A Recyclable Buoy System and Control Method for Modular Underwater Robots

Abstract

The present invention relates to the field of robot communication control technology, and in particular to a recoverable buoy system and control method for a modular underwater robot. The buoy comprises: a shell, a communication module, a collection module, and an adjustment module comprising a buoyancy adjustment mechanism and a center of gravity adjustment mechanism. The buoyancy adjustment mechanism adjusts the buoyancy by adjusting the action of an electromagnetic valve according to the depth of the buoy, and the center of gravity adjustment mechanism adjusts the center of gravity position according to a preset center of gravity position and a center of gravity adjustment curve. The power module comprises a first power group and a second power group. The control module is used to determine the adjustment method for the buoyancy adjustment mechanism and the adjustment method for the center of gravity adjustment mechanism, and to determine the adjustment method for the power module. The power module realizes effective positioning, flexible release and recovery of the buoy, and promotes synchronous coordinated movement and real-time communication between the buoy and the underwater robot.

Description

Technical Field

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

[0002] With my country's development and utilization of marine resources, carriers for marine exploration 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 systems 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 their movement paths are uncontrollable and difficult to recover. In addition, the existing technology also involves powered buoys, but these buoys have a single operating posture and cannot meet the needs of various working 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 systems 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 still 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 control method for a modular underwater robot, so as to overcome the problems of the prior art buoy system such as a single working mode, great recovery difficulty and poor passage stability.

[0005] To achieve the above objectives, in one aspect, 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 provided inside the shell, wherein the wet tank is connected to the external environment;

[0007] a communication module, which is disposed in a dry compartment within the housing of the buoy and is used to implement real-time communication and data transmission and reception between the buoy and a shore-based receiving terminal;

[0008] an acquisition module, disposed within the housing, comprising a positioning component for acquiring position information of the buoy, a speed measuring component for acquiring speed information of the buoy, a depth measuring device for acquiring a buoy depth of the buoy, and a posture acquisition component for acquiring posture information of the buoy;

[0009] an adjustment module disposed within the housing and connected to the acquisition module, comprising a buoyancy adjustment mechanism and a center of gravity adjustment mechanism, wherein the buoyancy adjustment mechanism is configured to adjust the opening and closing of the electromagnetic valve according to the depth of the buoy to adjust the buoyancy of the buoy, and the center of gravity adjustment mechanism is configured 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, connected to the housing and the collection module, respectively, comprising a first power group for propelling the buoy in a first direction, and a second power group for propelling the buoy in a second direction;

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

[0012] A power supply module is connected to the communication module, acquisition module, regulation module, power module and control module respectively, and is used to supply power to the electrical components in the buoy;

[0013] Furthermore, the communication module includes:

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

[0015] a waterproof servo, which is disposed 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 includes:

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

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

[0020] An oil bag is arranged in the wet tank of the buoy and is connected to a hydraulic pump and a solenoid valve through oil pipes, 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 is connected to the oil tank and the oil bladder through oil pipes, and is used to drive the flow of oil in the oil pipes to discharge the oil in the oil tank into the oil bladder, or to discharge the oil in the oil bladder into the oil tank;

[0022] A solenoid valve connected to the hydraulic pump and 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 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, fixedly connected to the internal support frame, for driving the lead screw to rotate;

[0028] The power supply module is sleeved on the lead screw and is used to move along the lead screw axis under the drive of the micro motor, so that the center of gravity position of the buoy is adjusted 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;

[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 is in an operating mode of releasing the buoy from the underwater robot to the sea surface and communicating with a shore base, the center of gravity adjustment mechanism determines the axial movement distance of the power 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 module 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 posture is not in the preset posture according to the posture information, the control module 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 posture is in the preset posture;

[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 the preset first propulsion speed to make the buoy float up.

[0037] Furthermore, when the buoy working mode is that the buoy floats vertically on the sea surface in a stationary 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 tilt angle of the buoy according to the current attitude information of the buoy, and adjusts the rotation speed of the two propellers in the first power group according to the tilt angle so that the buoy attitude conforms to 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 of 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 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 operating mode is switched from a static mode to a powered mode or from a powered mode to a 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, 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;

[0044] If the buoy depth is equal to a 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 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 operating mode is switched from a static mode to a powered mode, the control module adjusts the center of gravity of the buoy to a second center of gravity position, controls the differential rotation of the first power group, and determines a stopping time of the differential rotation of the first power group according to a preset first tilt angle and a 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 buoy working mode is that the underwater robot recovers the buoy, the buoyancy of the buoy is reduced by controlling the solenoid 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.

