An underwater robot based on electromagnetic exploration and an underwater exploration method

Abstract

The application 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 comprises a body, a float and a three-axis attitude sensor arranged in the body, a power device, a float-sink device, an exploration device and a balancing device. The power device comprises a traveling driving assembly and a screw propeller. The traveling driving assembly can drive the screw propeller to rotate to push the body forward. The float-sink device comprises a water tank and a hydraulic pump. 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 balancing device comprises a balancing plate and a balancing driving assembly. The balancing driving assembly can drive the balancing plate to rotate to adjust the water-encountering area of the balancing plate. The underwater exploration method adopts the underwater robot based on electromagnetic exploration. The transmitter and the receiver are integrated in the body, the volume of the whole machine is reduced, and the exploration efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of underwater exploration technology, and in particular to an underwater robot and underwater exploration method based on electromagnetic exploration. Background Technology

[0002] Marine electromagnetic methods are geophysical methods used to determine the electrical structure beneath the seabed by measuring the distribution of artificially emitted or naturally generated electromagnetic fields at sea or on the seabed. They are widely used in exploring seabed geological structures and mineral and oil and gas resources. Natural electromagnetic fields are weak on the seabed, but artificially emitted electromagnetic fields compensate for this deficiency, allowing for direct detection of seabed resources.

[0003] Commonly used marine electromagnetic exploration equipment involves an exploration vessel towing a transmitter located on the seabed along the survey line. The transmitter generates electromagnetic waves through alternating current, while a receiver is fixed to the seabed to record the electromagnetic field. The separation of the transmitter and receiver, coupled with the reliance on the exploration vessel for movement, results in bulky equipment that is inconvenient to operate. The receiver is deployed to a designated location, and after exploration, it is retrieved and deployed to the next designated location. This process requires multiple repetitions to complete the exploration, leading to low efficiency and often consuming significant manpower and resources. Summary of the Invention

[0004] The purpose of this invention is to provide an underwater robot and underwater exploration method based on electromagnetic exploration, so as to solve the technical problems of large size and low exploration efficiency of existing marine electromagnetic exploration equipment.

[0005] As conceived above, the technical solution adopted by this invention is: an underwater robot based on electromagnetic exploration, comprising: a body, the interior of which forms a cavity communicating with the outside, a float being disposed at the top of the cavity, and a three-axis attitude sensor disposed within the cavity; a power unit, comprising a propulsion drive assembly and a propeller, the propulsion drive assembly being disposed within the cavity, and the propeller being disposed at the rear of the body, the propulsion drive assembly being capable of driving the propeller to rotate to propel the body forward; and a buoyancy device, disposed within the cavity, the buoyancy device comprising a water tank and a hydraulic pump, the water tank having inlet and outlet water outlets communicating with the outside. The hydraulic pump is used to add water to the water tank or discharge water from the water tank; the exploration device is located at the bottom of the body, and the exploration device includes a transmitter and a receiver. The transmitter excites electromagnetic waves through alternating current, and the receiver is used to receive electric field data and magnetic field data; the balancing device includes at least two balancing plates and a set of balancing drive components for each balancing plate. The balancing plates are rotatably located at the bottom of the body, and the balancing drive components can drive the balancing plates to rotate to adjust the angle between the balancing plates and the horizontal plane, thereby changing the water-facing area of ​​the balancing plates. The rotation axis of the balancing plates extends along the left and right direction of the body.

[0006] Preferably, there are two balance plates, which are spaced apart along the left-right direction of the machine body; or, there are four balance plates, which are spaced apart in two rows along the front-back direction of the machine body, with two balance plates in each row spaced apart along the left-right direction of the machine body.

[0007] Preferably, the device also includes a camera, which includes a support and a light and a camera mounted on the support. The support is located on the outside of the body and at the front of the body.

[0008] Preferably, the interior of the support portion is hollow to form a threading cavity, which is connected to the receiving cavity; and / or, the support portion extends obliquely upward from bottom to top in a direction away from the fuselage.

[0009] Preferably, the housing includes a base plate and an outer shell, the outer shell being an arc-shaped cover that is higher in the middle and lower at the periphery, and the outer shell is fastened to the base plate to form the accommodating cavity.

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

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

[0012] Preferably, the device also includes a recycling device, which includes a support rod and a connecting ring. The support rod is located on the outside of the body and at the top of the body, and the connecting ring is connected to the support rod.

