Offshore wind power underwater operation robot magnetic load rejection device based on ESP32

Abstract

The invention relates to the technical field of underwater robots, provides an ESP32-based offshore wind power underwater operation robot magnetic load rejection device, and solves the problems of high energy consumption and difficulty in supporting long-time operation when a traditional underwater operation robot dives and passes through surface layer strong disturbance water flow. The robot comprises a control module installed on a robot main body frame; the electromagnet is mounted at the bottom of the robot and comprises a power-losing electromagnet and a power cable, one end of the power cable is connected with the power-losing electromagnet, and the other end of the power cable is connected with the control module; the magnetic key is used for being inserted into a preset position of a shell of the control module, and a strong magnet arranged in the magnetic key can enable the reed switch to be conducted so as to start the control module; the disposable load is used for being adsorbed on the power-losing type electromagnet before operation; according to the invention, the robot can dive by means of gravity by mounting the one-time load, so that the most energy-consuming link in the operation of the underwater robot is omitted, and the operation time is effectively prolonged.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, specifically to a magnetic load-release device for an offshore wind power underwater operation robot based on ESP32. Background Technology

[0002] As my country's offshore wind power continues to expand into deeper waters, wind farms are growing in scale and moving further offshore, with deep water becoming the norm in the industry. Constrained by natural conditions such as weather and sea conditions, the window for offshore operation and maintenance is extremely limited, significantly increasing the difficulty of operations.

[0003] In the operation and maintenance of offshore wind farms, underwater robots typically need to dive to or near the seabed to perform tasks such as inspecting the condition of suspended submarine cables, assessing the degree of scouring of wind turbine foundations, and checking the corrosion of anode blocks. Currently, most remotely operated vehicles (ROVs) are configured with a slightly positive buoyancy and rely on propulsion to dive and overcome buoyancy. Compared to underwater steady-state operation and surfacing, the diving state continuously consumes a large amount of electricity, making it the most energy-intensive part of the entire operation. Especially for ROVs that are limited by cost and size and rely solely on battery power, the rapid power consumption in deep water environments makes it difficult to support continuous diving missions between multiple wind turbines.

[0004] Meanwhile, the marine environment is complex and changeable. The surface and shallow waters are significantly affected by wind, resulting in large waves. As the water depth increases, ocean currents gradually become calmer. This hydrological characteristic means that the robot needs to overcome greater resistance during diving and surfacing, especially when navigating through strong surface currents, further increasing energy consumption and attitude control difficulty.

[0005] Therefore, there is an urgent need for a device that can reduce the energy consumption of underwater robots and improve their resistance to wind and waves, so as to improve the efficiency of operation and maintenance of underwater robots for offshore wind power. Summary of the Invention

[0006] Therefore, in order to address the above problems, the present invention provides a magnetic ballast release device for an offshore wind power underwater operation robot based on ESP32, which solves the problems of high energy consumption and difficulty in supporting long-term operation of traditional underwater operation robots when diving and crossing surface strong turbulent water flow.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0008] A magnetic ballast release device for an ESP32-based underwater wind power operation robot includes:

[0009] The control module, installed on the main frame of the robot, includes a main controller, sensor module, digital-to-analog converter module, voltage regulator module, wireless charging module, wireless charging coil, MOSFET A, MOSFET B, reed switch, power battery, magnetic shielding sheet, 3D printed shell and epoxy resin potting compound.

[0010] The 3D printed shell contains a PCB integrated circuit board, a power battery, a magnetic shielding sheet and a wireless charging coil stacked from top to bottom, and is sealed and encapsulated with epoxy resin potting compound.

[0011] The main control unit, sensor module, digital-to-analog converter module, voltage regulator module, wireless charging module, MOSFET A, MOSFET B and reed switch are all mounted on the PCB integrated circuit board;

[0012] The power battery supplies power to each power-consuming unit through the voltage regulator module;

[0013] The reed switch is connected to the control electrode of the MOS transistor A;

[0014] The main controller is connected to the control electrode of the sensor module, the digital-to-analog converter module, and the MOS transistor B.