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

[0049] If the depth of the buoy 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. 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 scenario, realizing the effective positioning, flexible release and recovery of the buoy, effective communication between the buoy and the shore, and the synchronous 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 the 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 the posture information and the 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 static mode, the present invention controls the differential speed of the two propellers in the first power unit to adjust the buoy's attitude and prevent the buoy from tilting. Simultaneously, when the buoy shifts, the second power unit can be controlled to maintain the buoy's position. This further protects the buoy from disturbances from wind and waves, achieving vertical floating and positioning, and further ensuring stable data feedback and real-time command transmission between the buoy and the shore.

[0053] Furthermore, when the underwater robot is performing a cruising operation, the present invention switches the buoy to a power mode, moving forward in coordination with the underwater robot at the same speed. The buoy's heading information is compared with its attitude information, and based on the comparison results, the buoy's yaw direction and yaw torque are determined to correct the buoy's heading. Simultaneously, the buoy and the underwater robot are controlled to stop moving based on the preset operating point and the underwater robot's position information. This facilitates the buoy's synchronized movement and real-time communication with the underwater robot through its own power module, improving the reliability and flexibility of the buoy system and ensuring that the underwater robot can efficiently complete various operations.

[0054] Furthermore, when the buoy is switched between the power mode and the static mode, the present invention controls the solenoid valve to return oil, and during the oil return process, determines the adjustment method of the buoyancy adjustment mechanism, the center of gravity adjustment mechanism, and the power module based on the comparison result between the buoy depth and the preset first depth, thereby realizing the free switching between 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 recovering the buoy, the present invention returns oil through the solenoid valve in the buoyancy adjustment mechanism to reduce the buoy's buoyancy. Simultaneously, the buoy's depth is determined to be greater than a preset second depth, allowing the buoy to sink to the position of the underwater robot. Simultaneously, the buoyancy adjustment mechanism maintains depth control and adjusts the buoy's center of gravity to the second position, facilitating recovery by the underwater robot. This improves the reliability and flexibility of the buoy system, ensuring that the underwater robot can efficiently complete various operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 This is 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 structural diagram of a communication module according to an embodiment of the present invention;

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

[0062] Figure 7 This is a structural 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 housing; 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 merely used to explain the present invention and are not intended 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 scope of protection 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 accompanying drawings. This is only 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] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0068] See also Figures 1 to 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 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 retrievable 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 provided inside the shell, wherein the wet tank is connected to the external environment;

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

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

[0073] an adjustment module, disposed within the housing and connected to the acquisition module, comprising a buoyancy adjustment mechanism 6 and a center of gravity adjustment mechanism 7, wherein the buoyancy adjustment mechanism 6 is configured to adjust the opening and closing 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 adjustment mechanism 7 is configured 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 connected to the housing and the acquisition module, respectively, comprising a first power group 101 for propelling the buoy 3 in a first direction, and a second power group 102 for propelling the buoy 3 in a second direction;

[0075] a control module 9, connected to the adjustment module, acquisition module, power module 10, and communication module 4, respectively, for determining an adjustment method for the buoyancy adjustment mechanism 6 based on the buoy operating mode, a comparison result of the depth data with a preset first depth, and a comparison result of the depth data with a preset second depth; determining an adjustment method for the center of gravity adjustment mechanism 7 based on a preset center of gravity position, a center of gravity adjustment curve, and the buoy operating mode; and determining an adjustment method for the power module 10 based on attitude information of the buoy 3, a preset attitude, a comparison result of the heading information of the underwater robot 1 with the attitude information, and the buoy operating mode;

[0076] A power supply 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, and is used to supply power to the electrical components in the buoy 3;

[0077] In a specific embodiment, the outer shell of buoy 3 is made of a waterproof and corrosion-resistant material, preferably fiberglass reinforced plastic. The upper and lower ends are streamlined with a tapered design to reduce water flow resistance and improve fluid dynamics. The middle portion is a cylindrical structure to ensure overall stability and structural strength. The material and shape of the outer shell of buoy 3 can be determined based on actual conditions and are not specifically limited here or further described.

