Underwater robot based on electromagnetic exploration and underwater exploration method

Abstract

The invention discloses an underwater robot based on electromagnetic exploration and an underwater exploration method, and belongs to the technical field of underwater exploration. The underwater robot is characterized in that a floating body and a three-axis attitude sensor are arranged in a machine body; the power device comprises an advancing driving assembly and a spiral propeller. The advancing driving assembly can drive the spiral propeller to rotate so as to push the machine body to advance. The floating and sinking device comprises a water tank and a hydraulic pump, and the hydraulic pump is used for adding water into the water tank or discharging water in the water tank; the exploration device comprises a transmitter and a receiver, the transmitter excites electromagnetic waves through alternating current, the receiver is used for receiving electric field data and magnetic field data, the balance device comprises a balance plate and a balance driving assembly, and the balance driving assembly can drive the balance plate to rotate so as to adjust the upstream area of the balance plate. The underwater exploration method adopts the underwater robot based on electromagnetic exploration. The transmitter and the receiver are integrated on the machine body, thereby reducing the size of the whole machine and improving the exploration efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater exploration, and particularly to an underwater robot and an underwater exploration method based on electromagnetic exploration. Background Art

[0002] Marine electromagnetic method is a geophysical method for determining the electrical structure below the seabed by measuring the distribution law of artificially emitted or naturally generated electromagnetic fields on the sea or under the seabed, and is widely used in exploring seabed geological structures and mineral oil and gas resources. The natural electromagnetic field is relatively weak under the seabed, and the artificially emitted electromagnetic field makes up for the deficiency of the natural field and can directly detect seabed resources.

[0003] Common marine electromagnetic exploration equipment uses an exploration ship to tow a transmitter located on the seabed to move along a survey line. The transmitter excites electromagnetic waves through an alternating current, and the receiver is fixed on the seabed to record the electromagnetic field. The transmitter and the receiver are separated and move forward with the exploration ship, making the equipment bulky and inconvenient to operate. The receiver is placed at a set position in a fixed-point placement form. After the exploration is completed, the receiver is recovered and then placed at the next set position. Multiple repeated operations are required to complete the exploration, and the exploration efficiency is low, often requiring huge amounts of manpower and material resources. Summary of the Invention

[0004] The purpose of the present invention is to provide an underwater robot and an underwater exploration method based on electromagnetic exploration to solve the technical problems of the existing marine electromagnetic exploration equipment being bulky and having low exploration efficiency.

[0005] Based on the above concept, the technical solution adopted by the present invention is as follows: An underwater robot based on electromagnetic exploration, comprising: a fuselage, an accommodation cavity communicating with the outside is formed inside the fuselage, a floating body is arranged at the top of the accommodation cavity, and a three-axis attitude sensor is arranged in the accommodation cavity; a power device, including a traveling drive assembly and a propeller, the traveling drive assembly is arranged in the accommodation cavity, the propeller is arranged at the rear of the fuselage, and the traveling drive assembly can drive the propeller to rotate to push the fuselage forward; a floating and sinking device, arranged in the accommodation cavity, the floating and sinking device includes a water tank and a hydraulic pump, the water tank has a water inlet and outlet that can communicate with the outside, and the hydraulic pump is used to add water into the water tank or discharge the water in the water tank; an exploration device, arranged at the bottom of the fuselage, the exploration device includes a transmitter and a receiver, the transmitter excites electromagnetic waves through an alternating current, and the receiver is used to receive electric field data and magnetic field data; a balancing device, including at least two balancing plates and a set of balancing drive components corresponding to each balancing plate, the balancing plates are rotatably arranged at the bottom of the fuselage, and the balancing drive components can drive the balancing plates to rotate to adjust the angle between the balancing plates and the horizontal plane to change the water-facing area of the balancing plates, and the rotation axis of the balancing plates extends along the left-right direction of the fuselage.

[0006] Preferably, two balancing plates are provided, and the two balancing plates are arranged at intervals along the left-right direction of the fuselage; alternatively, four balancing plates are provided, and the four balancing plates are arranged in two rows at intervals along the front-rear direction of the fuselage, and the two balancing plates in each row are arranged at intervals along the left-right direction of the fuselage.