[0015] An electromagnet, installed on the bottom of the robot, includes a de-energized electromagnet and a power cable. One end of the power cable is connected to the de-energized electromagnet, and the other end is connected to the control module.

[0016] A magnetic key is used to be inserted into a preset position on the housing of the control module. A strong magnet inside the key can turn on the reed switch to activate the control module.

[0017] A disposable load is used to attach to the de-energized electromagnet before operation;

[0018] The main controller is configured to: calculate the current seawater depth using the pressure and temperature data obtained by the sensor module, and obtain the power battery voltage using the digital-to-analog converter module; when the calculated depth reaches the preset release depth, control the MOS transistor B to conduct, thereby energizing the de-energized electromagnet and releasing the one-time load.

[0019] Furthermore, there are three reed switches, which are vertically stacked and soldered in parallel on the PCB integrated circuit board.

[0020] Furthermore, the magnetic key includes a key housing, a strong magnet disposed within the key housing, and a bolt connected to the bottom of the key housing.

[0021] Furthermore, the control module also includes a wireless programming module, which is mounted on the PCB integrated circuit board and is used to wirelessly communicate with an external computer via WiFi to realize program programming, parameter setting and data transmission.

[0022] Furthermore, the disposable load includes a package containing a counterweight, a carbon steel pad disposed inside the package, and a sealing line for binding the package. The carbon steel pad is used to attract and fix the de-energized electromagnet.

[0023] Furthermore, it also includes a pressure-sensitive fixing assembly installed on the bottom of the robot, the fixing assembly comprising:

[0024] Two discs, each disc being annular, are arranged at an interval between each other.

[0025] An elastic bladder is disposed between each of the disks. The elastic bladder is annular and filled with fluid.

[0026] A push rod is symmetrically arranged inside the elastic bladder, and one end of the push rod is connected to the elastic bladder;

[0027] A rotating rod is located inside the lower disk, with one end of the rotating rod connected to the free end of the push rod.

[0028] A support platform is located at the bottom of the lower-level disc.

[0029] A limiting block is slidably disposed on the support platform, and the other end of the rotating rod is in contact with the limiting block.

[0030] Furthermore, the fixing component also includes an extension post disposed inside the package and an elastic ring disposed outside the package. The extension post is connected to the bottom of the carbon steel gasket, and the elastic ring is clamped to the outside of the extension post.

[0031] Furthermore, the limiting block includes a baffle, a connecting rod, and an arc-shaped support block. One side of the baffle contacts the rotating rod, the other side of the baffle is connected to one end of the connecting rod, and the other end of the connecting rod is connected to the arc-shaped support block.

[0032] Furthermore, the push rod and the elastic bladder are connected by an arc-shaped piece.

[0033] Furthermore, the fluid density filling the elastic bladder does not exceed 1×10⁻⁶. 3 kg / m 3 .

[0034] Compared with the prior art, the beneficial effects of the present invention are:

[0035] 1. This invention improves endurance by reducing the energy consumption of underwater robots during diving: This invention enables the robot to dive by gravity rather than by continuously using power to counteract the positive buoyancy of the robot body by carrying a disposable payload. This eliminates the most energy-consuming part of underwater robot operations, effectively extending the operation time and making it more suitable for the needs of offshore wind farm operations.

[0036] 2. This invention improves the wind and wave resistance and seaworthiness of underwater robots by lowering the center of gravity: By attaching a disposable load to lower the robot's center of gravity, while keeping the center of buoyancy unchanged and continuously above the center of gravity, the static stability of the robot is enhanced, and the automatic righting torque is increased. At the same time, when diving to a working depth close to the seabed, the ocean current is relatively stable, and the robot can jettison the load to enhance its maneuverability and complete some pitch and roll maneuvers, which is more in line with the working conditions of underwater robots in offshore wind power scenarios.