[0078] In a specific embodiment, a control module 9 is disposed within the buoy 3 and enables real-time communication and data transmission and reception with the underwater robot 1 and the shore base via the cable 2 and the communication module 4, respectively. The power module 8 is comprised of multiple battery cells. The positioning component in the acquisition module, used to obtain the position information of the buoy 3, may be a GPS module 5, disposed within the buoy 3 and connected to the control module 9. The velocity measurement component, used to obtain the velocity information of the buoy 3, may be a Doppler velocimeter 12, disposed outside the central housing 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, may be an inertial navigation system 11, disposed within the buoy 3 and connected to the control module 9. The depth measurement device, used to obtain the buoy 3's depth, may be a depth gauge 13, disposed in the plane of the buoy 3's center of buoyance (excluding the communication module 4) and connected to the control module 9. Its end face is exposed on the buoy 3's housing to detect water pressure and thereby determine the buoy's depth. In implementation, the installation positions of the control module 9, power module, and acquisition module, as well as the control device in the corresponding control module 9, the type of power module, and the types of devices involved in the positioning component, speed measurement component, attitude acquisition component, and depth measurement device in the acquisition module can be determined according to actual conditions. No specific restrictions are made here and they will not be repeated.

[0079] In a specific embodiment, the first center of gravity is at the bottom of the buoy 3, the second center of gravity is at 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 supply 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 action of the solenoid valve 605 according to the collected buoy depth, 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 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 3, effective communication between the buoy 3 and the shore base, and the synchronous 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 an embodiment of the present invention; specifically, the communication module 4 includes:

[0082] Antenna 401, 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 3 and the shore;

[0083] a waterproof servo 402 disposed inside the housing and configured to drive the antenna 401 to rotate;

[0084] The transmission assembly 403 is connected to the antenna 401 and the waterproof servo 402 respectively, and is used to transmit the rotation of the waterproof servo 402 to the antenna 401 so as to rotate the antenna 401.

[0085] It can be understood that the antenna 401 is connected to the waterproof servo 402 located inside the buoy 3 through a transmission assembly 403. When the waterproof servo 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 antenna 401 is (-90°, 90°). The transmission assembly 403 may be a gear transmission assembly 403. The type of transmission assembly 403 can be determined based on practical circumstances and is not specifically limited herein. As long as the transmission assembly 403 can drive the antenna 401 to rotate when the waterproof servo 402 rotates, the details will not be elaborated 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 provided 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 is provided on the side of the oil tank 601 to collect the oil level in the oil tank 601 in real time;

[0091] The oil bladder 602 is disposed 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. The oil bladder 602 is driven by the hydraulic pump 604 to suck or discharge oil from the oil tank 601 to change the volume of the oil bladder 602.

[0092] a hydraulic pump 604 connected to the oil tank 601 and the oil bladder 602 via an oil pipe 603 , for driving the flow of oil in the oil pipe 603 to discharge the oil in the oil tank 601 into the oil bladder 602 , or to discharge the oil in the oil bladder 602 into the oil tank 601 ;

[0093] a solenoid valve 605 connected to the hydraulic pump 604 and 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 on the outside of the dry compartment of the buoy 3 where the oil sac 602 is located, so as to change the drainage volume of the buoy 3 when the volume of the oil sac 602 changes.

[0095] It will be appreciated that the hydraulic pump 604 and solenoid valve 605 can be used to drain or draw oil, thereby changing the volume of the oil bladder 602. Furthermore, when the volume of the oil bladder 602 changes (for example, by pumping oil from the hydraulic pump 604 into the oil bladder 602 to increase its volume, or by returning oil from the oil bladder 602 to the oil tank 601 via the solenoid valve 605 to decrease its volume), the buoyancy of the float 3 will change accordingly. The plurality of openings 606 allow the float 3 to drain more water when the volume of the oil bladder 602 increases, and to draw more water when the volume of the oil bladder 602 decreases, thereby adjusting the buoyancy of the float 3.

[0096] In one specific embodiment, the oil tank 601 is shaped like a corrugated compression, and the oil bladder 602 is deformable. 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 contain half the oil. Using the displacement parameter of the wire displacement sensor 607, the volume of 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 the buoyancy of the buoy 3 can be obtained. The number of openings 606 ranges from 1 to 4, and preferably, the number of openings 606 is 2. In practice, the shapes of the oil tank 601, the oil bladder 602, and the number of openings 606 are determined based on actual conditions and are not specifically limited here or further described.

