Motorized underwater robot for tidal current observation

Abstract

The invention discloses a motorized underwater robot for tidal and tidal current observation, relates to the technical field of robots, and mainly aims to solve the problem that an existing motorized underwater robot for tidal and tidal current observation is difficult to meet long-term stable tidal and tidal current observation requirements. Comprising a main cabin body (1), a plurality of auxiliary cabin bodies (2), a plurality of connecting mechanisms (3) and a plurality of supporting feet (4), wherein the main cabin body (1) is used for carrying different detection devices to execute detection tasks, and is provided with a buoyancy adjusting cabin section (11) for adjusting the buoyancy of the underwater robot; each auxiliary cabin body (2) is connected with the main cabin body (1) through a connecting mechanism (3), and each auxiliary cabin body (2) and the main cabin body (1) are arranged on the same plane and used for providing power for the underwater robot; the supporting feet (4) are arranged below the auxiliary cabin body (2) and used for supporting the underwater robot so that the underwater robot can complete the bottom-sitting detection task.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and particularly to an underwater robot for mobile tidal current observation. Background Art

[0002] With the continuous development of AUV (Autonomous Underwater Vehicle for mobile tidal current observation) technology, the number and types of AUVs are gradually increasing. Due to their good fluid shapes (such as torpedo-shaped, flat-shaped, etc.), they can effectively reduce the resistance during navigation and improve the endurance. Therefore, devices such as acoustic, optical, and ocean environment measurement payloads can be carried on them to perform various detection tasks to meet different detection requirements. However, due to structural problems, it is difficult for existing AUVs for underwater detection to meet the requirement of long-term and stable tidal current observation. Summary of the Invention

[0003] In view of this, the present application provides an underwater robot for mobile tidal current observation, mainly aiming at the problem that existing underwater robots are difficult to meet the requirement of long-term and stable tidal current observation.

[0004] According to one aspect of the present application, an underwater robot for mobile tidal current observation is provided, including:

[0005] A main cabin body (1), a plurality of sub-cabin bodies (2), a plurality of connecting mechanisms (3), and a plurality of support feet (4);

[0006] Among them, the main cabin body (1) is used to carry different detection devices to perform detection tasks, and is equipped with a buoyancy adjustment section (11) for adjusting the buoyancy of the underwater robot.

[0007] Each of the sub-cabin bodies (2) is connected to the main cabin body (1) through the connecting mechanism (3), and each of the sub-cabin bodies (2) and the main cabin body (1) are arranged in the same plane to provide power for the underwater robot.

[0008] Each of the support feet (4) is arranged below the sub-cabin body (2) to support the underwater robot so that the underwater robot can complete the bottom detection task.

[0009] Preferably, the buoyancy adjustment section (11) includes a buoyancy adjustment mechanism (1101), which realizes the purpose of adjusting the buoyancy of the underwater robot by changing the storage position of hydraulic oil, so that the underwater robot can perform diving or floating actions.

[0010] Preferably, the buoyancy adjustment section (11) further includes a jettison mechanism (1102) for throwing out heavy objects so that the underwater robot obtains a positive buoyancy equal to the weight of the thrown-out heavy objects, causing the underwater robot to float upward.

[0011] Preferably, the buoyancy adjustment section (11) further includes a main hull watertight connector (1103), a main hull stern end cover (1104), a communication antenna (1105), and a main hull stern fairing (1106);

[0012] Among them, the communication antenna (1105) integrates the Iridium and Beidou systems and adopts a flexible structure;

[0013] The communication antenna (1105) is inserted on the jettison mechanism (1102), and the jettison mechanism (1102) is fixed on the main hull stern end cover (1104);

[0014] The main hull stern fairing (1106) is fixed to the jettison mechanism (1102) by screws;

[0015] One end of the buoyancy adjustment mechanism (1101) is tightly connected to the main hull tie rod (1201) in the attitude adjustment section (12), and the other end is tightly connected to the battery track (1202);

[0016] The main hull stern end cover (1104) is double-sealed with the main pressure hull (1203);

[0017] The main hull watertight connector (1103) is fixed on the main hull stern end cover (1104).

[0018] Preferably, the main hull (1) further includes a main hull bow detection unit section (13) and an attitude adjustment section (12);

[0019] Among them, the main hull bow detection unit section (13), the attitude adjustment section (12), and the buoyancy adjustment section (11) are connected in sequence.