[0037] 3. This invention utilizes epoxy resin potting and has no moving parts, greatly improving waterproofing and pressure resistance, enhancing device stability, extending device lifespan, and requiring no overall maintenance while being corrosion-resistant. It is therefore more suitable for the harsh environments of offshore wind power.

[0038] 4. The disposable payloads used in this invention are all made of natural or biodegradable materials, which will not cause pollution to the marine ecology and environment. At the same time, the disposable payloads are inexpensive to manufacture and there is no economic burden in using them in large quantities.

[0039] 5. This invention has wide applicability and ingenious structural design, and can be widely applied to underwater robots or other underwater submersible equipment with relevant needs, possessing huge market potential and promotional value. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0041] Figure 2 This is a first-view schematic diagram of the control module structure according to Embodiment 1 of the present invention;

[0042] Figure 3 This is a second-view schematic diagram of the control module structure in Embodiment 1 of the present invention (with epoxy resin potting compound removed);

[0043] Figure 4 This is a third-view schematic diagram of the control module structure in Embodiment 1 of the present invention (top view, top view, with epoxy resin potting compound removed);

[0044] Figure 5 This is a fourth-view schematic diagram (looking down, bottom) of the control module structure according to Embodiment 1 of the present invention;

[0045] Figure 6This is a fifth-view schematic diagram of the control module structure of Embodiment 1 of the present invention (without the 3D printed shell, isometric view);

[0046] Figure 7 This is a sixth-view schematic diagram of the control module structure of Embodiment 1 of the present invention (top view, excluding the 3D printed shell);

[0047] Figure 8 This is an exploded view of the control module structure according to Embodiment 1 of the present invention;

[0048] Figure 9 This is a first-view schematic diagram of the electromagnet structure according to Embodiment 1 of the present invention;

[0049] Figure 10 This is a first-view schematic diagram of the magnetic key structure according to Embodiment 1 of the present invention;

[0050] Figure 11 This is a cross-section of a magnetic key trigger control module according to Embodiment 1 of the present invention;

[0051] Figure 12 This is a cross-sectional schematic diagram of the one-time load structure according to Embodiment 1 of the present invention;

[0052] Figure 13 This is a schematic diagram of the actual application of Embodiment 1 of the present invention;

[0053] Figure 14 This is a circuit connection block diagram of the device according to Embodiment 1 of the present invention;

[0054] Figure 15 This is a schematic diagram of the pressure-sensitive fixing component structure according to Embodiment 2 of the present invention;

[0055] Figure 16 yes Figure 15 Enlarged structural diagram at point A in the middle.

[0056] Explanation of icon numbers:

[0057] 1. Control module; 11. ESP32 main controller; 12. MS5837 sensor; 13. ADS1115 digital-to-analog converter module; 14. Regulated power supply module; 15. Wireless programming module; 16. Wireless charging module; 17. Wireless charging coil; 18. MOSFET A; 19. MOSFET B; 110. Reed switch; 111. PCB integrated circuit; 112. Waterproof aviation plug A; 113. Power battery; 114. Magnetic shielding sheet; 115. 3D printed shell; 116. Epoxy resin potting compound;

[0058] 2. Electromagnet; 21. De-energized electromagnet; 22. Power cable; 23. Waterproof aviation plug B;

[0059] 3. Magnetic key; 31. Key shell; 32. Strong magnet; 33. Bolt;

[0060] 4. Disposable load; 41. Package bag; 42. Carbon steel gasket; 43. Counterweight; 44. Sealing line;

[0061] 5. Pressure-sensitive fixing component, 51. Disc, 52. Elastic bladder, 53. Push rod, 54. Rotating rod, 55. Support platform, 56. Limiting block, 57. Extension column, 58. Elastic ring, 561. Baffle, 562. Connecting rod, 563. Arc-shaped support block, 59. Arc-shaped piece. Detailed Implementation