[0097] See also Figure 7 As shown, Figure 7 Schematic diagram of the structure of the center of gravity adjustment mechanism of an 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 and is used to move smoothly along the axis of the lead screw 701 under the drive of the micro motor 702, so that the center of gravity position of the buoy 3 is adjusted to a preset center of gravity position.

[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 one specific embodiment, by controlling the movement of the center of gravity adjustment mechanism 7 multiple times, a curve can be obtained that relates the axial movement distance of the power module 8 to the corresponding center of gravity position of the buoy 3, which is defined as a center of gravity adjustment curve. The axial movement distance of the power module 8 can be determined by the center of gravity adjustment curve and the preset center of gravity position, thereby determining the corresponding movement amount of the micromotor 702.

[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 on.

[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 propellers 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 on 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 operation 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 power 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 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 module 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 based on 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 stationary with the underwater robot 1 as part of the underwater robot 1. In this operating condition, the two thrusters in the first power group 101 of the buoy 3 are controlled to operate, serving 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 operational requirements, after the buoy 3 is released, the center of gravity adjustment mechanism 7 is controlled to operate, and the axial movement distance of the power module 8 is determined based on the center of gravity adjustment curve and the first center of gravity position, thereby determining the corresponding movement amount of the micro motor 702. 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, thereby adjusting the center of gravity position to the first center of gravity position.

[0115] The first and second propellers are the propellers in the second power unit 102. The control module 9 adjusts the first speed of the first propeller and the second speed of the second propeller based on the current attitude information of the buoy 3 to position the buoy 3 in a vertically upward position. The offset angle from the vertically upward position is determined based on the current attitude information of the buoy 3, and the first and second speeds of the first propeller and the second propeller are adjusted based on the offset angle. For example, if the first propeller is the left propeller and the second propeller is the right propeller, and the offset angle is to the left, the speed of the first propeller is reduced and the speed of the second propeller is increased to shift the buoy 3 to the right, adjusting the attitude to a vertically upward position. After the attitude adjustment is completed, the hydraulic pump 604 discharges oil until the oil stored in the oil tank 601 is discharged into the oil bladder 602. The control module 9 controls the operation of the propellers in the first power unit 101 to provide the buoy 3 with an upward velocity. The preset first propulsion speed ranges from 3 m / s to 8 m / s, preferably 5 m / 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 elaborated on.

[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. By adjusting the center of gravity position of the buoy 3 to the first center of gravity position, the posture of the buoy 3 is adjusted 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 propulsed and floated up through the coordinated action of the first power group 101, 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 stationary 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 tilt 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 tilt angle so that the buoy 3 conforms 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 make the buoy 3 return to the preset position range.

[0121] It will be appreciated that when buoy 3 rises to the sea surface and floats vertically in a stationary mode according to operational requirements, if it is necessary to maintain communication with buoy 3 in stationary mode, communication module 4 can be used to establish communication with the shore base, while simultaneously maintaining data transmission with underwater robot 1 via cable 2. When sea surface waves act on buoy 3, buoy 3 may tilt or shift, resulting in a decrease in communication quality and data accuracy. Therefore, the first power unit 101 and the second power unit 102 can be used to adjust the attitude of buoy 3. When buoy 3 tilts to one side, the two propellers in the first power unit 101 are controlled to rotate differentially. Control module 9 determines the attitude of buoy 3 based on attitude information and a preset attitude. When buoy 3 assumes the preset attitude (vertical upward attitude), the first power unit 101 stops operating. 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 angles of buoy 3 include roll and pitch angles. The pitch angle is the tilt angle of buoy 3 about its transverse axis (perpendicular to the bottom of buoy 3 and parallel to the sea level). The first tangent value is the ratio of the accelerometer measurement value on the longitudinal axis (fore-aft direction) of buoy 3 to the accelerometer measurement value on the vertical axis (up-down direction) of buoy 3. The pitch angle can be calculated using the inverse tangent function. The roll angle is the tilt angle of buoy 3 about its longitudinal axis (perpendicular to the bottom of buoy 3 and perpendicular to the water surface). The second tangent value is the ratio of the accelerometer measurement value on the transverse axis (left-right direction) of buoy 3 to the accelerometer measurement value on the vertical axis (up-down direction) of buoy 3. The roll angle can be calculated using the inverse tangent function. The rotational speeds of the two propellers in the first power unit 101 are adjusted according to the tilt angle to ensure that the buoy 3 maintains a 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 the radius is 10cm to 20cm, preferably, the radius is 12cm, which is the preset position range; when it does not conform, the rotation speed of the two propellers in the second power group 102 is adjusted to make the buoy 3 return to the preset position range.

