface, and maintains communication and data transmission with the shore;

[0148] S24: Control the differential rotation of the first power group 101 again to tilt the buoy 3. The tilting direction is consistent with that in S23. The tilting angle is -45°. The buoy 3 tilts to a vertical state again. At this time, the first power group 101 stops moving.

[0149] S25, the control module 9 adjusts the center of gravity of the buoy 3 to the first center of gravity, determines the axial movement distance of the power module 8 through the center of gravity adjustment curve and the first center of gravity, and then determines the corresponding movement amount of the micro motor 702. During the execution process, the micro motor 702 drives the lead screw 701 to rotate, driving the power module 8 to move smoothly along the axis direction of the lead screw 701.

[0150] S26: Control the hydraulic pump 604 to operate, open the oil drain line to discharge all the oil in the oil tank 601 into the oil bag 602, so as to increase the buoyancy of the buoy 3 and make it float to the sea surface.

[0151] When switching between the power mode and the static mode of the buoy 3, the present invention controls the solenoid valve 605 to return oil, and during the oil return process, determines the adjustment method of the buoyancy adjustment mechanism 6, the center of gravity adjustment mechanism 7, and the power module 10 according to the comparison result between the buoy depth and the preset first depth, thereby realizing the free switching of the power mode and the static mode, avoiding the problem that the power module 10 cannot provide power due to the switching of the working state, further improving the reliability and flexibility of the buoy 3 system, and ensuring that the underwater robot 1 can complete various tasks efficiently.

[0152] Specifically, when the buoy working mode is that the underwater robot 1 recovers the buoy 3, the buoyancy of the buoy 3 is reduced by controlling the battery valve in the buoyancy adjustment mechanism 6 to return oil. At the same time, the control module 9 determines the adjustment method of the power module 10 and the adjustment module according to the comparison result between the buoy depth and the preset second depth.

[0153] If the buoy depth is less than the preset second depth, the control module 9 determines the sinking distance according to the buoy depth and the preset depth, and the buoy 3 sinks according to the sinking distance;

[0154] If the buoy depth is equal to the preset second depth, the buoyancy adjustment mechanism 6 is controlled to perform fixed depth control, and the center of gravity adjustment mechanism determines the axial movement distance according to the center of gravity adjustment curve and the second center of gravity position, and the power module 8 moves according to the axial movement distance to adjust the center of gravity position of the buoy 3 to the second center of gravity position.

[0155] It is understandable that, according to the operation requirements, the buoy 3 is recovered to the underwater robot 1. After the underwater robot 1 completes the operation, it will start the automatic return process without the need for real-time communication with the buoy 3. In this case, in order to reduce the water resistance and potential damage to the cable 2 during the return process, the buoy 3 needs to be recovered to the underwater robot 1, so the oil is returned through the solenoid valve 605, the oil suction path is opened, and the oil in the oil bag 602 is sucked back to the oil tank 601. The buoy 3 sinks because its own gravity is greater than the buoyancy.

[0156] In a specific embodiment, when the buoy 3 is sunk and recovered, the buoy 3 reads the buoy depth of the underwater robot 1 through the cable 2 as the preset second depth. If the buoy depth is less than the preset second depth, the sinking distance is the difference between the preset second depth and the buoy depth of the buoy 3. The buoy 3 sinks according to the sinking distance. When the buoy depth is equal to the depth of the underwater robot 1, the oil discharge circuit and the oil return circuit of the buoyancy adjustment mechanism 6 are controlled to act together to perform depth control so that the buoy depth is equal to the depth of the underwater robot 1. Subsequently, the center of gravity adjustment mechanism determines the axial movement distance of the power module 8 according to the center of gravity adjustment curve and the second center of gravity position, so that the center of gravity of the buoy 3 moves up to the second center of gravity position, so as to achieve posture adjustment. When the underwater robot 1 detects that the buoy 3 is set in depth, the recovery device in the cabin of the underwater robot 1 is activated, and the buoy 3 is adjusted to a horizontal posture by the tension of the cable 2 and recovered to the tail of the cabin of the underwater robot 1.

[0157] When the present invention recovers the buoy 3, the battery valve in the buoyancy adjustment mechanism 6 is used to return oil to reduce the buoyancy of the buoy 3, and the buoy depth and the preset second depth are determined, so that the buoy 3 can sink to the position of the underwater robot 1. At the same time, the buoyancy adjustment mechanism 6 is used to control the depth and adjust the center of gravity to the second center of gravity, so as to facilitate the recovery of the underwater robot 1. The reliability and flexibility of the buoy 3 system are improved to ensure that the underwater robot 1 can complete various operations efficiently.