[0020] Preferably, the main hull bow detection unit section (13) includes a DVL Doppler velocimeter (1301), a DVL electronic cabin (1302), a DVL electronic cabin fixing part (1303), a main hull bow fairing (1304), a main hull bow connecting ring (1305), an altimeter (1306), a main hull metal convex shell (1307), a pressure sensor (1308), a temperature sensor (1309), and a salinity sensor (1310);

[0021] Among them, the DVL Doppler current meter (1301) is fixed to the main hull metal convex shell (1307) by screws and is used to measure the seawater flow velocity.

[0022] Preferably, the attitude adjustment section (12) includes a main pressure hull (1203), an electronic compass (1204), a main control board (1205), an Argo buoy module (1206), a radio communication module (1207), a control unit fixing plate (1208), an Iridium module (1209), a main hull tie rod (1201), a jettison control unit (1210), a mobile battery pack (1211), and a battery track (1202);

[0023] Among them, the mobile battery pack (1211) is used to provide energy for the underwater robot, and by moving back and forth on the battery track (1202), the center of gravity of the underwater robot is adjusted to control the attitude adjustment communication angle when the underwater robot floats and dives;

[0024] The electronic compass (1204), the main control board (1205), the Argo buoy module (1206), the radio communication module (1207), and the Iridium module (1209) are all fixed to the control unit fixing plate (1208) by screws; the control unit fixing plate (1208) is fixedly installed on the main hull tie rod (1201);

[0025] One end of the main hull tie rod (1201) is fixed to the main hull bow connecting ring (1305) by a nut;

[0026] The main control board (1205) is used to control each actuator and functional unit;

[0027] The main hull bow connecting ring (1305) is double-sealedly connected to the main hull metal convex shell (1307);

[0028] One end of the battery track (1202) is fixedly connected to the main hull bow connecting ring (1305).

[0029] Preferably, the auxiliary hull (2) includes an auxiliary hull bow flooded section (21), an auxiliary hull main pressure hull section (22), and an auxiliary hull stern flooded section (23);

[0030] Among them, the auxiliary hull bow flooded section (21), the auxiliary hull main pressure hull section (22), and the auxiliary hull stern flooded section (23) are connected in sequence.

[0031] Preferably, the immersed cabin section (21) at the bow of the secondary cabin body includes a bow fairing (2101) of the secondary cabin body, a fixing member (2102) for the bow fairing of the secondary cabin body, and a bow end cover (2103) of the secondary cabin body;

[0032] Among them, the bow fairing (2101) of the secondary cabin body is fixed to the bow end cover (2103) of the secondary cabin body through the fixing member (2102) for the bow fairing of the secondary cabin body.

[0033] Preferably, the main pressure-resistant cabin section (22) of the secondary cabin body includes a fixed battery pack (2201) of the secondary cabin body, a thruster controller (2202), a fixing member (2203) for the thruster controller, a tie rod (2204) of the secondary cabin body, and a pressure-resistant cylinder (2205) of the secondary cabin body;

[0034] Among them, the fixed battery pack (2201) of the secondary cabin body and the tie rod (2204) of the secondary cabin body are respectively fixed on the bow end cover (2103) of the secondary cabin body;

[0035] The thruster controller (2202) is fixed on the fixing member (2203) for the thruster controller;

[0036] The fixing member (2203) for the thruster controller is fixed on the tie rod (2204) of the secondary cabin body;

[0037] A double-sealing connection is carried out between the pressure-resistant cylinder (2205) of the secondary cabin body and the bow end cover (2103) of the secondary cabin body through a double-sealing structure configured on the bow end cover (2103) of the secondary cabin body.

[0038] Preferably, the immersed cabin section (23) at the stern of the secondary cabin body includes a stern thruster (2301), a fixing member (2302) for the stern fairing of the secondary cabin body, a stern fairing (2303) of the secondary cabin body, a watertight connector (2304) of the secondary cabin body, and a stern end cover (2305) of the secondary cabin body;

[0039] Among them, the stern thruster (2301) and the stern fairing (2303) of the secondary cabin body are fixed on the fixing member (2302) for the stern fairing of the secondary cabin body;

[0040] The propeller on the stern thruster (2301) rotates forward or backward under the drive of an electric motor, so that the underwater robot can complete forward, backward or turning movements in water;

[0041] The stern end cover (2305) of the secondary cabin body is equipped with double-sealing grooves and is in double-sealing connection with the pressure-resistant cylinder (2205) of the secondary cabin body;

[0042] The rear end cover (2305) of the secondary cabin body is provided with threaded holes, and the waterproof connector (2304) of the secondary cabin body is fixed to the rear end cover (2305) of the secondary cabin body through the threads;

[0043] The waterproof connector (2304) of the secondary cabin body is connected to the waterproof connector (1103) of the main cabin body through a cable, so that the main control board (1205) controls each module of the secondary cabin body (2).