[0062] The following will describe in detail the implementation of the present invention with reference to specific embodiments, so that the process of how the present invention uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0063] Example 1: As Figures 1 to 14 As shown, a magnetic ballast release device for an offshore wind power underwater operation robot based on ESP32 is described. Figure 1 As shown, the system comprises four parts: a control module, an electromagnet, a magnetic key, and a disposable load. The control module 1 and the electromagnet 2 are connected via a waterproof connector A112 and a waterproof connector B23, and then via a power cable 22. The magnetic key 3 is inserted into the mounting slot of the control module 1 to activate the module, and the disposable load 4 is magnetically attracted to the electromagnet 2.

[0064] like Figures 2 to 3 As shown, the control module 1 is installed inside the 3D printed housing 116 and is completely filled and sealed with epoxy resin potting compound 117, with only the probe of the MS5837 sensor 12 exposed. The waterproof plug A112 is installed on the side wall of the 3D printed housing 116 for connecting the electromagnet 2.

[0065] like Figures 4 to 8 As shown, the main body of control module 1 is installed inside the 3D printed shell 116. It has a multi-layer structure with four layers from top to bottom: a PCB integrated circuit board 111, a power battery 113, a magnetic shielding sheet 114, and a wireless charging coil 17. The ESP32 main controller 11, soldered onto the PCB integrated circuit board 111, is the main controller of control module 1. It is responsible for collecting pressure and temperature parameters from the MS5837 sensor 12 to calculate seawater depth, collecting digital signals from the ADS1115 digital-to-analog converter module 13 to collect the power battery voltage, controlling the MOSFET B19 to execute the release action of electromagnet 1, and wirelessly communicating with the computer via WIFI when on land to achieve data transmission and parameter adjustment. The MS5837 sensor 12, soldered onto the PCB integrated circuit board 111, has built-in pressure and temperature sensors. It is used to calculate seawater depth based on pressure and collect water temperature compensation correction depth.

[0066] The ADS1115 digital-to-analog converter module 13 is soldered onto the PCB integrated circuit board 111. The voltage of the power battery 113 is collected by the voltage divider circuit on the PCB integrated circuit board 111 and converted into a digital signal to be fed back to the ESP32 main controller 11 to realize voltage feedback.

[0067] The voltage regulator module 14 is soldered onto the PCB integrated circuit board 111, converting the 12V voltage of the power battery 113 into the 5V voltage required for the operation of the ESP32 main controller 11 and various sensors.

[0068] The wireless charging module 16 is soldered onto the PCB integrated circuit board, converting the high-frequency AC power from the wireless charging coil 17 into DC power to charge the power battery 113. The wireless charging coil 14 is installed on the bottom layer of the 3D printed shell 115, with its two pins soldered onto the PCB integrated circuit board 111. Based on the principle of electromagnetic induction, AC power is induced in the coil, and the power is transferred to the wireless charging module 16 through the PCB integrated circuit board 111. The MOSFET A18 is soldered onto the PCB integrated circuit board 111, and its control electrode is connected to the reed switch 110, which is responsible for controlling the power supply of the entire device.

[0069] MOSFET B19 is soldered onto PCB integrated circuit board 111, and its control electrode is connected to ESP32 main controller 11, which is responsible for controlling the power supply to electromagnet 2.

[0070] Three reed switches 110 are vertically stacked and soldered onto the PCB integrated circuit board 111, and connected in parallel to the control electrode of MOSFET A18 to increase the probability of turning on under magnetic force. The reed switches 110 conduct under the action of magnetic force to control the on and off of MOSFET A18. The PCB integrated circuit board 111 is used to carry and connect various ESP32 main controllers 11, sensors, and various electronic components. It has an onboard 5x voltage divider circuit, filter capacitors, and pull-up resistors on the sensor signal lines.