[0007] Preferably, it further includes a camera device, the camera device includes a support part and a lighting lamp and a camera arranged on the support part, and the support part is arranged outside the fuselage and at the front of the fuselage.

[0008] Preferably, the inside of the support part is hollow to form a wire passing cavity, and the wire passing cavity communicates with the accommodation cavity; and / or, along the direction away from the fuselage, the support part extends obliquely upward from bottom to top.

[0009] Preferably, the fuselage includes a bottom plate and a housing, the housing is an arc-shaped cover body with a high middle and a low periphery, and the housing is buckled on the bottom plate to form the accommodation cavity.

[0010] Preferably, a water passing pipe is arranged at the water inlet and outlet of the water tank, a solenoid valve is arranged on the water passing pipe, the piston of the hydraulic pump is located in the water tank, and the pump body of the hydraulic pump is located on the side of the piston away from the water inlet and outlet.

[0011] Preferably, at least two water tanks are provided, and a set of hydraulic pumps is provided corresponding to each water tank, and the water tanks are arranged at intervals in the accommodating cavity; and / or, two screw propellers are provided, and a set of traveling drive assemblies is provided corresponding to each screw propeller, and the two screw propellers are arranged at intervals in the left-right direction of the fuselage at the rear of the fuselage.

[0012] Preferably, a recovery device is further included, and the recovery device includes a support rod and a connecting ring. The support rod is arranged outside the fuselage and at the top of the fuselage, and the connecting ring is connected to the support rod.

[0013] An underwater exploration method using the underwater robot based on electromagnetic exploration as described above includes: lowering the underwater robot to an underwater target area, driving the screw propeller to rotate through the traveling drive assembly to push the fuselage forward; during the exploration process, the transmitter excites electromagnetic waves through an alternating current, and the receiver receives electric field data and magnetic field data; adding water into the water tank or discharging the water in the water tank through the hydraulic pump to control the sinking or floating of the underwater robot; adjusting the angle between the balance plate and the horizontal plane according to the detection data of the three-axis attitude sensor; after the exploration is completed, discharging the water in the water tank through the hydraulic pump to control the underwater robot to float to the water surface.

[0014] Preferably, during the exploration process, the rotation speed value of the screw propeller is obtained in real time. When the rotation speed value is less than or equal to the first set value, a first protection action is triggered; the first protection action includes: after the traveling drive assembly drives the screw propeller to reverse for a first set time period, the traveling drive assembly drives the screw propeller to rotate forward.

[0015] Advantages of the present invention: The underwater robot based on electromagnetic exploration proposed by the present invention includes a fuselage, a power device, a floating and sinking device, a survey device, and a balancing device. An accommodating cavity communicating with the outside is formed inside the fuselage, and a floating body is arranged at the top of the accommodating cavity. By setting the floating body, the overall weight of the whole machine can be balanced in water, so that the underwater robot can float in water; a three-axis attitude sensor is arranged in the accommodating cavity, which can detect the attitude of the underwater robot to facilitate timely adjustment; the traveling drive assembly can drive the screw propeller to rotate to push the fuselage forward without being towed by a survey ship; the hydraulic pump is used to add water into the water tank or drain the water in the water tank to adjust the floating and sinking of the underwater robot; during exploration, the transmitter excites electromagnetic waves through an alternating current, and the receiver receives electric field data and magnetic field data. Furthermore, the electromagnetic property differences of the target area can be analyzed based on the obtained data, so as to realize precise detection of the target area; the balancing device includes at least two balancing plates and a set of balancing drive assemblies corresponding to each balancing plate. The balancing plates are rotatably arranged at the bottom of the fuselage, and the balancing drive assemblies can drive the balancing plates to rotate to adjust the angle between the balancing plates and the horizontal plane to change the water-facing area of the balancing plates. The rotation axis of the balancing plates extends along the left-right direction of the fuselage. Through the cooperation of the power device, the floating and sinking device, the survey device, and the balancing device, the survey stability is ensured. The transmitter and the receiver are integrated in the fuselage, reducing the overall volume of the whole machine. Multiple positions within the target area can be explored at one time, improving the exploration efficiency.

