Ocean water surface robot platform capable of switching operation forms

Abstract

The invention relates to an ocean water surface robot platform capable of switching operation forms, which comprises a boat body and at least two buoyancy components, and the buoyancy components are symmetrically arranged on the two sides of the boat body and are connected through a mechanical arm capable of rotating around the boat body; the driving mechanism is connected with the boat body and the mechanical arm and used for driving the mechanical arm to rotate and driving the buoyancy components on the two sides to be unfolded or folded relative to the boat body so as to be switched between the state that the boat body does not make contact with the water surface and the state that the boat body makes contact with the water surface. According to the ocean water surface robot platform, flexible switching of operation forms is achieved, under the form that the boat body does not make contact with the water surface, the buoyancy component is opened, the navigation speed of the platform can be remarkably increased, the navigation resistance is reduced, and the cruising ability is improved; and in the state that the boat body is in contact with the water surface, the buoyancy components folded on the two sides act together with the boat body, so that the stability and the wind and wave resistance of the platform are enhanced, and various operation requirements under complex sea conditions can be met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ocean engineering, in particular to a marine surface robot platform capable of switching operation modes. BACKGROUND

[0002] With the rapid development of marine resource development, environmental monitoring, emergency rescue and other fields, marine surface robots are increasingly widely used in marine operations. Traditional marine surface robots are mostly designed in a fixed mode, or focus on high-speed navigation to meet the demand of quickly reaching the operation area, or focus on stable operation to adapt to monitoring and sampling tasks in complex sea conditions. However, the limitations of single mode make it difficult for such robots to meet the needs of different operation scenarios - robots in high-speed navigation mode have poor stability in complex sea conditions due to small contact area with the water surface, and are easily affected by wind and waves, leading to operation interruption; and robots in stable operation mode are difficult to achieve fast movement due to large water resistance, and are inefficient in long-distance transfer or emergency tasks. At the same time, the fixed structure connection mode makes it difficult for the robot to adjust the mode and switch the working mode flexibly according to the actual task demand, resulting in limited application scenarios and difficulty in meeting the current diversified and complex needs of marine operations. Therefore, there is an urgent need for a marine surface robot platform capable of switching between different operation modes to improve its adaptability and operation efficiency in various marine environments.

[0003] The above problems are worth solving. SUMMARY

[0004] In order to overcome the problem that the existing marine surface robot has a single operation mode, is difficult to meet the needs of high-speed navigation and stable operation, and has poor adaptability, low transfer efficiency and limited application scenarios in complex sea conditions, the present application provides a marine surface robot platform capable of switching operation modes.

[0005] The technical solution of the present application is as follows:

[0006] A marine surface robot platform capable of switching operation modes comprises:

[0007] a hull;

[0008] at least two buoyancy members symmetrically arranged on both sides of the hull;

[0009] a mechanical arm, one end of the mechanical arm being rotatably connected to the hull and the other end being connected to the buoyancy member; each buoyancy member is connected to the hull through at least one mechanical arm;

[0010] A driving mechanism is connected with the body and the mechanical arm respectively, and used to drive the mechanical arm to rotate around the connecting end with the body, and drive the two floating members to open or close relative to the body, so as to switch between the state that the body does not contact with the water surface and the state that the body contacts with the water surface.

[0011] As a preferred technical scheme of the present application, the side of the body is provided with a connecting head, and one end of the mechanical arm is rotatably connected with the connecting head, so that the mechanical arm rotates around the connecting head in the vertical plane to realize the opening and closing action at different angles.

[0012] Further, the connecting head and the rotating connection part of the mechanical arm are provided with an angle limiting structure, which is used to limit the angle range of the mechanical arm rotating around the connecting head, and the rotating angle is 60°.

[0013] As a preferred technical scheme of the present application, the driving mechanism comprises a first hydraulic telescopic rod, one end of the first hydraulic telescopic rod is rotatably connected with the side of the body, and the other end is rotatably connected with the mechanical arm, and the first hydraulic telescopic rod is used to drive the mechanical arm to rotate.