[0071] The waterproof aviation plug A112 is mounted on the 3D printed housing 115 and is responsible for leading out the pins on the PCB integrated circuit board 111 to supply power to the electromagnet 2.

[0072] The power battery 113 is installed under the PCB integrated circuit board 111 to provide 12V DC power to the device.

[0073] The magnetic shielding sheet 114 is installed under the power battery 113 to isolate and block the magnetic field and induced current of the wireless charging coil 17, so as to prevent the electronic components inside the device from burning out during charging.

[0074] The 3D-printed housing 115 is made of ABS engineering plastic to house the module body and mount the waterproof plug.

[0075] Epoxy resin potting compound 116 is a self-defoaming, slow-curing type with low curing stress, good sealing performance, and stable composition.

[0076] like Figure 9 As shown, electromagnet 2 is installed on the bottom of the robot in actual applications to carry and throw the payload attached to the underwater robot. The de-energized electromagnet 21 operates at 12V and has a working magnetic force of 15KG. It has magnetic force when power is off and no magnetic force when power is on, which matches the actual working conditions when throwing payloads. The body of the de-energized electromagnet 21 is encapsulated in epoxy resin and has no moving parts. Power cable 22 supplies power to the de-energized electromagnet 21 and connects to waterproof aviation connector B23. Waterproof aviation connector B23 can be connected to waterproof aviation connector A112, which transmits the power from control module 1 to the de-energized electromagnet 21 via power cable 22.

[0077] like Figures 10 to 11 As shown, the magnetic key 3 is inserted into the control module 1 before operation to activate the module. The key housing 31 is made of 3D-printed ABS engineering plastic and serves to support the strong magnet 32. A threaded hole at the bottom allows an M3 bolt 33 to be screwed in for easy removal of the magnetic key 3. The strong magnet 32 ​​is a neodymium iron boron magnet, which meets the trigger magnetic field strength required for the reed switch 110 to conduct. The bolt 33 can be an M3 bolt of different lengths depending on the structure of the robot being installed, to facilitate the insertion and removal of the magnetic key 3. It is removed after activating the module and before the robot enters the water to avoid interfering with the normal operation of the robot.

[0078] like Figure 12 As shown, the disposable payload 4 consists of a counterweight 43 wrapped in a packaging bag 41, with a carbon steel pad 42 inside, and is secured with a sealing line 44. The counterweight 43 is made of stone, the packaging bag 41 is made of cotton gauze, and the sealing line 44 is made of cotton thread. In use, the disposable payload 4 is attached to a de-energized electromagnet 21 and follows the robot as it descends.

[0079] like Figure 13As shown, in actual operation, control module 1 is installed on the robot body structure, and electromagnet 2 is installed on the bottom of the robot. Control module 1 and electromagnet 2 are connected through waterproof plug A112, waterproof plug B23 and power cable 22. Insert magnetic key 3 to start control module 1, the power indicator light on EPS32 main controller 11 illuminates, remove screw 33 on magnetic key 3, turn on the computer, connect to the WIFI of control module 1, check the transmitted pressure, depth and voltage parameters, set the throw depth, and attach disposable load 4. At this time, the robot's gravity is greater than its buoyancy, the center of gravity is pulled down by the load, the center of buoyancy is on top, the robot's anti-ocean current stability is improved, ensuring a firm attachment, the robot enters the water, MS5837 sensor 12 continuously detects pressure and temperature, calculates seawater depth in real time. When the robot dives to the set depth, ESP32 main controller 11 controls MOS transistor B19 to conduct, the de-energized electromagnet 21 is energized and loses its magnetism, disposable load 4 falls off, the robot returns to a slightly positive buoyancy state, and can be powered to maintain depth by the robot propulsion system. After completing the mission and surfacing, the computer enters the device's WIFI range and automatically transmits diving data, such as the maximum diving depth and the voltage of the power battery 113, and can then be reloaded with a disposable payload 4 to await another diving operation.