[0158] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A recoverable buoy system for a modular underwater robot, comprising an underwater robot and a buoy, characterized in that: The underwater robot and the buoy are connected by a cable; wherein the buoy comprises: A shell, wherein a dry tank and a wet tank are arranged inside, wherein the wet tank is connected to the external environment; A communication module, which is arranged in a dry compartment in the shell of the buoy, and is used to realize real-time communication and data transmission and reception between the buoy and a shore-based receiving terminal; A collection module, which is arranged in the housing, includes a positioning component for obtaining position information of the buoy, a speed measuring component for obtaining speed information of the buoy, a depth measuring device for obtaining a buoy depth of the buoy, and a posture acquisition component for obtaining posture information of the buoy; an adjusting module, which is arranged in the housing and connected to the collecting module, and includes a buoyancy adjusting mechanism and a center of gravity adjusting mechanism, wherein the buoyancy adjusting mechanism is used to adjust the opening and closing action of the electromagnetic valve according to the depth of the buoy to adjust the buoyancy of the buoy, and the center of gravity adjusting mechanism is used to adjust the center of gravity position of the buoy according to a preset center of gravity position and a center of gravity adjustment curve, wherein the preset center of gravity position includes a first center of gravity position and a second center of gravity position; A power module, which is connected to the housing and the collection module respectively, and includes a first power group for propelling the buoy along a first direction, and a second power group for propelling the buoy along a second direction; a control module, connected to the adjustment module, the acquisition module, the power module and the communication module, respectively, for determining an adjustment method for the buoyancy adjustment mechanism according to a buoy working mode, a comparison result between the depth data and a preset first depth, and a comparison result between the depth data and a preset second depth, determining an adjustment method for the center of gravity adjustment mechanism according to a preset center of gravity position, a center of gravity adjustment curve and a buoy working mode, and determining an adjustment method for the power module according to the buoy attitude information, a preset attitude, a comparison result between the heading information and the attitude information of the underwater robot and the buoy working mode; The power supply module is respectively connected with the communication module, the acquisition module, the adjustment module, the power module and the control module to supply power to the electrical components in the buoy.

2. The recoverable buoy system for a modular underwater robot according to claim 1, characterized in that: The communication module comprises: An antenna, which is arranged on the top of the housing and is used to realize real-time communication and data transmission and reception between the buoy and the shore base; A waterproof steering gear, which is arranged inside the housing and is used to drive the antenna to rotate; The transmission assembly is connected to the antenna and the waterproof steering gear respectively, and is used to transmit the rotation of the waterproof steering gear to the antenna so as to rotate the antenna.

3. The recoverable buoy system for a modular underwater robot according to claim 2, characterized in that: The buoyancy adjustment mechanism comprises: The oil tank is arranged in the dry compartment of the buoy and is used to adjust the oil tank capacity according to the oil storage amount inside the buoy; A wire displacement sensor is arranged on the side of the oil tank to collect the oil storage level in the oil tank in real time; An oil bag is arranged in the buoy wet tank and is connected to the hydraulic pump and the solenoid valve through oil pipes respectively, so as to change the volume of the oil bag by sucking or discharging oil from the oil tank through the drive of the hydraulic pump; A hydraulic pump, which is connected to the oil tank and the oil bag through oil pipes, respectively, and is used to drive the flow of oil in the oil pipes to discharge the oil in the oil tank into the oil bag, or to discharge the oil in the oil bag into the oil tank; A solenoid valve connected to the hydraulic pump and respectively connected to the oil tank and the oil bag through oil pipes to control the opening and closing of the oil pipes; Among them, the outside of the dry tank of the buoy where the oil bag is located is provided with a plurality of openings which are connected to the outside, so as to change the drainage volume of the buoy by changing the volume of the oil bag.

4. The recoverable buoy system for a modular underwater robot according to claim 3, characterized in that: The center of gravity adjustment mechanism comprises: An internal support frame fixedly connected to the inner wall of the dry cabin; A lead screw, one end of which is connected to the internal support frame, and the other end of which is connected to the micro motor; A micro motor, which is fixedly connected to the internal support frame and is used to drive the lead screw to rotate; Wherein, the power supply module is sleeved on the lead screw and is used to move along the lead screw axis direction under the drive of the micro motor so as to adjust the center of gravity position of the buoy to a preset center of gravity position.

5. The recoverable buoy system for a modular underwater robot according to claim 4, characterized in that: The first power group and the second power group are both arranged at the lower part of the buoy; Wherein, the first power group includes two thrusters arranged oppositely on both sides of the outer shell of the buoy; The second power group includes two thrusters symmetrically arranged at the lower part of the internal support frame.