[0044] Preferably, the connecting mechanism (3) includes a fixed skin (31), a connecting piece (32), and a vertical thruster (33);

[0045] Among them, the fixed skin (31) and the vertical thruster (33) are respectively fixed to the connecting piece (32) by screws, and the connecting piece (32) connects the main cabin body (1) and each secondary cabin body (2) by screws.

[0046] Preferably, the underwater robot further includes a lifting ring (5), which is fixed above the main cabin body (1).

[0047] By means of the above technical solutions, the technical solutions provided by the embodiments of the present application have at least the following advantages:

[0048] The present application provides a mobile underwater robot for tidal current observation, including a main cabin body (1), a plurality of secondary cabin bodies (2), a plurality of connecting mechanisms (3), and a plurality of support feet (4); among them, the main cabin body (1) is used to carry different detection devices to perform detection tasks, and is equipped with a buoyancy adjustment section (11) for adjusting the buoyancy of the underwater robot; each of the secondary cabin bodies (2) is respectively connected to the main cabin body (1) through the connecting mechanism (3), and each of the secondary cabin bodies (2) and the main cabin body (1) are arranged on the same plane to provide power for the underwater robot; each of the support feet (4) is respectively arranged below the secondary cabin body (2) to support the underwater robot, so that the underwater robot can complete the bottom sitting detection task. Compared with the prior art, in the embodiments of the present application, by arranging the main cabin body and a plurality of secondary cabin bodies on the same horizontal plane, long-term and stable bottom sitting observation in water is realized, and each cabin body is independent of each other and is connected through a connecting mechanism, which is convenient for transportation and connection; further, by configuring a buoyancy adjustment section on the main cabin body, and the buoyancy adjustment section further includes a buoyancy adjustment mechanism for adjusting buoyancy by changing the storage position of hydraulic oil and a throwing mechanism for obtaining positive buoyancy by throwing heavy objects, cooperating with a movable battery pack, to achieve the purpose of adjusting the attitude of the underwater robot, so as to meet the requirements of fixed-point and fixed-depth and navigation in all directions, and when a failure occurs or it is trapped in the seabed sediment environment, quickly float by throwing heavy objects to ensure the safety of the underwater robot.

[0049] The above description is only an overview of the technical solution of the present application. In order to better understand the technical means of the present application, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the specific embodiments of the present application are hereinafter specifically exemplified. Brief Description of the Drawings

[0050] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of illustrating the preferred embodiments and are not considered to be a limitation of the present application. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0051] Figure 1 shows a schematic structural diagram of an underwater robot for mobile tidal current observation provided by an embodiment of the present application;

[0052] Figure 2 shows a schematic diagram of the position of the buoyancy adjustment cabin section provided by an embodiment of the present application;

[0053] Figure 3 shows a schematic diagram of the position of the support feet provided by an embodiment of the present application;

[0054] Figure 4 shows a schematic structural diagram of the buoyancy adjustment cabin section provided by an embodiment of the present application;

[0055] Figure 5 shows a schematic structural diagram of the detection unit cabin section at the bow of the main cabin body provided by an embodiment of the present application;

[0056] Figure 6 shows a schematic structural diagram of the auxiliary cabin body provided by an embodiment of the present application;

[0057] Figure 7 shows a schematic structural diagram of the connecting mechanism provided by an embodiment of the present application;

[0058] Among them, the main cabin body (1), the buoyancy adjustment cabin section (11), the attitude adjustment cabin section (12), the detection unit cabin section at the bow of the main cabin body (13);

[0059] The buoyancy adjustment mechanism (1101), the throw-off mechanism (1102), the watertight connector of the main cabin body (1103), the end cover at the stern of the main cabin body (1104), the communication antenna (1105), the fairing at the stern of the main cabin body (1106);