[0123] When buoy 3 floats vertically on the sea surface in static mode, the present invention controls the differential speed of the two propellers in the first power unit 101 to adjust the buoy's attitude and prevent it from tilting. Simultaneously, when buoy 3 shifts, the second power unit 102 is controlled to maintain its position. This further protects buoy 3 from the effects of wind and waves on the sea surface, ensuring vertical floating and positioning, and further ensuring stable data feedback and real-time command transmission between 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 switches to the power mode according to the operation requirements, the power module 10 is started, and the buoy 3 moves forward at the same speed as the underwater robot 1. It can continue to play the role of communication relay 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, buoy 3 reads the heading information of underwater robot 1. Buoy 3's control module 9 reads the attitude information and determines buoy 3's heading based on the attitude information. Because buoy 3's attitude information can be affected by 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 represents the angle of buoy 3 relative to the geographic North Pole. A determination is then made as to whether the heading of buoy 3 is consistent with the heading of underwater robot 1. If so, no adjustment is required. If not, buoy 3's first power unit 101 and second power unit 102 are controlled to operate together, generating a yaw torque to correct buoy 3's heading. The control module 9 determines the yaw direction of the buoy 3 based on the heading information and the magnetic heading angle. The yaw direction can be determined based on the positive or negative sign 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 based on 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, since 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 yaw moment.

[0129] When the heading of buoy 3 aligns with that of underwater robot 1, buoy 3 and underwater robot 1 are controlled to advance simultaneously at the same speed. Forward thrust is achieved by controlling the two propellers in first power unit 101 of buoy 3 to rotate at the same speed. When the position information of underwater robot 1 reaches the preset operating point, control module 9 controls buoy 3 to stop moving.

[0130] In practice, the position of the preset operation point can be determined according to the specific working scenario of the underwater robot 1, which is not specifically limited here and will not be described in detail.

[0131] During cruising operations, the present invention switches buoy 3 to power mode, allowing it to move forward in tandem with the underwater robot 1. The system compares heading information with attitude information, determines buoy 3's yaw direction and yaw moment based on the comparison results, and corrects buoy 3's heading. Simultaneously, buoy 3 is stopped based on the preset operating point and the position of the underwater robot 1. This facilitates synchronized movement and real-time communication between buoy 3 and the underwater robot 1 through its onboard power module 10, improving the reliability and flexibility of the buoy 3 system and ensuring the underwater robot 1 can efficiently complete various operations.

[0132] Specifically, when the buoy operating 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 during the center of gravity adjustment 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;

[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 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 operation 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 first power group 101 to perform differential rotation, and determines the timing of stopping the differential rotation 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, and 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 based on actual conditions and are not specifically limited here and will not be further described.

[0137] In a specific embodiment, according to the operation requirements, the control buoy 3 is switched from the static mode to the power mode, including 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, allowing the buoy 3 to start sinking. 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.

[0139] At step S12, control module 9 adjusts the center of gravity of buoy 3 to a second center of gravity position. Using the center of gravity adjustment curve and the second center of gravity position, control module 9 determines the axial movement distance of power module 8, thereby determining the corresponding movement amount of micromotor 702. During this process, micromotor 702 rotates lead screw 701, causing power module 8 to move smoothly along the axis of lead screw 701.

[0140] S13: Control module 9 controls the first power unit 101 to perform differential rotation, causing buoy 3 to tilt. The tilt direction of buoy 3 depends on the forward direction of underwater robot 1. During this process, the tilt angle can be adjusted by adjusting the speed of the two propellers in first power unit 101 until the tilt angle reaches 45°. At this point, first power unit 101 stops operating.

[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 base;

[0142] S15, control the first power group 101 to rotate differentially again, so that the buoy 3 tilts, the tilt direction is consistent with S13, the tilt angle is 45 degrees, the buoy 3 tilts to the horizontal state again, and the first power group 101 stops moving.