[0013] An underwater exploration method employing an underwater robot based on electromagnetic exploration as described above includes: lowering the underwater robot to an underwater target area; driving a propeller to rotate via a propulsion drive component to propel the robot forward; during the exploration process, a transmitter generates electromagnetic waves through alternating current, and a receiver receives electric and magnetic field data; adding water to or draining water from a tank via a hydraulic pump to control the underwater robot's sinking or surfacing; adjusting the angle between a balance plate and the horizontal plane based on data from a three-axis attitude sensor; and after the exploration is completed, draining water from the tank via a hydraulic pump to control the underwater robot to surface.

[0014] Preferably, during the survey process, the rotational speed of the propeller is acquired in real time. When the rotational speed is less than or equal to a first set value, a first protection action is triggered. The first protection action includes: after the travel drive component drives the propeller to rotate in reverse for a first set time, the travel drive component drives the propeller to rotate in the forward direction.

[0015] The beneficial effects of this invention are as follows: The underwater robot based on electromagnetic exploration proposed in this invention includes a body, a power unit, a buoyancy device, a surveying device, and a balancing device. The body has an internal cavity communicating with the outside world, and a float is installed at the top of the cavity. The float helps balance the weight of the entire robot in the water, enabling it to float. A three-axis attitude sensor is installed inside the cavity to detect the robot's attitude for timely adjustments. The propulsion drive assembly drives the propeller to rotate, propelling the body forward without the need for a towing vessel. A hydraulic pump is used to add water to the tank or to adjust the tank's position. The water inside is drained to regulate the underwater robot's buoyancy. During exploration, the transmitter generates electromagnetic waves using alternating current, and the receiver receives electric and magnetic field data. This data is then analyzed to determine the differences in the electromagnetic properties of the target area, enabling precise detection. The balancing device includes at least two balancing plates and a set of balancing drive components for each plate. The balancing plates are rotatably mounted at the bottom of the robot body. The balancing drive components drive the plates to rotate, adjusting the angle between the plate and the horizontal plane to change the water-facing area. The rotation axis of the balancing plates extends along the left-right direction of the robot body. Through the coordinated operation of the power unit, buoyancy device, surveying device, and balancing device, survey stability is ensured. The transmitter and receiver are integrated into the robot body, reducing the overall size and allowing for simultaneous exploration of multiple locations within the target area, thus improving exploration efficiency.

[0016] The underwater exploration method proposed in this invention employs an underwater robot based on electromagnetic exploration. The robot is lowered into the area to be explored and propelled forward by a propulsion drive component that drives a propeller. During the exploration process, the transmitter generates electromagnetic waves using alternating current, while the receiver receives electric and magnetic field data. A hydraulic pump adds water to or removes water from the tank to control the robot's descent or ascent. After exploration, the hydraulic pump removes water from the tank to bring the robot to the surface. This method eliminates the need for a towing vessel, integrates the transmitter and receiver within the robot's fuselage, reducing overall size, and allows for exploration of multiple locations within the target area simultaneously, improving exploration efficiency. Attached Figure Description

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

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

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

[0020] Figure 4This is the fourth schematic diagram of an underwater robot based on electromagnetic exploration provided in an embodiment of the present invention.

[0021] Figure 5 This is the fifth schematic diagram of an underwater robot based on electromagnetic exploration provided in an embodiment of the present invention.

[0022] Figure 6 This is a partial structural schematic diagram of the floating and sinking device provided in an embodiment of the present invention.

[0023] In the diagram: 10. Fuselage; 11. Receptacle; 12. Float; 13. Base plate; 14. Outer shell; 20. Power unit; 21. Propulsion drive assembly; 22. Propeller; 30. Buoyancy 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 component; 60. Camera device; 61. Support section; 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

[0024] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0025] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

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

[0028] See Figures 1 to 6 This invention provides an underwater robot based on electromagnetic exploration, comprising a body 10, a power unit 20, a buoyancy device 30, and an exploration device 40. The body 10 has an internal cavity 11 communicating with the outside. A float 12 is mounted on the top of the cavity 11, and a three-axis attitude sensor is installed within the cavity 11. The power unit 20 includes a propulsion drive assembly 21 and a propeller 22. The propulsion drive assembly 21 is located within the cavity 11, and the propeller 22 is located at the rear of the body 10. The propulsion drive assembly 21 is capable of driving... The propeller 22 rotates to propel the fuselage 10 forward; the buoyancy device 30 is disposed in the accommodating cavity 11, and the buoyancy device 30 includes a water tank 31 and a hydraulic pump 32. The water tank 31 has an inlet and outlet that can communicate with the outside. The hydraulic pump 32 is used to add water to the water tank 31 or to discharge water from the water tank 31; the exploration device 40 is disposed at the bottom of the fuselage 10, and the exploration device 40 includes a transmitter 41 and a receiver 42. The transmitter 41 excites electromagnetic waves through alternating current, and the receiver 42 is used to receive electric field data and magnetic field data.