[0060] Main hull tie rod (1201), battery track (1202), main pressure-resistant hull (1203), electronic compass (1204), main control board (1205), Argo buoy module (1206), radio communication module (1207), control unit fixing plate (1208), Iridium module (1209), jettison control unit (1210), mobile battery pack (1211);

[0061] DVL Doppler current meter (1301), DVL electronic cabin (1302), DVL electronic cabin fixture (1303), main hull bow fairing (1304), main hull bow connecting ring (1305), altimeter (1306), main hull metal convex shell (1307), pressure sensor (1308), temperature sensor (1309), salinity sensor (1310);

[0062] Auxiliary hull (2), auxiliary hull bow flooded section (21), auxiliary hull main pressure-resistant section (22), auxiliary hull stern flooded section (23);

[0063] Auxiliary hull bow fairing (2101), auxiliary hull bow fairing fixture (2102), auxiliary hull bow end cap (2103);

[0064] Auxiliary hull fixed battery pack (2201), thruster controller (2202), thruster controller fixture (2203), auxiliary hull tie rod (2204), auxiliary hull pressure-resistant cylinder (2205);

[0065] Stern thruster (2301), auxiliary hull stern fairing fixture (2302), auxiliary hull stern fairing (2303), auxiliary hull watertight connector (2304), auxiliary hull stern end cap (2305);

[0066] Connecting mechanism (3), fixed skin (31), connecting piece (32), vertical thruster (33);

[0067] Support foot (4), lifting ring (5). Detailed implementation mode

[0068] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0069] At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0070] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way a limitation on the present application, its application, or its use.

[0071] Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be considered as part of the specification.

[0072] It should be noted that like reference numerals and letters denote like items in the following figures, and thus, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0073] An embodiment of the present application provides an underwater robot for mobile tidal current observation, such as Figure 1 shown, including: a main cabin body (1), a plurality of sub-cabin bodies (2), a plurality of connecting mechanisms (3), and a plurality of support feet (4);

[0074] Among them, the main cabin body (1) is used to carry different detection devices to perform detection tasks, and is equipped with a buoyancy adjustment cabin section (11), such as Figure 2 shown, for adjusting the buoyancy of the underwater robot;

[0075] Each sub-cabin body (2) is respectively connected to the main cabin body (1) through a connecting mechanism (3), and each sub-cabin body (2) and the main cabin body (1) are arranged on the same plane, for providing power for the underwater robot;

[0076] Each support foot (4) is respectively arranged below the sub-cabin body (2), such as Figure 3 shown, for supporting the underwater robot and enhancing the anti-slip ability of the underwater robot, so that the underwater robot can complete the bottom sitting detection task.

[0077] In an embodiment of the present application, preferably, 4 support feet (4) can be arranged, which ensures the stability of the underwater robot sitting on the bottom, and when the underwater robot obtains a small positive buoyancy, it can complete the floating of the underwater robot in cooperation with the propulsion device.

[0078] In one embodiment of the present application, for further limitation and illustration, such as Figure 4As shown in the figure, the buoyancy adjustment section (11) includes a buoyancy adjustment mechanism (1101). When diving, it returns the hydraulic oil to the inner oil bladder, and when surfacing, it pumps the hydraulic oil from the inner oil bladder into the outer oil bladder in contact with seawater to adjust the buoyancy received by the underwater robot. The buoyancy adjustment section (11) also includes a jettison mechanism (1102) for obtaining a positive buoyancy equal to the weight of the jettisoned heavy object by jettisoning the heavy object, so that the underwater robot can surface. The buoyancy adjustment section (11) also includes a main hull watertight connector (1103), a main hull stern end cover (1104), a communication antenna (1105), and a main hull stern fairing (1106). Among them, the communication antenna (1105) integrates the Iridium and Beidou systems and adopts a flexible structure. The communication antenna (1105) is inserted on the jettison mechanism (1102), and the jettison mechanism (1102) is fixed on the main hull stern end cover (1104). The main hull stern fairing (1106) is fixed to the jettison mechanism (1102) by screws. One end of the buoyancy adjustment mechanism (1101) is tightly connected to the main hull pull rod (1201) in the attitude adjustment section (12), and the other end is tightly connected to the battery track (1202). The main hull stern end cover (1104) is double-sealed with the main pressure hull (1203). The main hull watertight connector (1103) is fixed on the main hull stern end cover (1104).