[0143] S16, controlling the hydraulic pump 604 to operate, opening the oil drain line 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, allowing the buoy 3 to start sinking. 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: Control module 9 controls the differential rotation of first power unit 101 to tilt buoy 3. The tilt direction of buoy 3 depends on the forward direction of underwater robot 1. During this process, the tilt angle can be adjusted by adjusting the speed of the two propellers in first power unit 101 until the tilt angle reaches -45°. At this point, first power unit 101 stops operating.

[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 base;

[0148] S24: Control the first power group 101 to rotate differentially again to tilt the buoy 3. The tilting direction is consistent with that in S23, and 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] At step S25, control module 9 adjusts the center of gravity of buoy 3 to a first center of gravity position. Using the center of gravity adjustment curve and the first center of gravity position, control module 9 determines the axial movement distance of power module 8, thereby determining the corresponding movement amount of micromotor 702. During this process, micromotor 702 rotates lead screw 701, causing power module 8 to move smoothly along the axis of lead screw 701.

[0150] S26: Control the hydraulic pump 604 to operate, open the oil drain line to drain 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 the present invention switches the buoy 3 between the power mode and the static mode, the solenoid valve 605 is controlled to return oil, and during the oil return process, the adjustment method of the buoyancy adjustment mechanism 6, the center of gravity adjustment mechanism 7, and the power module 10 is determined according to the comparison result between the buoy depth and the preset first depth, thereby realizing free switching between the power mode and the static mode. At the same time, it avoids 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 solenoid 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. 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 understood that buoy 3 is retrieved to underwater robot 1 based on operational requirements. After the underwater robot 1 completes its operation, it automatically returns to its destination, eliminating the need for real-time communication with buoy 3. In this case, to minimize water resistance and potential damage to cable 2 during the return process, buoy 3 must be retrieved to underwater robot 1. Therefore, oil return is activated via solenoid valve 605, opening the oil suction line and sucking the oil from oil bladder 602 back into tank 601. Because buoy 3's own weight is greater than its buoyancy, it sinks.

[0156] In one specific embodiment, when buoy 3 is sunk for recovery, it reads the buoy depth of underwater robot 1 via cable 2 as a 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 buoy 3. Buoy 3 sinks according to the sinking distance. When the buoy depth equals the depth of underwater robot 1, the oil discharge and return lines of buoyancy adjustment mechanism 6 are controlled to operate together to perform depth control, ensuring that the buoy depth is equal to the depth of underwater robot 1. Subsequently, the center of gravity adjustment mechanism determines the axial movement distance of power module 8 based on the center of gravity adjustment curve and the second center of gravity position, shifting the center of gravity of buoy 3 upward to the second center of gravity position to facilitate attitude adjustment. When underwater robot 1 detects that buoy 3 has reached depth, the recovery device within the underwater robot 1 cabin is activated, using the tension of cable 2 to adjust buoy 3 to a horizontal position and recover it to the rear of the underwater robot 1 cabin.

[0157] When recovering buoy 3, the present invention returns oil through the solenoid valve in buoyancy adjustment mechanism 6 to reduce buoy 3's buoyancy. Simultaneously, the buoy's depth is determined to be greater than a preset second depth, allowing buoy 3 to sink to the position of underwater robot 1. Simultaneously, buoy adjustment mechanism 6 maintains depth control and adjusts its center of gravity to the second center of gravity position, facilitating recovery by underwater robot 1. This improves the reliability and flexibility of the buoy 3 system, ensuring that underwater robot 1 can efficiently complete various operations.