[0014] As a preferred technical scheme of the present application, the mechanical arm is a telescopic structure, and comprises at least two structure segments which are relatively movable, and the length of the mechanical arm is adjusted by the relative movement of the structure segments, so as to change the distance between the floating member and the body.

[0015] Further, the telescopic structure comprises an upper structure segment and a lower structure segment, the upper structure segment and the lower structure segment are relatively sleeved, the inner part of the upper structure segment and the lower structure segment is respectively provided with a fixing seat, and a second hydraulic telescopic rod is arranged between the two fixing seats, and the relative sliding of the upper structure segment and the lower structure segment is driven by the extension and contraction of the second hydraulic telescopic rod, so as to realize the length adjustment of the mechanical arm.

[0016] Further, the upper structure segment and the lower structure segment are in a cylindrical structure, the inner diameter of the upper structure segment is greater than the outer diameter of the lower structure segment, and the lower structure segment is sleeved into the inner part of the upper structure segment.

[0017] As a preferred technical scheme of the present application, the floating member is in a hollow structure, and at least one sealed cabin is arranged in the floating member, and the sealed cabin is provided with a pressure adjusting device which is used to adjust the ballast of the floating member.

[0018] As a preferred technical scheme of the present application, the stern of the body and / or the tail of the floating member is provided with a propeller, and the propeller is used to provide power.

[0019] As a preferred technical scheme of the present application, the propeller at the stern of the hull is connected with the hull through a third hydraulic telescopic rod, the third hydraulic telescopic rod being capable of driving the propeller to move up and down in the vertical direction; a rotary driving structure is arranged at the connecting part of the propeller and the third hydraulic telescopic rod, and the rotary driving structure is used to drive the propeller to rotate around the axis of the third hydraulic telescopic rod, so as to adjust the thrust direction of the propeller.

[0020] As a preferred technical scheme of the present application, the operation method of the marine surface robot platform comprises the following steps:

[0021] Step 1: The sensor module of the platform monitors the sea state parameters, the attitude parameters of the platform itself and the load weight information in real time;

[0022] Step 2: The control system automatically decides the operation mode according to the sensing data, when it is determined that the sailing state or the low resistance demand, the first hydraulic telescopic rod is controlled to drive the mechanical arm to fold, the buoyancy members are made to approach to the middle, the hull is separated from the water surface, and the platform is switched to the catamaran mode; when it is determined that the operation state or the high stability demand, the first hydraulic telescopic rod is controlled to drive the mechanical arm to be opened to the target angle in the range of 0°-60°, the hull is made to contact the water surface, and the platform is switched to the trimaran mode;

[0023] Step 3: In the mode switching process, the control system synchronously adjusts the length of the mechanical arm through the second hydraulic telescopic rod, changes the distance between the buoyancy members and the hull, and adjusts the amount of ballast water in the buoyancy members through the drainage device according to the load weight and the wave level, so as to dynamically adjust the draft and the center of gravity of the platform;

[0024] Step 4: In the trimaran operation mode, the control system continuously monitors the sea state parameters, the attitude parameters of the platform itself and the load weight information, when the parameters exceed the preset threshold, the adaptive adjustment of the mode, the buoyancy and the propulsion state is carried out, until the platform returns to the stable operation state.

[0025] According to the above-mentioned scheme of the present application, the beneficial effects are as follows:

[0026] The marine surface robot platform of the present application realizes the flexible switching of the operation mode through the organic cooperation of the hull, the buoyancy members, the mechanical arm and the driving mechanism; in the mode that the hull does not contact the water surface, the buoyancy members are opened, which can significantly improve the sailing speed of the platform, reduce the sailing resistance, effectively reduce the energy consumption and improve the endurance; and in the mode that the hull contacts the water surface, the two sides of the opened buoyancy members are folded, which together with the hull enhances the stability and the wind and wave resistance of the platform, and can meet various operation demands in complex sea conditions.