[0029] By incorporating a float 12 to balance the overall weight of the underwater robot, it can float in the water. The float 12 can be made of existing buoyancy materials, such as foam, plastic floats, or composite floats. Alternatively, the float 12 can be an existing airbag; its volume is compressed during descent and increased by inflating with high-pressure gas during surfacing. The float 12 is housed inside the body 10 to facilitate adaptation to high-pressure environments. Optionally, the float 12 can be integrated with the body 10 to increase structural strength.

[0030] In this embodiment, the fuselage 10 includes a base plate 13 and a shell 14. The shell 14 is an arc-shaped cover with a higher center and lower periphery. The shell 14 is fastened to the base plate 13 to form an accommodating cavity 11. By setting the shell 14 as an arc-shaped cover with a higher center and lower periphery, it mimics the shell of a sea turtle to reduce drag.

[0031] The propulsion drive assembly 21 drives the propeller 22 to rotate, propelling the body 10 forward without the need for a tow vessel, thus reducing the overall size of the robot. The hydraulic pump 32 is used to add or remove water from the water tank 31 to regulate the underwater robot's buoyancy. During exploration, the transmitter 41 generates electromagnetic waves using alternating current, and the receiver 42 receives electric and magnetic field data. This data allows for analysis of the electromagnetic properties of the target area, enabling precise detection. Through the coordination of the power unit 20, the buoyancy device 30, and the surveying equipment, the transmitter 41 and receiver 42 are integrated into the body 10, reducing the overall size and allowing for simultaneous exploration of multiple locations within the target area, thus improving exploration efficiency.

[0032] The principle of seafloor electromagnetic exploration is based on the differences in electrical conductivity of rocks and the law of electromagnetic induction. Different rock strata or ore bodies on the seabed exhibit differences in electrical conductivity (or resistivity); for example, oil and gas reservoirs have high resistivity, while metal sulfides are highly conductive. By emitting an artificial electromagnetic field into the seabed and measuring the secondary electromagnetic field induced in the strata, the underground electrical structure can be inferred.

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

[0034] In some embodiments, a water pipe is provided at the 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 inlet and outlet. The piston 321 is hydraulically driven to move within the water tank 31, pushing the water in the water tank 31 to be discharged or creating a negative pressure so that seawater from the outside flows into the water tank under the action of pressure difference. The solenoid valve 33 is an existing structure, and the solenoid valve 33 is used to ensure the sealing of the water tank 31.

[0035] The water tank 31 can be made of pressure-resistant or flexible material to adapt to pressure changes.

[0036] The water tank 31 can be provided as one or more. For example, at least two water tanks 31 are provided, with a set of hydraulic pumps 32 corresponding to each water tank 31, and the water tanks 31 are arranged at intervals within the receiving cavity 11. Optionally, the water tanks 31 are arranged at intervals along the front-rear direction of the machine body 10 within the receiving cavity 11. Optionally, the water tanks 31 are arranged in a ring at intervals around an axis within the receiving cavity 11.

[0037] In this embodiment, two water tanks 31 are provided, one located at the front of the receiving cavity 11 and the other at the rear. The water volume in the two water tanks 31 can be the same or different. By changing the water volume in the two water tanks 31, the center of gravity of the entire machine can be changed to adjust its posture. For example, when the water volume in the rear water tank 31 increases and the water volume in the front water tank 31 decreases, the front end of the entire machine tilts upward.

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

[0039] The travel drive assembly 21 can use an existing hydraulic motor, which can directly drive the propeller 22 or drive it through a transmission mechanism. By controlling the speed of the hydraulic motor, the speed of the propeller 22 can be changed to adjust the overall forward speed of the machine.