[0079] Preferably, three main hull watertight connectors (1103) can be provided to ensure that the underwater robot can be powered by inserting an electric connection head into one of them. In the embodiment of the present application, in terms of buoyancy adjustment, on the one hand, when the underwater robot encounters an emergency, the jettison mechanism (1102) can jettison the heavy object, so that the underwater robot can obtain a positive buoyancy equal to the weight of the heavy object and quickly surface for communication. On the other hand, the buoyancy adjustment mechanism (1101) can also adjust the buoyancy of the underwater robot by pumping oil. Specifically, when diving, the hydraulic oil returns to the inner oil bladder, and when surfacing, the hydraulic oil is pumped from the inner oil bladder into the outer oil bladder in contact with water. In addition, the communication antenna (1105) integrates the Iridium and Beidou systems and adopts a flexible structure, so that it is higher above the water surface, has good signal, and has a simple and compact structure for easy transportation.

[0080] In an embodiment of the present application, for further limitation and explanation, as Figure 4 shown, the main hull (1) also includes a main hull bow detection unit section (13) and an attitude adjustment section (12). Among them, the main hull bow detection unit section (13), the attitude adjustment section (12), and the buoyancy adjustment section (11) are connected in sequence.

[0081] In an embodiment of the present application, for further limitation and explanation, as Figure 5As shown, the detection unit section (13) at the bow of the main cabin includes a DVL Doppler current meter (1301), a DVL electronic cabin (1302), a DVL electronic cabin fixture (1303), a fairing at the bow of the main cabin (1304), a connecting ring at the bow of the main cabin (1305), an altimeter (1306), a metal convex hull of the main cabin (1307), a pressure sensor (1308), a temperature sensor (1309), and a salinity sensor (1310); among them, the DVL Doppler current meter (1301) is fixed to the metal convex hull (1307) of the main cabin by screws and is used to measure the seawater flow rate.

[0082] In an embodiment of the present application, for further limitation and explanation, as Figure 4 As shown, the attitude adjustment section (12) includes a main pressure-resistant cabin (1203), an electronic compass (1204), a main control board (1205), an Argo buoy module (1206), a radio communication module (1207), a control unit fixing plate (1208), an Iridium module (1209), a pull rod of the main cabin (1201), a jettison control unit (1210), a mobile battery pack (1211), and a battery track (1202); among them, the mobile battery pack (1211) is used to provide energy for the underwater robot and adjusts the center of gravity of the underwater robot by moving back and forth on the battery track (1202) to control the attitude adjustment communication angle when the underwater robot floats and dives; the electronic compass (1204), the main control board (1205), the Argo buoy module (1206), the radio communication module (1207), and the Iridium module (1209) are all fixed to the control unit fixing plate (1208) by screws; the control unit fixing plate (1208) is fixedly installed on the pull rod of the main cabin (1201); one end of the pull rod of the main cabin (1201) is fixed to the connecting ring at the bow of the main cabin (1305) by a nut; the main control board (1205) is used to control each actuator and functional unit; the connecting ring at the bow of the main cabin (1305) is double-sealedly connected to the metal convex hull (1307) of the main cabin; one end of the battery track (1202) is fixedly connected to the connecting ring at the bow of the main cabin (1305).

[0083] In the embodiment of the present application, the mobile battery pack (1211) not only provides energy for the vehicle but also can move back and forth on the battery track (1202) to realize the front-back adjustment of the center of gravity of the underwater robot and control the attitude of the underwater robot when it floats and dives. By controlling the mobile battery pack (1211) during communication, a good communication angle of the underwater robot can be ensured.