[0027] And, the mechanical arm of the application is rotatably connected with the body of the boat at one end and connected with the buoyancy member at the other end, the structure design cooperates with the accurate driving of the driving mechanism to the mechanical arm, so that the shape switching process is more smooth and efficient, greatly expands the application scenarios of the platform, and has higher practicality and adaptability compared with the traditional single form of marine water surface robot. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a structural schematic view of the application switched into a two-body navigation mode;

[0029] Figure 2 is a structural schematic view of the application switched into a three-body operation mode;

[0030] Figure 3 is a structural schematic view of the buoyancy member provided with a propeller;

[0031] Figure 4 is a structural schematic view of the boat provided with a propeller.

[0032] In the drawings,

[0033] 1, boat body; 2, buoyancy member; 3, mechanical arm; 31, upper structure section; 32, lower structure section; 33, second hydraulic telescopic rod; 4, first hydraulic telescopic rod; 5, propeller; 6, third hydraulic telescopic rod; 7, connecting structure reinforcement. DETAILED DESCRIPTION

[0034] In order to better understand the purpose, technical scheme and technical effect of the application, the application will be further explained in combination with the drawings and examples. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, it is declared that the following described examples are only for explaining the application, and are not used to limit the application.

[0035] It should be noted that when an element is referred to as "fixed to" or "provided on" another element, it can be directly on another element or there can be a middle element, and when an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. The term "several" means two or more, unless otherwise specifically defined.

[0036] As Figure 1 and Figure 2As shown, a switchable working mode ocean surface robot platform comprises a hull 1, at least two buoyancy members 2, a mechanical arm 3, and a driving mechanism. The relative position of the buoyancy members 2 and the hull 1 is changed by controlling the mechanical arm 3 through the driving mechanism, thereby switching the platform working mode. The hull 1 serves as the platform main body and carries various devices and systems. The symmetrically arranged buoyancy members 2 on both sides of the hull 1 are key components for realizing mode switching and providing buoyancy. One end of the mechanical arm 3 is rotatably connected to the hull 1, and the other end is connected to the buoyancy member 2. Each buoyancy member 2 is connected to the hull 1 through at least one mechanical arm 3. The driving mechanism is connected to the hull 1 and the mechanical arm 3 for driving the mechanical arm 3 to rotate around its connection end with the hull 1, and driving the buoyancy members 2 on both sides to open or close relative to the hull 1, so as to switch between the mode that the hull 1 does not contact the water surface and the mode that the hull 1 contacts the water surface.

[0037] During the implementation process, when the driving mechanism is working, its output power directly acts on the mechanical arm 3 to drive the mechanical arm 3 to rotate around its connection end with the hull 1. When it is needed to switch to the mode that the hull 1 contacts the water surface, the driving mechanism drives the mechanical arm 3 to rotate, so that the buoyancy members 2 on both sides open outward. At this time, the distance between the buoyancy members 2 increases, the center of gravity of the platform lowers, and the hull 1 gradually approaches and contacts the water surface. The hull 1 and the buoyancy members 2 jointly contact the water surface to form a stable support structure, thereby enhancing the wind and wave resistance and operation stability of the platform in complex sea conditions, and being suitable for ocean monitoring, sample collection and other operation tasks that require fine operation and high stability. When switching to the mode that the hull 1 does not contact the water surface, the driving mechanism reversely drives the mechanical arm 3, so that the buoyancy members 2 close to the hull 1. The distance between the buoyancy members 2 decreases, the center of gravity of the platform moves upward, and the hull 1 separates from the water surface. At this time, the platform mainly relies on the buoyancy members 2 to float, reduces the contact area with the water surface, reduces the sailing resistance, improves the sailing speed and efficiency, and is suitable for long-distance fast moving operation scenes.