[0016] The underwater exploration method proposed by the present invention uses the above-mentioned underwater robot based on electromagnetic exploration. The underwater robot is lowered to the underwater area to be explored, and the screw propeller is driven to rotate by the traveling drive assembly to push the fuselage forward; during the survey process, the transmitter excites electromagnetic waves through an alternating current, and the receiver receives electric field data and magnetic field data; the hydraulic pump is used to add water into the water tank or drain the water in the water tank to control the sinking or floating of the underwater robot; after the survey is completed, the water in the water tank is drained by the hydraulic pump to control the underwater robot to float to the water surface. It does not need to be towed by a survey ship. The transmitter and the receiver are integrated in the fuselage, reducing the overall volume of the whole machine; multiple positions within the target area can be explored at one time, improving the exploration efficiency. Description of the Drawings

[0017] Figure 1 It is the first schematic diagram of the underwater robot based on electromagnetic exploration provided by an embodiment of the present invention.

[0018] Figure 2 It is the second schematic diagram of the underwater robot based on electromagnetic exploration provided by an embodiment of the present invention.

[0019] Figure 3 It is the third schematic diagram of the underwater robot based on electromagnetic exploration provided by an embodiment of the present invention.

[0020] Figure 4It is the fourth schematic diagram of the underwater robot based on electromagnetic exploration provided by the embodiments of the present invention.

[0021] Figure 5 It is the fifth schematic diagram of the underwater robot based on electromagnetic exploration provided by the embodiments of the present invention.

[0022] Figure 6 It is a partial structural schematic diagram of the floating and sinking device provided by the embodiments of the present invention.

[0023] In the figure: 10, fuselage; 11, accommodation cavity; 12, floating body; 13, bottom plate; 14, outer shell; 20, power device; 21, traveling drive assembly; 22, screw propeller; 30, floating and sinking device; 31, water tank; 32, hydraulic pump; 321, piston; 33, solenoid valve; 40, exploration device; 41, transmitter; 42, receiver; 50, balancing device; 51, balancing plate; 52, balancing drive assembly; 53, support member; 60, imaging device; 61, support part; 62, lighting lamp; 63, camera; 70, recovery device; 71, support rod; 72, connecting ring; 80, navigation device; 90, control device; 100, data acquisition device. Detailed implementation manners

[0024] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, but should not be construed as a limitation to the present invention.

[0025] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0026] In the present invention, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0027] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and through specific embodiments.

[0028] See Figures 1 to 6 , the present invention provides an underwater robot based on electromagnetic exploration, including a fuselage 10, a power device 20, a floating and sinking device 30 and an exploration device 40. An accommodation cavity 11 communicating with the outside is formed inside the fuselage 10. A floating body 12 is arranged at the top of the accommodation cavity 11, and a three-axis attitude sensor is arranged inside the accommodation cavity 11. The power device 20 includes a traveling drive assembly 21 and a propeller 22. The traveling drive assembly 21 is arranged inside the accommodation cavity 11, and the propeller 22 is arranged at the rear of the fuselage 10. The traveling drive assembly 21 can drive the propeller 22 to rotate to push the fuselage 10 forward. The floating and sinking device 30 is arranged inside the accommodation cavity 11. The floating and sinking device 30 includes a water tank 31 and a hydraulic pump 32. The water tank 31 has a water inlet and outlet that can communicate with the outside. The hydraulic pump 32 is used to add water to the water tank 31 or drain the water in the water tank 31. The exploration device 40 is arranged at the bottom of the fuselage 10. The exploration device 40 includes a transmitter 41 and a receiver 42. The transmitter 41 excites electromagnetic waves through an alternating current, and the receiver 42 is used to receive electric field data and magnetic field data.

[0029] By providing the floating body 12 to balance the weight of the whole machine in water, it is realized that the underwater robot can float in water. Among them, the floating body 12 can adopt existing floating materials, such as foam, plastic floating materials or composite floating materials. The floating body 12 can also adopt an existing airbag. When diving, the volume of the airbag is compressed, and when surfacing, the volume of the airbag is increased by filling high-pressure gas. The floating body 12 is arranged inside the fuselage 10, which is convenient for adapting to the high-pressure environment. Optionally, the floating body 12 and the fuselage 10 are integrated into one body to increase the structural strength.