[0084] In an embodiment of the present application, for further limitation and explanation, as Figure 6As shown in the figure, the secondary cabin (2) includes the flooded section at the bow of the secondary cabin (21), the main pressure-resistant section of the secondary cabin (22), and the flooded section at the stern of the secondary cabin (23); among them, the flooded section at the bow of the secondary cabin (21), the main pressure-resistant section of the secondary cabin (22), and the flooded section at the stern of the secondary cabin (23) are connected in sequence; the flooded section at the bow of the secondary cabin (21) includes the fairing at the bow of the secondary cabin (2101), the fixing part of the fairing at the bow of the secondary cabin (2102), and the end cover at the bow of the secondary cabin (2103); among them, the fairing at the bow of the secondary cabin (2101) is fixed to the end cover at the bow of the secondary cabin (2103) through the fixing part of the fairing at the bow of the secondary cabin (2102); the main pressure-resistant section of the secondary cabin (22) includes the fixed battery pack of the secondary cabin (2201), the thruster controller (2202), the fixing part of the thruster controller (2203), the tie rod of the secondary cabin (2204), and the pressure-resistant cylinder of the secondary cabin (2205); among them, the fixed battery pack of the secondary cabin (2201) and the tie rod of the secondary cabin (2204) are respectively fixed on the end cover at the bow of the secondary cabin (2103); the thruster controller (2202) is fixed on the fixing part of the thruster controller (2203); the fixing part of the thruster controller (2203) is fixed on the tie rod of the secondary cabin (2204); a double-sealing connection is made between the pressure-resistant cylinder of the secondary cabin (2205) and the end cover at the bow of the secondary cabin (2103) through the double-sealing structure configured on the end cover at the bow of the secondary cabin (2103); the flooded section at the stern of the secondary cabin (23) includes the stern thruster (2301), the fixing part of the fairing at the stern of the secondary cabin (2302), the fairing at the stern of the secondary cabin (2303), the watertight connector of the secondary cabin (2304), and the end cover at the stern of the secondary cabin (2305); among them, the stern thruster (2301) and the fairing at the stern of the secondary cabin (2303) are fixed on the fixing part of the fairing at the stern of the secondary cabin (2302); the propeller on the stern thruster (2301) rotates forward or backward under the drive of the motor, so that the underwater robot can complete forward, backward or turning movements in the water; the end cover at the stern of the secondary cabin (2305) is equipped with double-sealing grooves and is connected with the pressure-resistant cylinder of the secondary cabin (2205) through double-sealing; the end cover at the stern of the secondary cabin (2305) is equipped with threaded holes, and the watertight connector of the secondary cabin (2304) is fixed to the end cover at the stern of the secondary cabin (2305) through threads; a connection is made between the watertight connector of the secondary cabin (2304) and the watertight connector of the main cabin (1103) through a cable, so that the main control board (1205) can control each module of the secondary cabin (2).

[0085] In the embodiment of the present application, the propeller on the stern thruster (2301) can rotate forward and backward under the drive of the motor, so that the underwater robot can move forward, backward or turn in the water. When the underwater robot needs to float to the water surface for communication in the sitting-on-the-bottom state, the mobile battery pack (1211) can move to the front end of the battery track (1202), and the buoyancy adjustment mechanism (1101) can pump out all the hydraulic oil to the outer oil bladder. Cooperating with the stern thruster (2301) and the vertical thruster (33), the floating action of the underwater robot can be completed.

[0086] In one embodiment of the present application, for further limitation and illustration, as Figure 7 shown, the connecting mechanism (3) includes a fixed skin (31), a connecting member (32), and a vertical thruster (33); wherein, the fixed skin (31) and the vertical thruster (33) are respectively fixed to the connecting member (32) by screws, and the connecting member (32) connects the main cabin (1) and each sub-cabin (2) by screws.

[0087] In one embodiment of the present application, for further limitation and illustration, as Figure 1 shown, the underwater robot further includes a lifting ring (5), which is fixed above the main cabin (1).

[0088] The present application provides a mobile underwater robot for tidal current observation, which includes a main cabin (1), a plurality of sub-cabins (2), a plurality of connecting mechanisms (3), and a plurality of support feet (4); wherein, the main cabin (1) is used to carry different detection devices to perform detection tasks, and is equipped with a buoyancy adjustment section (11) for adjusting the buoyancy of the underwater robot; each of the sub-cabins (2) is respectively connected to the main cabin (1) through the connecting mechanism (3), and each of the sub-cabins (2) and the main cabin (1) are arranged on the same plane to provide power for the underwater robot; each of the support feet (4) is respectively arranged below the sub-cabin (2) to support the underwater robot so that the underwater robot can complete the sitting-on-the-bottom detection task. Compared with the prior art, in the embodiment of the present application, by arranging the main cabin and a plurality of sub-cabins on the same horizontal plane, long-term and stable sitting-on-the-bottom observation in water is realized, and each cabin is independent of each other and is connected through a connecting mechanism, which is convenient for transportation and connection; further, by configuring a buoyancy adjustment section on the main cabin, and the buoyancy adjustment section further includes a buoyancy adjustment mechanism for adjusting buoyancy by changing the storage position of hydraulic oil and a throwing mechanism for obtaining positive buoyancy by throwing heavy objects, cooperating with the movable battery pack, the purpose of adjusting the attitude of the underwater robot is realized, so as to meet the needs of fixed-point and fixed-depth and navigation in all directions, and when a failure occurs or it is trapped in the seabed sediment environment, it can quickly float up by throwing heavy objects to ensure the safety of the underwater robot.