[0038] The ocean surface robot platform of the present application has the dual advantages of stable operation and high speed sailing, effectively expanding the application scenarios and application range of the platform. Under different operation requirements, the mode can be flexibly adjusted, which can not only stably perform tasks in the operation area, but also quickly reach the target area. Compared with the traditional fixed mode ocean surface robot, the operation efficiency and environmental adaptability are greatly improved, and the diversified ocean operation requirements are met.

[0039] In the present application, the hull 1 is provided with a connecting head, and one end of the mechanical arm 3 is rotatably connected to the connecting head, so that the mechanical arm 3 rotates around the connecting head in the vertical plane to realize the opening and closing action at different angles. Through clear rotation fulcrum and motion trajectory constraints, the action of the mechanical arm 3 driving the buoyancy members 2 is accurately controllable. The connecting head provides a stable rotation axis for the mechanical arm 3, so that the mechanical arm 3 can rotate directionally in the vertical plane, avoiding deviation or shaking during rotation.

[0040] In one specific embodiment, the connecting head and the rotating connection part of the mechanical arm 3 are provided with an angle limiting structure for limiting the angle range of the mechanical arm 3 rotating around the connecting head, and the rotating angle is 60°. The fixed 60° rotating angle ensures that the opening or closing range of the buoyancy member 2 is accurately controllable, avoids the problem of unstable posture when switching between the two operation modes due to angle deviation, ensures that the boat body 1 can obtain optimal stability through the maximum effective opening range of the buoyancy member 2 when contacting the water surface, and at the same time, reaches the minimum resistance state required for the boat body 1 to separate from the water surface when closing, so that the performance of the two modes is in the best adaptive state. Secondly, the clear angle limitation simplifies the control logic of the driving mechanism, and the precise switching of the mode can be realized without complex angle adjustment programs, reducing the design difficulty and failure rate of the control system and improving the operation efficiency.

[0041] In the present application, the driving mechanism includes a first hydraulic telescopic rod 4, one end of the first hydraulic telescopic rod 4 is rotatably connected to the side of the boat body 1, the other end is rotatably connected to the mechanical arm 3, the mechanical arm 3 is driven to rotate by the extension and contraction of the first hydraulic telescopic rod 4, and the first hydraulic telescopic rod 4, the mechanical arm 3 and the side connection point form a movable triangular transmission structure. When the first hydraulic telescopic rod 4 is extended, it exerts a pushing force on the mechanical arm 3, drives the mechanical arm 3 to rotate around the connection end with the boat body 1, and drives the buoyancy member 2 to close inward; when the first hydraulic telescopic rod 4 is shortened, a pulling force is generated on the mechanical arm 3, which drives the mechanical arm 3 to rotate in the opposite direction, so that the buoyancy member 2 is opened outward, thereby realizing flexible switching of the platform between different operation modes. Among them, the hydraulic drive has the characteristics of high power density and fast response speed, which greatly shortens the mode switching time of the platform and improves the operation efficiency; the extension and contraction amount of the hydraulic telescopic rod can be accurately controlled through the hydraulic system, so as to realize accurate adjustment of the rotating angle of the mechanical arm 3, ensure that the angle of the buoyancy member 2 is consistent each time it is closed or opened, and ensure the stability and reliability of the platform mode switching; the hydraulic drive system has good overload protection capability, when the mechanical arm 3 encounters abnormal resistance during rotation, the hydraulic system pressure rises, which can automatically unload, avoiding structure damage due to overload, and enhancing the adaptability and safety of the platform in complex sea conditions.