[0080] Example 2: Figures 15 to 16 As shown, unlike Embodiment 1, it also includes a pressure-sensitive fixing component 5 installed on the bottom of the robot. The fixing component 5 includes: two discs 51, each disc 51 being annular and spaced vertically; an elastic bladder 52, made of rubber, disposed between the discs 51, the elastic bladder 52 being annular and filled with water; a push rod 53, symmetrically disposed inside the elastic bladder 52, one end of the push rod 53 being connected to the elastic bladder 52; a rotating rod 54, disposed inside the lower disc 51, one end of the rotating rod 54 being connected to the free end of the push rod 53; a support platform 55, disposed at the bottom of the lower disc 51; and a limiting block 56, slidably disposed on the support platform 55, the other end of the rotating rod 54 contacting the limiting block 56.

[0081] The pressure-sensitive fixing component 5 can solve the problem that the reliability of single magnetic adsorption may decrease due to slight deformation of the load or robot vibration when the water depth and water pressure increase. It uses water pressure, which is positively correlated with water depth, as a power source: during diving, the water pressure acts on the elastic bladder 52, causing it to compress and deform inward. Then, through the push rod 53-rotating rod 54 mechanism, the limiting block 56 is pushed towards the bottom of the carbon steel pad 42, realizing the mechanical limiting and lifting of the disposable load 4. This process is completely passive and automatic, requiring no additional energy or control signals, and has high reliability. It effectively prevents the load from accidentally sliding or falling off due to water pressure, water flow impact, or the robot's own movement during diving or in deep water environment. When the load is thrown, after the disposable load 4 loses the attraction force of the electromagnet 2, the push rod 53-rotating rod 54 mechanism cannot bear the load transmitted by the carbon steel pad 42 alone. The limiting block 56 pushes back in the opposite direction, and the disposable load 4 falls.

[0082] The fixing component 5 also includes an extension post 57 disposed inside the packaging bag 41 and an elastic ring 58 disposed outside the packaging bag 41. The extension post 57 is connected to the bottom of the carbon steel gasket 42, and the elastic ring 58 is clamped to the outside of the extension post 57. The diameter of the extension post 57 is smaller than the diameter of the carbon steel gasket 42. The arrangement of the extension post 57 and the elastic ring 58 can reduce the tension of the packaging bag 41 around the carbon steel gasket 42, so that the limiting block 56 has a better limiting effect on the carbon steel gasket 42.

[0083] The limiting block 56 includes a baffle 561, a connecting rod 562, and an arc-shaped support block 563. One side of the baffle 561 contacts the rotating rod 54, and the other side of the baffle 561 is connected to one end of the connecting rod 562. The other end of the connecting rod 562 is connected to the arc-shaped support block 563. A sliding groove is provided on the support platform 55, and sliders are provided on both sides of the connecting rod 562. The limiting block 56 achieves sliding cooperation with the support platform 55 through the sliding groove and the sliders. The baffle increases the contact area with the rotating rod, ensuring smooth power transmission. The shape of the arc-shaped support block makes the drop of the one-time load 4 smoother during load throwing, avoiding affecting the robot's balance.

[0084] The push rod 53 and the elastic bladder 52 are connected by an arc-shaped piece 59; the arc-shaped piece can transmit the pressure on the curved surface of the elastic bladder to the push rod more evenly, reducing stress concentration.