6. A control method for a recoverable buoy, which is applied to the recoverable buoy system for a modular underwater robot as claimed in any one of claims 1 to 5, characterized in that: include: When the buoy working mode is to release the buoy from the underwater robot to the sea surface and communicate with the shore, the center of gravity adjustment mechanism determines the axial movement distance of the battery module according to the center of gravity adjustment curve and the first center of gravity position, and controls the micro motor to drive the lead screw to drive the power module to move so as to adjust the center of gravity position of the buoy to the first center of gravity position; The control module determines the adjustment method of the power adjustment mechanism according to the attitude information of the buoy after adjusting the center of gravity and the preset attitude, wherein: If the control module determines that the buoy attitude is not in the preset attitude according to the attitude information, the control module adjusts the first speed of the first propeller and the second speed of the second propeller according to the current attitude information of the buoy so that the buoy attitude is in the preset attitude; If the control module determines that the buoy posture is in a preset posture according to the posture information, the control module controls the hydraulic pump in the buoyancy adjustment mechanism to discharge oil to increase the buoyancy of the buoy, and controls the first power group to propel the buoy according to a preset first propulsion speed to make the buoy float.

7. The control method for a recoverable buoy system of a modular underwater robot according to claim 6, characterized in that: Also includes: When the buoy working mode is that the buoy floats vertically on the sea surface in a static mode, the control module determines whether the buoy attitude is in a preset attitude according to the current attitude information of the buoy, and determines the adjustment method of the first power group and the second power group according to the judgment result, wherein, If the buoy attitude is not in the preset attitude, the control module determines the inclination angle of the buoy according to the current attitude information of the buoy, and adjusts the rotation speeds of the two propellers in the first power group according to the inclination angle so that the buoy attitude meets the preset attitude; If the buoy posture is in a preset posture, the control module determines whether the position information meets the preset position range, and adjusts the rotation speed and propulsion direction of the two propellers in the second power group according to the judgment result to make the buoy return to the preset position range.

8. The control method for a recoverable buoy system of a modular underwater robot according to claim 6, characterized in that: Also includes: When the buoy working mode is that the buoy and the underwater robot move in the same direction and at the same speed, the control module determines the adjustment method of the power module according to the comparison result between the heading information of the underwater robot and the posture information of the buoy, wherein: If the heading information is consistent with the posture information, the control module controls the first power group to propel the buoy according to the speed information of the buoy and the speed information of the underwater robot, and the control module controls the buoy to stop moving according to the preset operation point position of the underwater robot and the position information of the underwater robot; If the heading information and the attitude information are inconsistent, the control module determines the yaw direction of the buoy according to the heading information and the attitude information, determines the yaw moment of the buoy according to the first torque of the first power group and the second torque of the second power group, and corrects the buoy heading according to the yaw direction and the yaw moment.

9. The control method for a recoverable buoy system of a modular underwater robot according to claim 6, characterized in that: It also includes that when the buoy working mode is that the buoy switches from the static mode to the power mode or switches from the power mode to the static mode, the control module opens the solenoid valve to adjust the center of gravity position to the center of gravity position of the corresponding mode, and during the center of gravity adjustment process, the adjustment method of the buoyancy adjustment mechanism, the center of gravity adjustment mechanism, and the power module is determined according to the comparison result between the buoy depth and the preset first depth; If the buoy depth is equal to the preset first depth, the control module closes the solenoid valve, determines the axial displacement of the buoy, and controls the buoyancy adjustment mechanism to perform fixed depth control according to the axial displacement and the preset offset distance; If the axial displacement is less than the preset offset distance and the buoy working mode is when the buoy switches from the static mode to the power mode, the control module adjusts the center of gravity position of the buoy to the second center of gravity position, controls the differential rotation of the first power group, and determines the differential rotation stop timing of the first power group according to the preset first tilt angle and the preset first rotation angle; If the axial displacement is less than the preset offset distance and the buoy working mode is when the buoy switches from power mode to static mode, the control module controls the differential rotation of the first power group, determines the differential rotation stop timing of the first power group according to the preset second inclination angle and the preset second rotation angle, and adjusts the center of gravity position of the buoy to the first center of gravity position at the differential rotation stop timing.

10. The control method for a recoverable buoy system of a modular underwater robot according to claim 6, characterized in that: When the working mode of the buoy is that the underwater robot recovers the buoy, the buoyancy of the buoy is reduced by controlling the battery valve in the buoyancy adjustment mechanism to return oil. At the same time, the control module determines the adjustment method of the power module and the adjustment module according to the comparison result between the buoy depth and the preset second depth. Wherein, if the buoy depth is less than the preset second depth, the control module determines the sinking distance according to the buoy depth and the preset depth, and the buoy sinks according to the sinking distance; If the buoy depth is equal to the preset second depth, the buoyancy adjustment mechanism is controlled to perform fixed depth control, and the center of gravity adjustment mechanism determines the axial movement distance according to the center of gravity adjustment curve and the second center of gravity position, and the power module moves according to the axial movement distance to adjust the center of gravity position of the buoy to the second center of gravity position.

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