[0042] In a preferred embodiment, the mechanical arm 3 is a telescopic structure including at least two relatively movable structural segments, and the length adjustment of the mechanical arm 3 is achieved by the relative movement of the structural segments to change the distance between the buoyancy member 2 and the hull 1. In the implementation process, when the platform needs to switch to the stable operation mode in which the hull 1 contacts the water surface, the structural segments of the mechanical arm 3 are extended outward to increase the length of the mechanical arm 3, so that the distance between the buoyancy member 2 and the hull 1 is increased, the center of gravity of the platform is lowered, and the hull 1 is more easily close to the water surface, thereby enhancing the stability of the platform in complex sea conditions and adapting to tasks such as ocean monitoring and sample collection that require high-precision operations. When the platform needs to switch to the high-speed navigation mode in which the hull 1 does not contact the water surface, the structural segments of the mechanical arm 3 are retracted inward to shorten the length of the mechanical arm 3, so that the buoyancy member 2 is close to the hull 1, the overall water resistance of the platform is reduced, and the navigation speed is improved to meet the operation requirements of rapid scene switching. It can be seen that the telescopic mechanical arm 3 gives the platform stronger environmental adaptability, can accurately adjust the distance between the buoyancy member 2 and the hull 1 according to different operation scenes and sea condition requirements, and makes the platform always maintain the best working state. By changing the length of the mechanical arm 3 to optimize the center of gravity distribution and stress structure of the platform, the stability of the platform during the mode switching process is effectively improved, and the risk of shaking or losing control caused by mode transformation is avoided.

[0043] Specifically, the telescopic structure includes an upper structural segment 31 and a lower structural segment 32, the upper structural segment 31 and the lower structural segment 32 are relatively nested, and the inner parts of the upper structural segment 31 and the lower structural segment 32 are respectively provided with fixing seats, and a second hydraulic telescopic rod 33 is arranged between the two fixing seats, that is, the inner part of the upper structural segment 31 has a first fixing seat, the inner part of the lower structural segment has a second fixing seat, the first fixing seat and the second fixing seat are respectively connected to the two ends of the second hydraulic telescopic rod 33, and the relative sliding of the upper structural segment 31 and the lower structural segment 32 is driven by the extension and retraction of the second hydraulic telescopic rod 33 to realize the length adjustment of the mechanical arm 3. The upper structural segment 31 and the lower structural segment 32 are nested and matched, and can relatively slide along the axial direction; the fixing seats are respectively arranged in the inner parts of the two structural segments, and the two ends of the second hydraulic telescopic rod 33 are respectively connected to the two fixing seats to form a closed driving unit. The technical implementation principle is that when the second hydraulic telescopic rod 33 is extended, a pushing force is generated on the fixing seats of the upper structural segment 31 and the lower structural segment 32, which drives and forces the two structural segments to relatively move away along the axial direction, and drives the overall length of the mechanical arm 3 to increase, thereby expanding the distance between the buoyancy member 2 and the hull 1; when the second hydraulic telescopic rod 33 is retracted, a pulling force is generated on the two structural segments through the fixing seats, so that the two structural segments relatively approach, the overall length of the mechanical arm 3 is shortened, and the distance between the buoyancy member 2 and the hull 1 is reduced.

[0044] The nested nesting structure ensures the coaxiality and stability when the structural segments slide relative to each other, avoids shaking or jamming during the extension and contraction process, and improves the structural rigidity of the mechanical arm 3; the layout of the second hydraulic telescopic rod 33 protects the driving components from direct seawater corrosion and external force impact, prolonging the service life of the equipment; compared with other telescopic mechanisms, the telescopic structure used in the application has higher power transmission efficiency and faster response speed, can quickly complete length adjustment under complex sea conditions, and enhances the adaptability of the platform to environmental changes; and the overall structure is compact, does not occupy additional external space, avoids interference with the water flow, and further reduces the sailing resistance.

[0045] In one specific embodiment, the upper structural segment 31 and the lower structural segment 32 are cylindrical structures, the inner diameter of the upper structural segment 31 is larger than the outer diameter of the lower structural segment 32, and the lower structural segment 32 is nested in the inside of the upper structural segment 31.