[0089] Each embodiment in this specification is described in a progressive manner. What each embodiment focuses on is the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple. For the relevant parts, reference can be made to the partial description of the method embodiment.

[0090] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. An underwater robot for mobile tidal current observation, characterized in that, Comprising: A main cabin body (1), a plurality of secondary cabin bodies (2), a plurality of connecting mechanisms (3), and a plurality of support feet (4); Among them, the main cabin body (1) is used to carry different detection devices to perform detection tasks, and is equipped with a buoyancy adjustment cabin section (11) for adjusting the buoyancy of the underwater robot. Each of the secondary cabin bodies (2) is respectively connected to the main cabin body (1) through the connecting mechanism (3), and each of the secondary cabin bodies (2) and the main cabin body (1) are arranged on the same plane to provide power for the underwater robot. Each of the support feet (4) is respectively arranged below the secondary cabin body (2) to support the underwater robot so that the underwater robot can complete the bottom sitting detection task.

2. The underwater robot for mobile tidal current observation according to claim 1, characterized in that, The buoyancy adjustment cabin section (11) includes a buoyancy adjustment mechanism (1101), which realizes the purpose of adjusting the buoyancy received by the underwater robot by changing the storage position of hydraulic oil, so that the underwater robot can perform diving or surfacing actions.

3. An underwater robot for mobile tidal current observation according to claim 1, characterized in that, The buoyancy adjustment cabin section (11) further includes a jettison mechanism (1102) for obtaining a positive buoyancy equal to the weight of the jettisoned heavy object by jettisoning the heavy object to make the underwater robot float.

4. The underwater robot for mobile tidal current observation according to claim 1, characterized in that, The buoyancy adjustment cabin section (11) further includes a main cabin body watertight connector (1103), a main cabin body stern end cover (1104), a communication antenna (1105), and a main cabin body stern fairing (1106); Among them, the communication antenna (1105) integrates the Iridium and Beidou systems and adopts a flexible structure; The communication antenna (1105) is inserted on the jettison mechanism (1102), and the jettison mechanism (1102) is fixed on the main cabin body stern end cover (1104); The main cabin body stern fairing (1106) is fixed to the jettison mechanism (1102) by screws; One end of the buoyancy adjustment mechanism (1101) is tightly connected to the main cabin body pull rod (1201) in the attitude adjustment cabin section (12), and the other end is tightly connected to the battery track (1202); The main cabin body stern end cover (1104) is double-sealed with the main pressure-resistant cabin body (1203); The main cabin body watertight connector (1103) is fixed on the main cabin body stern end cover (1104).

5. The underwater robot for mobile tidal current observation according to claim 1, characterized in that, The main cabin body (1) further includes a main cabin body bow detection unit cabin section (13) and an attitude adjustment cabin section (12); Among them, the main cabin body bow detection unit cabin section (13), the attitude adjustment cabin section (12), and the buoyancy adjustment cabin section (11) are connected in sequence.

6. The underwater robot for mobile tidal current observation according to claim 5, characterized in that, The main cabin body bow detection unit cabin section (13) includes a DVL Doppler current meter (1301), a DVL electronic cabin (1302), a DVL electronic cabin fixing piece (1303), a main cabin body bow fairing (1304), a main cabin body bow connecting ring (1305), an altimeter (1306), a main cabin body metal convex shell (1307), a pressure sensor (1308), a temperature sensor (1309), and a salinity sensor (1310); Among them, the DVL Doppler current meter (1301) is fixed to the main cabin metal convex shell (1307) by screws and is used to measure the seawater flow velocity.