[0030] In this embodiment, the fuselage 10 includes a bottom plate 13 and a housing 14. The housing 14 is an arc-shaped cover body with a high middle and a low periphery. The housing 14 is buckled on the bottom plate 13 to form the accommodation cavity 11. By setting the housing 14 as an arc-shaped cover body with a high middle and a low periphery, it imitates the shell of a sea turtle to reduce resistance.

[0031] The propeller 22 is driven to rotate by the traveling drive assembly 21 to push the fuselage 10 forward, eliminating the need for a survey ship to tow it and reducing the overall volume of the machine. The hydraulic pump 32 is used to fill water into the water tank 31 or drain the water in the water tank 31 to adjust the floating and sinking of the underwater robot. During exploration, the transmitter 41 excites electromagnetic waves through an alternating current, and the receiver 42 receives electric field data and magnetic field data. Then, the electromagnetic property differences in the target area can be analyzed based on the obtained data, thereby achieving precise detection of the target area. Through the cooperation of the power device 20, the floating and sinking device 30, and the survey device, the transmitter 41 and the receiver 42 are integrated into the fuselage 10, reducing the overall volume of the machine and enabling the exploration of multiple positions in the target area in one go, improving the exploration efficiency.

[0032] The principle of submarine electromagnetic exploration is based on the conductivity differences of rocks and the law of electromagnetic induction. There are differences in the conductivity (or resistivity) of different rock layers or ore bodies on the seabed. For example, the resistivity of oil and gas reservoirs is high, and metal sulfides have strong conductivity. By emitting an artificial electromagnetic field to the seabed and measuring the secondary electromagnetic field induced in the formation, the underground electrical structure can be inferred.

[0033] The alternating current in the transmitter 41 can be a low-frequency alternating current. The receiver 42 can obtain information at different depths by analyzing electromagnetic signals of different frequencies. The transmitter 41 and the receiver 42 can adopt existing structures, which will not be elaborated here.

[0034] In some embodiments, a water pipe is provided at the water inlet and outlet of the water tank 31, and a solenoid valve 33 is provided on the water pipe. The hydraulic pump 32 includes a pump body and a piston 321. The piston 321 is located inside the water tank 31, and the pump body is located on the side of the piston 321 away from the water inlet and outlet. The piston 321 is driven hydraulically to move inside the water tank 31, pushing the water in the water tank 31 out or creating a negative pressure to cause seawater from the outside to flow into the water tank under the action of the pressure difference. The solenoid valve 33 is an existing structure, and the solenoid valve 33 is provided to ensure the sealing of the water tank 31.

[0035] Among them, the water tank 31 can be made of a pressure-resistant material or a flexible material to adapt to pressure changes.

[0036] One water tank 31 can be provided, or multiple water tanks 31 can be provided. Exemplarily, at least two water tanks 31 are provided, and a set of hydraulic pumps 32 is provided corresponding to each water tank 31. The water tanks 31 are arranged at intervals in the accommodation cavity 11. Optionally, the water tanks 31 are arranged at intervals in the accommodation cavity 11 along the front-rear direction of the fuselage 10. Optionally, the water tanks 31 are arranged at intervals in a ring shape around an axis in the accommodation cavity 11.

[0037] In this embodiment, there are two water tanks 31. One water tank 31 is located at the front of the accommodation cavity 11, and the other water tank 31 is located at the rear of the accommodation cavity 11. The water storage amounts in the two water tanks 31 can be the same or different. By changing the water storage amounts in the two water tanks 31, the center of gravity position of the whole machine can be changed to adjust the attitude. For example, when the water storage amount in the rear water tank 31 increases and the water storage amount in the front water tank 31 decreases, the front end of the whole machine tilts upward.

[0038] One or two screw propellers 22 can be provided. Exemplarily, two screw propellers 22 are provided, and a set of traveling drive components 21 is provided corresponding to each screw propeller 22. The two screw propellers 22 are arranged at intervals in the left-right direction of the fuselage 10 at the rear of the fuselage 10. The rotational speeds of the two screw propellers 22 can be the same or different. By changing the rotational speeds of the two screw propellers 22, the whole machine can be steered. For example, if the rotational speed of the left screw propeller 22 is less than the rotational speed of the right screw propeller 22, the whole machine turns left. In this embodiment, one screw propeller 22 is provided, and the screw propeller 22 is located at the middle position at the rear of the fuselage 10.