[0046] In the application, the buoyancy member 2 is a hollow structure, at least one sealed cabin is arranged in the inside of the buoyancy member 2, and the sealed cabin is provided with a pressure adjusting device for adjusting the ballast of the buoyancy member 2. The buoyancy member 2 (buoy) is a hollow structure and internally arranged with at least one sealed cabin, and cooperates with a pressure adjusting device such as a pressure sensor and a drainage device to form a core structure capable of dynamically adjusting the buoyancy. The working principle is that the sealed cabin ensures the stability of the buoyancy through independent separation, the pressure sensor monitors the pressure state in the cabin in real time, and the control system injects or discharges water into the cabin through the drainage device according to the operation demand, changes the ballast of the buoy, and then adjusts the draft and the center of gravity of the platform. The independent structure of the sealed cabin improves the safety, even if a single cabin leaks, the remaining cabins can still maintain the basic buoyancy, reducing the risk of instability of the platform; the linkage of the pressure adjusting device and the control system realizes the accurate regulation and control of the ballast, so that the platform can reduce the center of gravity to enhance the stability by water ballast when lightly loaded, and can avoid sinking by increasing the buoyancy when heavily loaded, and is flexible to adapt to different operation scenes.

[0047] In the application, the material of the buoy is high-strength and corrosion-resistant composite material such as carbon fiber reinforced plastic, and the surface is provided with a corrosion-resistant coating, which takes into account the light weight and anti-aging performance; the structure is cylindrical and adopts a streamlined design to reduce water resistance during sailing.

[0048] In an optional embodiment, the connection between the pontoon and the mechanical arm 3 has a connection structure reinforcement 7, including a support plate and a sleeve, the support plate is a plate structure attached to the outer surface of the pontoon, flatly attached to the outer surface of the pontoon, which can increase the contact area with the pontoon, and disperse the force transmitted by the mechanical arm 3 to the surface of the pontoon, avoiding deformation or damage of the pontoon due to force concentration in the local part. The sleeve is a tubular structure fixed on the pontoon, the end of the mechanical arm 3 can be inserted into the sleeve and fixed, and the tubular structure forms a surrounding constraint on the mechanical arm 3, limiting the radial swing of the mechanical arm 3, ensuring that the connection axis of the mechanical arm 3 and the pontoon is consistent, and improving the rigidity of the overall structure. The support plate disperses stress by increasing the contact area, reduces the local load of the pontoon at the connection part, and prevents the pontoon from cracking or breaking due to long-term stress; the sleeve rigidly constrains the end of the mechanical arm 3, ensures the connection accuracy of the mechanical arm 3 and the pontoon, avoids the mechanical arm 3 from deviating when rotating or bearing load, and at the same time enhances the shear resistance of the connection part, so that the pontoon and the mechanical arm 3 form a stable overall structure, thereby reliably transmitting force and torque during platform shape switching, sailing or operation, and ensuring the structural stability of the platform.

[0049] As shown in Figure 3 and Figure 4 In the present application, the stern of the hull 1 and / or the tail of the buoyancy member 2 is provided with a propeller 5 for providing power. The propeller 5 can be controlled by a power system to realize forward rotation and reverse rotation. When the propeller rotates forward, the water flow is pushed backward, generating forward thrust; when the propeller reverses, the water flow is pushed forward, generating backward thrust, thereby realizing forward and backward movement of the platform. For the propeller 5 arranged at the tail of the pontoon member, turning can be realized by the speed difference of the propellers 5 on both sides; for the propeller 5 arranged at the stern of the hull 1, rotation can be realized by rotating the driving structure, and by changing the angle of the propeller 5, the direction of the thrust deviates from the center axis of the boat, generating a lateral force to drive the whole platform to turn.

[0050] In a specific embodiment, the propeller 5 at the stern of the hull 1 is connected to the hull 1 through a third hydraulic telescopic rod 6, which can drive the propeller 5 to move up and down in the vertical direction, and can adjust the underwater depth of the propeller 5 according to the operation mode of the platform, ensuring that it can be immersed in water when the hull 1 is separated from the water surface or contacts the water surface; the connection part between the propeller 5 and the third hydraulic telescopic rod 6 is provided with a rotating driving structure, which is used to drive the propeller 5 to rotate around the axis of the third hydraulic telescopic rod 6, so as to adjust the direction of the thrust of the propeller 5.