7. The underwater robot for mobile tidal current observation according to claim 5, characterized in that, The attitude adjustment cabin section (12) includes a main pressure-resistant cabin body (1203), an electronic compass (1204), a main control board (1205), an Argo buoy module (1206), a radio communication module (1207), a control unit fixing plate (1208), an Iridium module (1209), a main cabin pull rod (1201), a throw-off load control unit (1210), a mobile battery pack (1211), and a battery track (1202); Among them, the mobile battery pack (1211) is used to provide energy for the underwater robot, and by moving back and forth on the battery track (1202), the center of gravity of the underwater robot is adjusted to control the attitude adjustment communication angle when the underwater robot floats and dives; The electronic compass (1204), the main control board (1205), the Argo buoy module (1206), the radio communication module (1207), and the Iridium module (1209) are all fixed to the control unit fixing plate (1208) by screws; the control unit fixing plate (1208) is fixedly installed on the main cabin pull rod (1201); One end of the main cabin pull rod (1201) is fixed to the main cabin bow connecting ring (1305) by a nut; The main control board (1205) is used to control each actuator and functional unit; The main cabin bow connecting ring (1305) is double-sealedly connected to the main cabin metal convex shell (1307); One end of the battery track (1202) is fixedly connected to the main cabin bow connecting ring (1305).

8. An underwater robot for mobile tidal current observation according to claim 1, characterized in that, The secondary cabin (2) includes a secondary cabin bow immersion section (21), a secondary cabin main pressure-resistant cabin section (22), and a secondary cabin stern immersion section (23); Among them, the secondary cabin bow immersion section (21), the secondary cabin main pressure-resistant cabin section (22), and the secondary cabin stern immersion section (23) are connected in sequence.

9. The underwater robot for mobile tidal current observation according to claim 8, characterized in that, The secondary cabin bow immersion section (21) includes a secondary cabin bow fairing (2101), a secondary cabin bow fairing fixing piece (2102), and a secondary cabin bow end cover (2103); Among them, the secondary cabin bow fairing (2101) is fixed to the secondary cabin bow end cover (2103) by the secondary cabin bow fairing fixing piece (2102).

10. An underwater robot for mobile tidal current observation according to claim 8, characterized in that, The secondary cabin main pressure-resistant cabin section (22) includes a secondary cabin fixed battery pack (2201), a thruster controller (2202), a thruster controller fixing piece (2203), a secondary cabin pull rod (2204), and a secondary cabin pressure-resistant cylinder (2205); Among them, the secondary cabin fixed battery pack (2201) and the secondary cabin pull rod (2204) are respectively fixed to the secondary cabin bow end cover (2103); The thruster controller (2202) is fixed to the thruster controller fixing piece (2203); The thruster controller fixture (2203) is fixed on the secondary cabin tie rod (2204); A double-sealing connection is made between the secondary cabin pressure-resistant cylinder body (2205) and the front end cover (2103) of the secondary cabin through a double-sealing structure configured on the front end cover (2103) of the secondary cabin.

11. An underwater robot for mobile tidal current observation according to claim 8, characterized in that, The immersed section (23) at the rear of the secondary cabin includes a rear thruster (2301), a fixture (2302) for the rear fairing of the secondary cabin, a rear fairing (2303) of the secondary cabin, a watertight connector (2304) of the secondary cabin, and a rear end cover (2305) of the secondary cabin; Among them, the rear thruster (2301) and the rear fairing (2303) of the secondary cabin are fixed on the fixture (2302) for the rear fairing of the secondary cabin; The propeller on the rear thruster (2301) rotates forward or backward under the drive of a motor, so that the underwater robot can move forward, backward or turn in water; The rear end cover (2305) of the secondary cabin is equipped with double-sealing grooves and is in double-sealing connection with the secondary cabin pressure-resistant cylinder body (2205); The rear end cover (2305) of the secondary cabin is provided with threaded holes, and the watertight connector (2304) of the secondary cabin is fixed to the rear end cover (2305) of the secondary cabin through the threads; A connection is made between the watertight connector (2304) of the secondary cabin and the watertight connector (1103) of the main cabin through a cable, so that the main control board (1205) can control each module of the secondary cabin (2).

12. The underwater robot for mobile tidal current observation according to claim 1, characterized in that, The connecting mechanism (3) includes a fixed skin (31), a connecting piece (32), and a vertical thruster (33); Among them, the fixed skin (31) and the vertical thruster (33) are respectively fixed on the connecting piece (32) by screws, and the connecting piece (32) connects the main cabin (1) and each secondary cabin (2) by screws.

13. The underwater robot for mobile tidal current observation according to claim 1, characterized in that The underwater robot further includes a lifting ring (5), which is fixed above the main cabin (1).

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