[0039] The traveling drive component 21 can adopt an existing hydraulic motor. The hydraulic motor can directly drive the screw propeller 22 or drive the screw propeller 22 through a transmission mechanism. By controlling the rotational speed of the hydraulic motor, the rotational speed of the screw propeller 22 can be changed to adjust the forward speed of the whole machine.

[0040] The underwater robot based on electromagnetic exploration further includes a balancing device 50. The balancing device 50 includes at least two balancing plates 51 arranged at intervals in the left-right direction of the fuselage 10 and a set of balancing drive components 52 provided corresponding to each balancing plate 51. The balancing plates 51 are rotatably arranged at the bottom of the fuselage 10. The balancing drive components 52 can drive the balancing plates 51 to rotate to adjust the water-facing area of the balancing plates 51. The rotation axes of the balancing plates 51 extend in the left-right direction of the fuselage 10. By driving the balancing plates 51 to rotate through the balancing drive components 52 to adjust the angle between the balancing plates 51 and the horizontal plane to change the water-facing area of the balancing plates 51, and further change the resistance received by the balancing plates 51. The larger the water-facing area, the greater the resistance received. Since the balancing plates 51 can be inclined relative to the horizontal direction, the component force of the resistance of the water flow on the balancing plates 51 is upward or downward to realize the adjustment of the attitude of the whole machine.

[0041] Exemplarily, two balancing plates 51 are provided, and the two balancing plates 51 are arranged at intervals in the left-right direction of the fuselage 10. The inclination angles of the two balancing plates 51 relative to the horizontal direction can be the same or different.

[0042] Exemplarily, four balance plates 51 are provided. The four balance plates 51 are arranged in two rows at intervals in the front-back direction of the fuselage 10, and the two balance plates 51 in each row are arranged at intervals in the left-right direction of the fuselage 10. When the inclination angles of the four balance plates 51 with respect to the horizontal direction are exactly the same, as Figure 1 shown. When the underwater robot tilts to the left, that is, the left side is lower and the right side is higher, the balance plate 51 on the left side can be adjusted to increase its water-facing area, as Figure 3 shown, so that the balance plate 51 on the left side receives a greater upward component force to achieve lifting of the left side; of course, the balance plate 51 on the right side can also be adjusted to reduce its water-facing area, so that the upward component force it receives is reduced, realizing the descent of the right side. The balance plate 51 can extend in the horizontal direction, as Figure 4 shown, and the water-facing area of the balance plate 51 is the smallest; the balance plate 51 can extend in the vertical direction, as Figure 5 shown, and the water-facing area of the balance plate 51 is the largest. The thickness of the balance plate 51 can be set according to actual needs. The drawings only show the balance plate 51 schematically and do not constitute a limitation on the size of the balance plate 51.

[0043] The balance drive assembly 52 can adopt an existing hydraulic motor. The hydraulic motor can directly drive the balance plate 51 to rotate, or can drive the balance plate 51 to rotate through a transmission mechanism.

[0044] The balance device 50 further includes a support member 53. The support member 53 is connected to the bottom plate 13 of the fuselage 10. The balance plate 51 is rotatably connected to the support member 53 through a rotating shaft. The balance drive assembly 52 is disposed on the support member 53 and is used to drive the rotating shaft to rotate. The rotating shaft is located at the middle position of the balance plate 51 so that the balance plate 51 is evenly stressed.

[0045] Exemplarily, a three-axis attitude sensor is disposed in the accommodation cavity 11 to monitor whether the attitude of the underwater robot is tilted, so as to facilitate timely adjustment. The three-axis attitude sensor is an existing sensor, including motion sensors such as a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass. Its working principle is conventional technology and will not be elaborated here.