[0051] Specifically, the rotary drive structure can be a hydraulic rotary motor or a servo motor, which is connected with the end of the third hydraulic telescopic rod 6, and the base of the thruster 5 is connected with the output end of the rotary drive structure. Through the hydraulic power drive of the hydraulic rotary motor or the electric energy drive of the servo motor, the thruster 5 can be driven to rotate 360° around the axis of the third hydraulic telescopic rod 6, so as to flexibly adjust the thrust direction of the thruster 5.

[0052] The height adjustment function of the third hydraulic telescopic rod 6 adapts to the form switching requirement of the platform. In the catamaran navigation mode, the thruster 5 can be lowered below the water surface with the telescopic rod, and in the trimaran operation mode, the thruster 5 can be adjusted with the position of the hull 1 to maintain the effective draft, so as to ensure the continuity of the thrust output.

[0053] Among them, the catamaran navigation mode refers to that the mechanical arm 3 is folded to make the pontoons close to the middle, the hull 1 leaves the water surface, and the buoyancy is provided by only two pontoons, at this time the platform presents a catamaran form. The trimaran operation mode refers to that the mechanical arm 3 is opened to a certain angle to the two sides, the hull 1 contacts the water surface, and the buoyancy is provided by the hull 1 and two pontoons together, at this time the platform presents a trimaran form, which can increase the stability and adapt to the wind and wave environment or the operation scene of carrying heavy objects.

[0054] In one specific embodiment, the operation method of the marine surface robot platform comprises the following steps:

[0055] Step 1, the sensor module of the platform monitors the sea state parameters, the attitude parameters and the load weight information in real time;

[0056] Step 2, the control system automatically decides the operation form according to the sensing data, when it is judged as the navigation state or the low resistance requirement, the first hydraulic telescopic rod 4 is controlled to drive the mechanical arm 3 to fold, so that the buoyancy member 2 is close to the middle, the hull 1 is separated from the water surface, and the platform is switched to the catamaran form; when it is judged as the operation state or the high stability requirement, the first hydraulic telescopic rod 4 is controlled to drive the mechanical arm 3 to open to a target angle in the range of 0°-60°, so that the hull 1 contacts the water surface, and the platform is switched to the trimaran form;

[0057] Step 3, in the form switching process, the control system synchronously adjusts the length of the mechanical arm 3 through the second hydraulic telescopic rod 33, changes the distance between the buoyancy member 2 and the hull 1, and adjusts the amount of ballast water in the buoyancy member 2 through the drainage device according to the load weight and the wind wave level, so as to dynamically adjust the draft and the center of gravity of the platform;

[0058] Step 4, in the trimaran mode, the control system continuously monitors the sea state parameters, the attitude parameters and the load information, and when the parameters exceed the preset threshold, the adaptive adjustment of the mode, buoyancy and propulsion state is carried out until the platform returns to the stable working state. In a specific embodiment, the platform performs marine environment sampling operation in trimaran mode, at this time the sensor module monitors that the sea state suddenly deteriorates: the wave height rises from 1 meter to 2.5 meters, which exceeds the preset threshold of 1.8 meters, the platform inclination angle reaches 8°, which exceeds the preset safety threshold of 5°, and at the same time the sampling equipment causes the load to increase by 10% due to full sample. After the control system recognizes the parameter anomaly, it will immediately start adaptive adjustment:

[0059] First, the angle of the mechanical arm 3 is increased from 30° to 45° by the first hydraulic telescopic rod 4, the lateral distance between the buoy and the hull 1 is expanded to increase the roll restoring moment; secondly, the buoy water discharge device discharges part of the ballast water to increase the buoyancy to offset the sinking trend caused by the additional load; at the same time, the speed difference of the propeller 5 at the tail of the buoy is adjusted to generate a reverse lateral thrust to resist the inclination caused by the wind and waves. After the above adjustment, if the sensor monitors that the inclination angle is reduced to 3° and the wave height is effectively offset, the platform returns to stable, the adjustment is stopped and the operation is continued; if the parameters are still not up to standard after one adjustment, the system will repeat the adjustment until the safety state is restored.