[0085] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A magnetic ballast release device for an ESP32-based underwater wind power operation robot, characterized in that, include: The control module, installed on the main frame of the robot, includes a main controller, sensor module, digital-to-analog converter module, voltage regulator module, wireless charging module, wireless charging coil, MOSFET A, MOSFET B, reed switch, power battery, magnetic shielding sheet, 3D printed shell and epoxy resin potting compound. The 3D printed shell contains a PCB integrated circuit board, a power battery, a magnetic shielding sheet and a wireless charging coil stacked from top to bottom, and is sealed and encapsulated with epoxy resin potting compound. The main control unit, sensor module, digital-to-analog converter module, voltage regulator module, wireless charging module, MOSFET A, MOSFET B and reed switch are all mounted on the PCB integrated circuit board; The power battery supplies power to each power-consuming unit through the voltage regulator module; The reed switch is connected to the control electrode of the MOS transistor A; The main controller is connected to the control electrode of the sensor module, the digital-to-analog converter module, and the MOS transistor B. An electromagnet, installed on the bottom of the robot, includes a de-energized electromagnet and a power cable. One end of the power cable is connected to the de-energized electromagnet, and the other end is connected to the control module. A magnetic key is used to be inserted into a preset position on the housing of the control module. A strong magnet inside the key can turn on the reed switch to activate the control module. A disposable load is used to attach to the de-energized electromagnet before operation; The main controller is configured to: calculate the current seawater depth using the pressure and temperature data obtained by the sensor module, and obtain the power battery voltage using the digital-to-analog converter module; when the calculated depth reaches the preset release depth, control the MOS transistor B to conduct, thereby energizing the de-energized electromagnet and releasing the one-time load.

2. The magnetic ballast jettisoning device for an ESP32-based underwater wind power robot according to claim 1, characterized in that: The reed switches are three in number and are vertically stacked and soldered in parallel on the PCB integrated circuit board.

3. The magnetic ballast jettisoning device for an ESP32-based underwater wind power robot according to claim 1, characterized in that: The magnetic key includes a key shell, a strong magnet disposed inside the key shell, and a bolt connected to the bottom of the key shell.

4. The magnetic ballast jettisoning device for an ESP32-based underwater wind power robot according to claim 1, characterized in that: The control module also includes a wireless programming module, which is mounted on the PCB integrated circuit board and is used to communicate wirelessly with an external computer via WiFi to realize program programming, parameter setting and data transmission.

5. A magnetic ballast jettisoning device for an ESP32-based underwater wind power robot according to claim 1, characterized in that: The disposable load includes a package containing a counterweight, a carbon steel pad inside the package, and a sealing line for binding the package. The carbon steel pad is used to attract and fix the de-energized electromagnet.

6. A magnetic ballast jettisoning device for an underwater wind power operation robot based on ESP32 according to claim 5, characterized in that, It also includes a pressure-sensitive fixing assembly installed on the bottom of the robot, the fixing assembly comprising: Two discs, each disc being annular, are arranged at an interval between each other. An elastic bladder is disposed between each of the disks. The elastic bladder is annular and filled with fluid. A push rod is symmetrically arranged inside the elastic bladder, and one end of the push rod is connected to the elastic bladder; A rotating rod is located inside the lower disk, with one end of the rotating rod connected to the free end of the push rod. A support platform is located at the bottom of the lower-level disc. A limiting block is slidably disposed on the support platform, and the other end of the rotating rod is in contact with the limiting block.

7. A magnetic ballast release device for an underwater wind power operation robot based on ESP32 according to claim 6, characterized in that: The fixing assembly also includes an extension post disposed inside the package and an elastic ring disposed outside the package. The extension post is connected to the bottom of the carbon steel gasket, and the elastic ring is clamped to the outside of the extension post.

8. A magnetic load-release device for an ESP32-based underwater wind power robot according to claim 6, characterized in that: The limiting block includes a baffle, a connecting rod, and an arc-shaped support block. One side of the baffle contacts the rotating rod, and the other side of the baffle is connected to one end of the connecting rod, while the other end of the connecting rod is connected to the arc-shaped support block.

9. A magnetic ballast release device for an ESP32-based underwater wind power robot according to claim 6, characterized in that: The push rod and the elastic bladder are connected by an arc-shaped piece.

10. A magnetic ballast release device for an ESP32-based underwater wind power robot according to claim 6, characterized in that: The fluid density filling the elastic bladder does not exceed 1×10⁻⁶. 3 kg / m 3 .

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