[0046] The transmitter 41 can adopt an existing electric dipole. The transmitter 41 can be embedded in the balance plate 51, or the transmitter 41 can be arranged on the bottom plate 13 of the fuselage 10. The receiver 42 adopts an existing electric field / magnetic field sensor array to record the electromagnetic field components. The receiver 42 can be embedded in the balance plate 51, or the receiver 42 can be arranged on the bottom plate 13 of the fuselage 10. Exemplarily, the transmitter 41 is embedded in the balance plate 51. By adjusting the tilt angle of the balance plate 51, the position of the transmitter 41 can be changed to change the direction of the electromagnetic wave. Exemplarily, the receiver 42 is embedded in the balance plate 51, and the position of the receiver 42 is lower, and the receiving effect is better. Exemplarily, the transmitter 41 is embedded in the balance plate 51, the receiver 42 is embedded in the balance plate 51, and the transmitter 41 and the receiver 42 are located on the same or different balance plates 51.

[0047] A data acquisition device 100 is arranged in the accommodation cavity 11. The data received by the receiver 42 is transmitted to the data acquisition device 100, and the data acquisition device 100 stores the electromagnetic field time series data in real time. The data acquisition device 100 can adopt an existing anti-pressure and waterproof hard disk and combine the optical fiber communication principle to realize data transmission and storage.

[0048] The underwater robot based on electromagnetic exploration further includes a camera device 60. The camera device 60 includes a support part 61, a lighting lamp 62 and a camera 63 arranged on the support part 61. The support part 61 is arranged outside the fuselage 10 and is located at the front part of the fuselage 10. Since the underwater light is weak, the setting of the lighting lamp 62 can assist the camera 63 to improve the shooting clarity. Among them, the camera 63 can adopt an existing 360-degree high-definition camera. A pressure-resistant protective structure can be covered outside the camera 63.

[0049] In this embodiment, the inside of the support part 61 is hollow to form a wire threading cavity, and the wire threading cavity is communicated with the accommodation cavity 11. By arranging the wire threading cavity, it is convenient for the wiring of the lighting lamp 62 and the camera 63. Along the direction away from the fuselage 10, the support part 61 extends obliquely upward from bottom to top. The outer surface of the support part 61 is arranged in a streamline shape to reduce resistance and imitate the head of a sea turtle.

[0050] The support part 61 can be fixed to the fuselage 10 or can be rotatably arranged on the fuselage 10. Exemplarily, the support part 61 and the fuselage 10 are connected by a ball joint, and a driving component capable of driving the support part 61 to rotate is arranged in the fuselage 10. The driving component is, for example, a hydraulic cylinder and a connecting rod in cooperation. By rotating the support part 61, a larger range of shooting and lighting can be realized.

[0051] The underwater robot based on electromagnetic exploration further includes a recovery device 70. The recovery device 70 includes a support rod 71 and a connecting ring 72. The support rod 71 is arranged outside the fuselage 10 and at the top of the fuselage 10. The connecting ring 72 is connected to the support rod 71. The connecting ring 72 is used to connect the cable of the marine winch, facilitating the recovery of the underwater robot.

[0052] The underwater robot based on electromagnetic exploration further includes a navigation device 80 and a control device 90. Both the navigation device 80 and the control device 90 are arranged in the accommodation cavity 11, and the navigation device 80 is electrically connected to the control device 90. The navigation device 80 can adopt an existing navigation system, such as Doppler sonar navigation. The control device 90 is used to control the above-mentioned electrical appliances such as the hydraulic motor, the three-axis attitude sensor, the transmitter 41, and the receiver 42. Optionally, the control device 90 includes an Intel processor, an AMD processor, a PLC controller, an ARM processor, or a single-chip microcomputer. Also included for supporting use are a main board, a memory module, a storage medium, and a power supply. The power supply can be a lithium battery. The working principle of the control device 90 is a conventional technology and will not be elaborated here.

[0053] An embodiment of the present invention further provides an underwater exploration method, using the above-mentioned underwater robot based on electromagnetic exploration, including: lowering the underwater robot to the underwater target area, driving the screw propeller 22 to rotate through the traveling drive assembly 21 to push the fuselage 10 forward; during the exploration process, the transmitter 41 excites electromagnetic waves through an alternating current, and the receiver 42 receives electric field data and magnetic field data; adding water to the water tank 31 or discharging the water in the water tank 31 through the hydraulic pump 32 to control the sinking or floating of the underwater robot; adjusting the angle between the balance plate 51 and the horizontal plane according to the detection data of the three-axis attitude sensor; after the exploration is completed, discharging the water in the water tank 31 through the hydraulic pump 32 to control the underwater robot to float to the water surface.