[0040] The underwater robot based on electromagnetic exploration also includes a balancing device 50. The balancing device 50 includes at least two balancing plates 51 spaced apart along the left-right direction of the body 10, and a set of balancing drive components 52 corresponding to each balancing plate 51. The balancing plates 51 are rotatably mounted on the bottom of the body 10. The balancing drive components 52 can drive the balancing plates 51 to rotate, thereby adjusting the water-facing area of ​​the balancing plates 51. The rotation axis of the balancing plates 51 extends along the left-right direction of the body 10. By driving the balancing plates 51 to rotate through the balancing drive components 52, the angle between the balancing plates 51 and the horizontal plane is adjusted, changing the water-facing area of ​​the balancing plates 51, and thus changing the resistance experienced by the balancing plates 51. The larger the water-facing area, the greater the resistance. Since the balancing plates 51 can tilt relative to the horizontal direction, the component of the resistance force of the water flow on the balancing plates 51 is upward or downward, thereby adjusting the overall attitude of the robot.

[0041] For example, two balance plates 51 are provided, and the two balance plates 51 are spaced apart along the left and right direction of the body 10. The tilt angles of the two balance plates 51 relative to the horizontal direction can be the same or different.

[0042] For example, four balance plates 51 are provided, arranged in two rows along the front-rear direction of the fuselage 10, with two balance plates 51 in each row arranged along the left-right direction of the fuselage 10. When the tilt angles of the four balance plates 51 relative to the horizontal direction are exactly the same, such as... Figure 1 As shown. When the underwater robot tilts to the left, i.e., left lower than right, the left balance plate 51 can be adjusted to increase its water-facing area, such as... Figure 3 As shown, this allows the left-side balance plate 51 to receive a greater upward force, thus lifting the left side; conversely, the right-side balance plate 51 can be adjusted to reduce its water-facing area, thereby decreasing the upward force it receives and allowing the right side to descend. The balance plate 51 can extend horizontally, as shown... Figure 4 As shown, the water-facing area of ​​the balance plate 51 is the smallest; the balance plate 51 can extend vertically, such as... Figure 5 As shown, 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 attached figure is only a schematic diagram of the balance plate 51 and does not constitute a limitation on the size of the balance plate 51.

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

[0044] The balancing device 50 also includes a support member 53, which is connected to the base plate 13 of the fuselage 10. The balancing plate 51 is rotatably connected to the support member 53 via a rotating shaft. The balancing 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 in the middle position of the balancing plate 51 so that the balancing plate 51 is subjected to balanced forces.

[0045] For example, a three-axis attitude sensor is installed in the accommodating cavity 11 to monitor whether the underwater robot's attitude has 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 described in detail here.

[0046] The transmitter 41 can employ an existing electric dipole. The transmitter 41 can be embedded in the balance plate 51, or it can be mounted on the base plate 13 of the fuselage 10. The receiver 42 employs an existing electric / magnetic field sensor array to record electromagnetic field components. The receiver 42 can be embedded in the balance plate 51, or it can be mounted on the base 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 alter the direction of the electromagnetic wave. Exemplarily, the receiver 42 is embedded in the balance plate 51. A lower position of the receiver 42 results in better reception. Exemplarily, both the transmitter 41 and receiver 42 are embedded in the balance plate 51, and the transmitter 41 and receiver 42 may be located on the same or different balance plates 51.

[0047] A data acquisition device 100 is installed inside the accommodating cavity 11. Data received by the receiver 42 is transmitted to the data acquisition device 100, which stores the electromagnetic field time series data in real time. The data acquisition device 100 can use an existing pressure-resistant and waterproof hard drive combined with the principle of optical fiber communication to realize data transmission and storage.

[0048] The underwater robot based on electromagnetic exploration also includes a camera device 60. The camera device 60 includes a support 61 and a light 62 and a camera 63 mounted on the support 61. The support 61 is located on the outside of the fuselage 10 and at the front of the fuselage 10. Underwater light is weak, so the light 62 assists the camera 63, improving image clarity. The camera 63 can be a conventional 360-degree high-definition camera. A pressure-resistant protective structure can be installed on the outside of the camera 63.

[0049] In this embodiment, the interior of the support portion 61 is hollow, forming a wiring cavity that communicates with the receiving cavity 11. The wiring cavity facilitates the cabling of the lighting lamp 62 and the camera 63. The support portion 61 extends obliquely upwards in a direction away from the body 10. The outer surface of the support portion 61 is streamlined to reduce drag, mimicking the shape of a turtle's head.