[0060] The technical features of the above embodiments can be combined in any way. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present disclosure.

[0061] The above embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A marine surface robot platform capable of switching operating modes, characterized in that: include: Hull; At least two buoyancy members are symmetrically arranged on both sides of the hull; a mechanical arm, one end of which is rotatably connected to the hull, and the other end of which is connected to the buoyancy member; each of the buoyancy members is connected to the hull via at least one mechanical arm; A driving mechanism is connected to the hull and the robotic arm respectively, and is used to drive the robotic arm to rotate around the connection end between the robotic arm and the hull, and drive the buoyancy members on both sides to open or close relative to the hull, so as to switch between a state in which the hull does not contact the water surface and a state in which the hull contacts the water surface.

2. The marine surface robot platform capable of switching operating modes according to claim 1, characterized in that: A connector is provided on the side of the hull, and one end of the mechanical arm is rotatably connected to the connector, so that the mechanical arm rotates around the connector in a vertical plane to achieve opening and closing actions at different angles.

3. The marine surface robot platform capable of switching operating modes according to claim 2, characterized in that: An angle limiting structure is provided at the rotation connection portion between the connector and the robotic arm, which is used to limit the angular range of rotation of the robotic arm around the connector, and the rotation angle is 60°.

4. The marine surface robot platform capable of switching operating modes according to claim 1, characterized in that: The driving mechanism includes a first hydraulic telescopic rod, one end of which is rotatably connected to the upper edge of the side of the hull, and the other end is rotatably connected to the mechanical arm. The mechanical arm is driven to rotate by the extension and retraction of the first hydraulic telescopic rod.

5. The marine surface robot platform capable of switching operating modes according to claim 1, characterized in that: The mechanical arm is a telescopic structure, comprising at least two relatively movable structural segments. The length of the mechanical arm is adjusted by the relative movement of the structural segments to change the distance between the buoyancy member and the hull.

6. The marine surface robot platform capable of switching operating modes according to claim 5, characterized in that: The telescopic structure includes an upper structure section and a lower structure section, and the upper structure section and the lower structure section are relatively fitted together; a fixed seat is respectively provided inside the upper structure section and the lower structure section, and a second hydraulic telescopic rod is provided between the two fixed seats. The upper structure section and the lower structure section are driven to slide relative to each other by the extension and contraction of the second hydraulic telescopic rod to achieve length adjustment of the robotic arm.

7. The marine surface robot platform capable of switching operating modes according to claim 6, characterized in that: The upper structure section and the lower structure section are cylindrical structures. The inner diameter of the upper structure section is larger than the outer diameter of the lower structure section, and the lower structure section is inserted into the interior of the upper structure section.

8. The marine surface robot platform capable of switching operating modes according to claim 1, characterized in that: The buoyancy member is a hollow structure with at least one sealed cabin provided inside. The sealed cabin is equipped with a pressure regulating device for adjusting the ballast amount of the buoyancy member.

9. The marine surface robot platform capable of switching operating modes according to claim 1, characterized in that: The stern of the hull and / or the tail of the buoyancy member is provided with a propeller, and the propeller is used to provide power.

10. The marine surface robot platform capable of switching operating modes according to claim 9, characterized in that: The propeller at the stern of the hull is connected to the hull through a third hydraulic telescopic rod, and the third hydraulic telescopic rod can drive the propeller to move up and down in the vertical direction; the connection part between the propeller and the third hydraulic telescopic rod is provided with a rotation drive structure, which is used to drive the propeller to rotate around the axis of the third hydraulic telescopic rod to adjust the thrust direction of the propeller.

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