[0054] Among them, to lower the underwater robot to the underwater target area, an existing release device or a marine winch can be used. After the underwater robot is released, it moves along a set trajectory and returns to a set location for easy recovery. The movement trajectory of the underwater robot is controlled by the built-in program of the control device 90 in cooperation with the navigation device 80, etc.

[0055] During the exploration process, affected by the environment, such as water flow impact, it is difficult for the underwater robot to maintain a uniform forward speed. To ensure that the forward speed is maintained within a set range, it can be achieved by adjusting the rotation speed of the screw propeller 22. During the exploration process, the forward speed is obtained in real time, and the rotation speed of the screw propeller 22 is increased or decreased according to whether the forward speed is within the set range so that the forward speed is maintained within the set range.

[0056] Exemplarily, two or four screw propellers 22 are provided, and a set of traveling drive components is provided for each screw propeller 22, and the rotation speed of each screw propeller 22 can be adjusted independently.

[0057] The underwater robot is affected by the environment. For example, seaweed may entangle the screw propeller 22, which may affect the forward speed and even cause a failure. During the survey process, the rotation speed value of the screw propeller 22 is obtained in real time. When the rotation speed value is less than or equal to the first set value, the first protection action is triggered; the first protection action includes: after the traveling drive component drives the screw propeller 22 to reverse for the first set duration, the traveling drive component drives the screw propeller 22 to rotate forward. The impurities entangled on the screw propeller 22 are removed by the reverse action.

[0058] After the first protection action is executed, if the rotation speed of the screw propeller 22 is still less than the first set value during forward rotation, the alarm device is triggered. At this time, the underwater robot may malfunction, and the underwater robot can be recovered for timely processing.

[0059] During the survey process, according to the attitude of the underwater robot monitored by the three-axis attitude sensor, the tilt angle of the balance plate 51 is adjusted, and then the resistance received by the balance plate 51 is changed, so that the underwater robot can be adjusted to a balanced state.

[0060] The change in the resistance received by the balance plate 51 may affect the forward speed. Therefore, during the survey process, the rotation speed of the screw propeller 22 can be initially adjusted according to the angle between the balance plate 51 and the horizontal plane, and then the rotation speed of the screw propeller 22 can be finely adjusted according to the real-time forward speed.

[0061] Exemplarily, the angle between the balance plate 51 and the horizontal plane is divided into several angle intervals, and a rotation speed range of the screw propeller 22 is set for each angle interval. For example, several angle intervals are [0°, 30°), [30°, 60°), and [60°, 90°], and the corresponding rotation speed ranges of the screw propeller 22 are [v1, v2), [v2, v3), and [v3, v4]. The above data can be obtained through experiments to ensure the stable operation of the underwater robot underwater.

[0062] When the angle between the balance plate 51 and the horizontal plane is within the range of [30°, 60°), the rotation speed of the screw propeller 22 is adjusted within the range of [v2, v3), and then the rotation speed of the screw propeller 22 is finely adjusted according to the real-time forward speed, in order to quickly adjust the rotation speed of the screw propeller 22 to ensure the stable forward speed.

[0063] When multiple balance plates 51 are provided, the rotation speed of the screw propeller 22 is initially adjusted according to the angle of the balance plate 51 with the largest angle with the horizontal plane.

[0064] The above embodiments only illustrate the basic principles and characteristics of the present invention. The present invention is not limited by the above embodiments. Without departing from the spirit and scope of the present invention, there are various changes and modifications to the present invention, and these changes and modifications all fall within the scope of the present invention claimed. The scope of protection claimed for the present invention is defined by the appended claims and their equivalents.