[0050] The support 61 can be fixed to the body 10 or rotatably mounted on the body 10. For example, the support 61 is connected to the body 10 via a ball joint, and a drive assembly is provided within the body 10 to drive the support 61 to rotate. This drive assembly may be, for example, a hydraulic cylinder and a connecting rod. Rotation of the support 61 allows for a wider range of shooting and lighting.

[0051] The underwater robot based on electromagnetic exploration also includes a recovery device 70, which includes a support rod 71 and a connecting ring 72. The support rod 71 is located on the outside of the body 10 and at the top of the body 10, and 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 to facilitate the recovery of the underwater robot.

[0052] The underwater robot based on electromagnetic exploration also includes a navigation device 80 and a control device 90, both housed within the accommodating cavity 11. The navigation device 80 and control device 90 are electrically connected. The navigation device 80 can employ an existing navigation system, such as Doppler sonar navigation. The control device 90 controls the aforementioned hydraulic motors, three-axis attitude sensors, transmitter 41, and receiver 42, among other electrical components. Optionally, the control device 90 includes an Intel processor, AMD processor, PLC controller, ARM processor, or microcontroller, and is paired with a motherboard, memory modules, storage media, and a power supply, which can be a lithium battery. The operating principle of the control device 90 is conventional and will not be elaborated further.

[0053] This invention also provides an underwater exploration method using the aforementioned electromagnetic exploration-based underwater robot, comprising: lowering the underwater robot to an underwater target area; driving the propeller 22 to rotate via the propulsion drive component 21 to propel the body 10 forward; during the exploration process, the transmitter 41 generates electromagnetic waves through alternating current, and the receiver 42 receives electric field data and magnetic field data; adding water to the water tank 31 or discharging water from the water tank 31 via the hydraulic pump 32 to control the underwater robot to sink or float; adjusting the angle between the balance plate 51 and the horizontal plane based on the detection data of the three-axis attitude sensor; and after the exploration is completed, discharging water from the water tank 31 via the hydraulic pump 32 to control the underwater robot to float to the surface.

[0054] The underwater robot can be deployed to the target underwater area using existing release devices or a marine winch. After deployment, the underwater robot moves along a pre-set trajectory and returns to a designated location for retrieval. The underwater robot's trajectory is controlled by the built-in program of the control device 90 in conjunction with the navigation device 80, etc.

[0055] During the survey, the underwater robot is affected by the environment, such as water flow, making it difficult to maintain a constant forward speed. To ensure that the forward speed is maintained within a set range, the rotational speed of the propeller 22 can be adjusted. During the survey, the forward speed is acquired in real time, and the rotational speed of the propeller 22 is increased or decreased according to whether the forward speed is within the set range to maintain the forward speed within the set range.

[0056] For example, there are two or four propellers 22, and a set of travel drive components is provided for each propeller 22. The rotational speed of each propeller 22 can be adjusted individually.

[0057] Underwater robots are susceptible to environmental influences; for example, seaweed entanglement of the propeller 22 may affect its forward speed or even cause malfunction. During the survey process, the rotational speed of the propeller 22 is acquired in real time. When the rotational speed is less than or equal to a first preset value, a first protection action is triggered. The first protection action includes: after the propulsion drive component drives the propeller 22 to rotate in reverse for a first preset time, the propulsion drive component drives the propeller 22 to rotate forward. The reverse rotation removes the impurities entangled on the propeller 22.

[0058] After the first protection action is performed, if the rotation speed of the propeller 22 is still less than the first set value when rotating forward, the alarm device will be triggered. At this time, the underwater robot may be malfunctioning, and the underwater robot can be recovered and dealt with in a timely manner.

[0059] During the survey, the tilt angle of the balance plate 51 is adjusted based on the attitude of the underwater robot monitored by the three-axis attitude sensor, thereby changing the resistance on the balance plate 51 and enabling the underwater robot to adjust to a balanced state.

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

[0061] For example, the angle between the balance plate 51 and the horizontal plane is divided into several angle intervals, and a rotational speed range for the propeller 22 is set for each angle interval. For example, the angle intervals are [0°, 30°), [30°, 60°), and [60°, 90°], and the corresponding rotational speed ranges for the 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 in the range of [30°, 60°), the rotation speed of the screw propeller 22 is adjusted to be in the range of [v2, v3). 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 stability of the forward speed.