[0158] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. A recyclable 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 includes: a shell, wherein a dry tank and a wet tank are provided inside the shell, wherein the wet tank is connected to the external environment; a communication module, which is disposed in a dry compartment within the housing of the buoy and is used to implement real-time communication and data transmission and reception between the buoy and a shore-based receiving terminal; an acquisition module, disposed within the housing, comprising a positioning component for acquiring position information of the buoy, a speed measuring component for acquiring speed information of the buoy, a depth measuring device for acquiring a buoy depth of the buoy, and a posture acquisition component for acquiring posture information of the buoy; an adjustment module disposed within the housing and connected to the acquisition module, comprising a buoyancy adjustment mechanism and a center of gravity adjustment mechanism, wherein the buoyancy adjustment mechanism is configured to adjust the opening and closing of the electromagnetic valve according to the depth of the buoy to adjust the buoyancy of the buoy, and the center of gravity adjustment mechanism is configured 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, connected to the housing and the collection module, respectively, comprising a first power group for propelling the buoy in a first direction, and a second power group for propelling the buoy in a second direction; a control module, connected to the adjustment module, acquisition module, power module and communication module, respectively, for determining an adjustment method for the buoyancy adjustment mechanism based on the buoy operating mode, a comparison result of the depth data with a preset first depth, and a comparison result of the depth data with a preset second depth; determining an adjustment method for the center of gravity adjustment mechanism based on a preset center of gravity position, a center of gravity adjustment curve and the buoy operating mode; and determining an adjustment method for the power module based on the buoy posture information, a preset posture, a comparison result of the heading information of the underwater robot with the posture information, and the buoy operating mode; When the buoy is in the operating mode of releasing the buoy from the underwater robot to the sea surface and communicating with the shore, the center of gravity adjustment mechanism determines the axial movement distance of the power 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 module 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 posture is not in the preset posture according to the posture information, the control module adjusts the first speed of the first propeller and the second speed of the second propeller in the second power group according to the current posture information of the buoy so that the buoy posture is in the preset posture; A power supply module is connected to the communication module, acquisition module, regulation module, power module and control module respectively, and is used to supply power to the electrical components in the buoy; The center of gravity adjustment curve is a relationship curve between the axial movement distance of the power module and the center of gravity position of the buoy.

2. The recoverable buoy system for a modular underwater robot according to claim 1, characterized in that: The communication module includes: An antenna is provided on the top of the housing to realize real-time communication and data transmission and reception between the buoy and the shore; a waterproof servo, which is disposed 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 fuel tank is arranged in the dry compartment of the buoy and is used to adjust the fuel tank capacity according to the fuel storage amount inside the buoy; A wire displacement sensor is provided on the side of the oil tank to collect the oil level in the oil tank in real time; An oil bag is arranged in the wet tank of the buoy and is connected to a hydraulic pump and a solenoid valve through oil pipes, 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 is connected to the oil tank and the oil bladder through oil pipes, and is used to drive the flow of oil in the oil pipes to discharge the oil in the oil tank into the oil bladder, or to discharge the oil in the oil bladder into the oil tank; A solenoid valve connected to the hydraulic pump and 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 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 includes: 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, fixedly connected to the internal support frame, for driving the lead screw to rotate; The power supply module is sleeved on the lead screw and is used to move along the lead screw axis under the drive of the micro motor, so that the center of gravity position of the buoy is adjusted 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 on opposite 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 retrievable buoy, applied to the retrievable buoy system for a modular underwater robot according to any one of claims 1 to 5, characterized in that: When the buoy is in an operating mode of releasing the buoy from the underwater robot to the sea surface and communicating with a shore base, the center of gravity adjustment mechanism adjusts the center of gravity position of the buoy to a first center of gravity position, and the control module determines an adjustment method for the power module based on the posture information of the buoy after the center of gravity position adjustment and the preset posture, further comprising: 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 the preset first propulsion speed to make the buoy float up.

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 tilt angle of the buoy according to the current attitude information of the buoy, and adjusts the rotation speed of the two propellers in the first power group according to the tilt angle so that the buoy attitude conforms to 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 of 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 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: The control module also includes, when the buoy operating mode is switched from a static mode to a powered mode or from a powered mode to a static mode, opening the solenoid valve to adjust the center of gravity position to the center of gravity position of the corresponding mode, and determining, during the center of gravity adjustment process, an adjustment method for the buoyancy adjustment mechanism, the center of gravity adjustment mechanism, and the power module based on a comparison result between the buoy depth and a preset first depth; If the buoy depth is equal to a 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 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 operating mode is switched from a static mode to a powered mode, the control module adjusts the center of gravity of the buoy to a second center of gravity position, controls the differential rotation of the first power group, and determines a stopping time of the differential rotation of the first power group according to a preset first tilt angle and a 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 buoy working mode is that the underwater robot recovers the buoy, the buoyancy of the buoy is reduced by controlling the solenoid 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 a sinking distance according to the buoy depth and the preset depth, and the buoy sinks according to the sinking distance; If the depth of the buoy 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. 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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