Claims

1. An underwater robot based on electromagnetic exploration, characterized in that Comprising: A fuselage, an accommodation cavity communicating with the outside is formed inside the fuselage, a floating body is arranged at the top of the accommodation cavity, and a three-axis attitude sensor is arranged in the accommodation cavity; A power device, including a traveling drive assembly and a propeller, the traveling drive assembly is arranged in the accommodation cavity, the propeller is arranged at the rear of the fuselage, and the traveling drive assembly can drive the propeller to rotate to push the fuselage forward; A floating and sinking device, arranged in the accommodation cavity, the floating and sinking device includes a water tank and a hydraulic pump, the water tank has a water inlet and outlet that can communicate with the outside, and the hydraulic pump is used to add water to the water tank or drain the water in the water tank; An exploration device, arranged at the bottom of the fuselage, the exploration device includes a transmitter and a receiver, the transmitter excites electromagnetic waves through an alternating current, and the receiver is used to receive electric field data and magnetic field data; A balancing device, including at least two balancing plates and a set of balancing drive components corresponding to each balancing plate, the balancing plates are rotatably arranged at the bottom of the fuselage, and the balancing drive components can drive the balancing plates to rotate to adjust the angle between the balancing plates and the horizontal plane to change the water-facing area of the balancing plates, and the rotation axis of the balancing plates extends along the left-right direction of the fuselage.

2. The underwater robot based on electromagnetic exploration according to claim 1, characterized in that, There are two balancing plates, and the two balancing plates are arranged at intervals along the left-right direction of the fuselage; Alternatively, there are four balancing plates, and the four balancing plates are arranged in two rows at intervals along the front-rear direction of the fuselage, and the two balancing plates in each row are arranged at intervals along the left-right direction of the fuselage.

3. The underwater robot based on electromagnetic exploration according to claim 1, characterized in that, It further includes a camera device, the camera device includes a support part and a lighting lamp and a camera arranged on the support part, and the support part is arranged outside the fuselage and at the front of the fuselage.

4. The underwater robot based on electromagnetic exploration according to claim 3, wherein The inside of the support part is hollow to form a wire threading cavity, and the wire threading cavity communicates with the accommodation cavity; and / or, along the direction away from the fuselage, the support part extends obliquely upward from bottom to top.

5. The underwater robot based on electromagnetic exploration according to claim 1, characterized in that The fuselage includes a bottom plate and a housing, the housing is an arc-shaped cover body with a high middle and a low periphery, and the housing covers the bottom plate to form the accommodation cavity.

6. The underwater robot based on electromagnetic exploration according to claim 1, characterized in that A water pipe is arranged on the water tank at the water inlet and outlet, a solenoid valve is arranged on the water pipe, the piston of the hydraulic pump is located in the water tank, and the pump body of the hydraulic pump is located on the side of the piston away from the water inlet and outlet.

7. The underwater robot based on electromagnetic exploration according to claim 1, wherein There are at least two water tanks, and a set of hydraulic pumps is arranged corresponding to each water tank, and the water tanks are arranged at intervals in the accommodation cavity; and / or, there are two propellers, and a set of traveling drive components is arranged corresponding to each propeller, and the two propellers are arranged at intervals along the left-right direction at the rear of the fuselage.

8. The underwater robot based on electromagnetic exploration according to any one of claims 1-7, characterized in that, It further includes a recovery device, the recovery device includes a support rod and a connecting ring, the support rod is arranged outside the fuselage and at the top of the fuselage, and the connecting ring is connected to the support rod.

9. An underwater exploration method, characterized in that, Using the underwater robot based on electromagnetic exploration according to any one of claims 1-8, comprising: Lower the underwater robot to the underwater target area, and drive the propeller to rotate through the traveling drive assembly to push the fuselage forward; During the survey, the transmitter excites electromagnetic waves through alternating current, and the receiver receives electric field data and magnetic field data; control the underwater robot to sink or float by adding water to the water tank or discharging the water in the water tank through the hydraulic pump; adjust the angle between the balance plate and the horizontal plane according to the detection data of the three-axis attitude sensor; After the survey is completed, discharge the water in the water tank through the hydraulic pump to control the underwater robot to float to the water surface.

10. The underwater exploration method according to claim 9, wherein During the survey, the rotation speed value of the propeller is obtained in real time. When the rotation speed value is less than or equal to the first set value, the first protection action is triggered; The first protection action includes: after the traveling drive assembly drives the propeller to reverse for the first set duration, the traveling drive assembly drives the propeller to rotate forward.

Images