[0063] When multiple balance plates 51 are provided, the rotational speed of the propeller 22 is initially adjusted by the angle of the balance plate 51 with the largest angle between it and the horizontal plane.

[0064] The above embodiments merely illustrate the basic principles and characteristics of the present invention. The present invention is not limited to the above embodiments. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An underwater robot based on electromagnetic exploration, characterized in that, include: The fuselage has an internal cavity that communicates with the outside world. A float is installed on the top of the cavity, and a three-axis attitude sensor is installed inside the cavity. The power unit includes a driving assembly and a propeller, the driving assembly being disposed within the accommodating cavity, and the propeller being disposed at the rear of the fuselage, the driving assembly being capable of driving the propeller to rotate to propel the fuselage forward; A buoyancy device is disposed within the accommodating cavity. The buoyancy device includes a water tank and a hydraulic pump. The water tank has an inlet and outlet that can communicate with the outside. The hydraulic pump is used to add water to the water tank or to discharge water from the water tank. An exploration device is installed at the bottom of the fuselage. The exploration device includes a transmitter and a receiver. The transmitter generates electromagnetic waves by alternating current, and the receiver is used to receive electric field data and magnetic field data. A balancing device includes at least two balancing plates and a set of balancing drive components for each balancing plate. The balancing plates are rotatably mounted on the bottom of the body. The balancing drive components can drive the balancing plates to rotate to adjust the angle between the balancing plates and the horizontal plane, thereby changing the water-facing area of ​​the balancing plates. The rotation axis of the balancing plates extends along the left-right direction of the body. When the balance plate is tilted relative to the horizontal direction, the component of the resistance force of the water flow on the balance plate is upward or downward; The transmitter is embedded in the balance plate, and the receiver is embedded in the balance plate; The transmitter and the receiver are located on different balance plates.

2. The underwater robot based on electromagnetic exploration according to claim 1, characterized in that, Two balance plates are provided, and the two balance plates are spaced apart along the left and right direction of the machine body; Alternatively, four balance plates may be provided, arranged in two rows along the front-rear direction of the machine body, with two balance plates in each row arranged along the left-right direction of the machine body.

3. The underwater robot based on electromagnetic exploration according to claim 1, characterized in that, It also includes a camera device, which includes a support and a light and a camera mounted on the support. The support is located on the outside of the body and at the front of the body.

4. The underwater robot based on electromagnetic exploration according to claim 3, characterized in that, The hollow interior of the support portion forms a threading cavity, which is connected to the receiving cavity; and / or, the support portion extends obliquely upward from bottom to top in a direction away from the fuselage.

5. The underwater robot based on electromagnetic exploration according to claim 1, characterized in that, The body includes a base plate and an outer shell. The outer shell is an arc-shaped cover that is higher in the middle and lower at the periphery. The outer shell is fastened to the base plate to form the accommodating cavity.

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

7. The underwater robot based on electromagnetic exploration according to claim 1, characterized in that, At least two water tanks are provided, and a set of hydraulic pumps is provided for each water tank. The water tanks are arranged at intervals in the accommodating cavity. And / or, two propellers are provided, and a set of the travel drive components is provided for each propeller, with the two propellers arranged at intervals along the left-right direction of the fuselage 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 also includes a recycling device, which includes a support rod and a connecting ring. The support rod is located on the outside of the body and at the top of the body, and the connecting ring is connected to the support rod.

9. An underwater exploration method, characterized in that, The underwater robot based on electromagnetic exploration as described in any one of claims 1-8 comprises: The underwater robot is lowered to the target area underwater and the propulsion drive component drives the propeller to rotate, thus propelling the body forward. During the survey, the transmitter generates electromagnetic waves through alternating current, and the receiver receives electric field and magnetic field data; water is added to or drained from the water tank by a hydraulic pump to control the underwater robot's descent or ascent; the angle between the balance plate and the horizontal plane is adjusted based on the detection data from the three-axis attitude sensor. After the survey is completed, the water in the tank is drained by a hydraulic pump to control the underwater robot to float to the surface.

10. The underwater exploration method according to claim 9, characterized in that, During the survey, the rotational speed of the propeller is acquired in real time. When the rotational speed is less than or equal to the first set value, the first protection action is triggered. The first protection action includes: after the travel drive component drives the propeller to rotate in reverse for a first set time, the travel drive component drives the propeller to rotate in the forward direction.

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