Posture-adjustable underwater robot based on buoyancy adjusting system

Abstract

The attitude-adjustable underwater robot based on the buoyancy adjusting system comprises a pressure-resistant shell, a bow end cover, a communication system, a control system, wings, a CTD sensor, an antenna and a stern end cover, and is characterized by further comprising an attitude adjusting and energy supply integrated device, a buoyancy adjusting device and a propelling device. Continuous adjustment of the pitch angle of 0-90 degrees is achieved through the posture adjusting system, and energy-saving vertical snorkeling motion and efficient horizontal sailing motion are achieved through the buoyancy adjusting system and the propellers respectively. In addition, through ingenious combination of the attitude adjusting system and the energy system, the space utilization rate of the machine body is improved, and various sensors can be carried according to specific observation tasks.

Description

Technical Field

[0001] The present invention belongs to the technical field of novel ocean exploration equipment, and in particular relates to a posture-adjustable underwater robot based on a buoyancy adjustment system. Background Art

[0002] The total area of Earth's oceans is approximately 360 million square kilometers, accounting for approximately 71% of the Earth's surface area. The development and utilization of marine energy and resources, as well as research on the relationship between the ocean and global change, the marine environment, and its ecology are practical ways for humanity to maintain its survival and development, expand its living space, and fully utilize this precious ocean. With global warming and the deterioration of the marine environment, the development of a global ocean observation network is essential to protect the oceans and prevent natural disasters such as tsunamis. In ocean exploration, automated profiling buoys typically carry high-precision sensors for measuring parameters such as temperature, depth, and salinity. They use the Lagrangian circulation method to automatically measure various oceanographic data from the sea surface to the desired depth and record their drifting trajectory.

[0003] Self-sustaining profiling floats offer low energy consumption, long monitoring cycles, and low manufacturing costs. They can be used for continuous, large-scale, and high-resolution ocean observations, and have become an important means of obtaining real-time, global oceanographic profiles. However, the lack of maneuverability of self-sustaining profiling floats prevents Argo floats from independently observing rapidly evolving ocean phenomena. Currently, self-sustaining profiling floats and underwater gliders form a global ocean observation network. Underwater gliders primarily rely on adjusting their buoyancy and attitude, and can be equipped with a variety of specialized sensors to achieve their desired functions. However, both self-sustaining profiling floats and underwater gliders lack propulsion, making it difficult to track and observe specific moving ocean phenomena. As a key component of underwater unmanned platforms, autonomous underwater vehicles (AUVs) offer significant advantages such as high maneuverability, strong autonomy, and a wide range of applications. However, their high energy consumption and limited depth-stability have limited their application prospects in ocean observation. An ideal ocean observation platform should combine the low energy consumption, snorkeling, and depth-stability capabilities of self-sustaining profiling floats with the high maneuverability of AUVs. At present, there is a lack of research on maneuverable profiling buoys and buoyancy-regulated autonomous underwater vehicles at home and abroad.

[0004] Therefore, it is very necessary to develop an underwater robot that has the ability to snorkel and suspend at a fixed depth, which can not only complete the vertical profile measurement task but also can make timely maneuverable handling of complex situations and has low energy consumption. Summary of the Invention

[0005] In view of this, the present invention aims to provide a posture-adjustable underwater robot based on a buoyancy regulation system. This system enables switching between self-sustaining profiling buoy and unmanned underwater vehicle modes, achieving continuous adjustment of the pitch angle from 0° to 90°. The buoyancy regulation system and propellers enable energy-saving vertical snorkeling and efficient horizontal navigation, respectively. Furthermore, the ingenious integration of the posture regulation and energy supply integrated device with the energy system improves space utilization within the robot, enabling the robot to carry a wide variety of sensors tailored to specific observation missions.

[0006] In order to achieve the above objectives, the present invention provides the following technical solutions.

[0007] On the one hand, the present invention provides an attitude-adjustable underwater robot based on a buoyancy adjustment system, comprising a pressure-resistant hull, a bow cover, a communication system, a control system, wings, a CTD sensor, an antenna, and a stern cover, characterized in that it also includes an attitude adjustment and energy supply integrated device, a buoyancy adjustment device, and a propulsion device.

[0008] Among them, the posture adjustment and energy supply integrated device includes a roll assembly and a pitch assembly, which are used to adjust the posture of the posture-adjustable underwater robot and provide energy. The roll assembly includes a rotating battery pack, a first gear, a second gear, a roll motor, and an annular protrusion component. The roll motor realizes the rotational motion of the rotating battery pack around the rotation axis through the transmission of the first gear and the second gear. The annular protrusion component is arranged on the rotation axis; the pitch assembly includes a translation battery pack, a spur rack, a pitch motor, a worm gear, and a displacement sensor. The translation battery pack is connected to the pitch motor through the worm gear. The worm gear converts the rotational motion of the pitch motor into linear motion of the translation battery pack on the spur rack.

[0009] The buoyancy regulating device includes an outer oil bag, an inner oil tank, a piston, a lead screw, a lead screw nut, a DC motor, a pin, and a pull-wire displacement sensor; the DC motor drives the lead screw nut to rotate, while the pin limits the swing of the lead screw, thereby realizing the linear motion of the lead screw, the piston is connected to one end of the lead screw, and the reciprocating motion of the piston realizes the transfer of hydraulic oil between the outer oil bag and the inner oil tank;

[0010] The propulsion device includes propellers symmetrically arranged on both sides of the posture-adjustable underwater robot.

[0011] Furthermore, the rotating battery pack and the translating battery pack are semi-annular, and can be used to provide energy for the posture-adjustable underwater robot.

[0012] Furthermore, the annular raised component includes a rotating battery pack track and a limiter arranged on the contact surface between the rotating battery pack and the inner oil tank, and the rotating battery pack track is used to ensure that the rotating battery pack does not perform axial translation during the rotation around the axis; the limiter is located on the horizontal symmetry plane of the annular raised component, and is used to avoid travel conflicts between battery packs due to excessive rotation of the rotating battery pack.

[0013] Furthermore, the displacement sensor is fixed to the inner end of the posture-adjustable underwater robot, parallel to the moving track of the translation battery pack, and is used to feed back the distance moved by the translation battery pack.

[0014] Furthermore, the first gear is a spur internal gear, and the second gear is a standard gear part.

[0015] Furthermore, the wire displacement sensor feeds back the change in oil volume by measuring the moving distance of the piston in the inner oil tank.

[0016] Furthermore, the communication system, control system, attitude adjustment and energy supply integrated device, and buoyancy adjustment device are arranged in sequence inside the pressure hull; the CTD sensor is arranged in front of the bow end cover and the antenna; and the external oil bag is arranged behind the stern end cover.

[0017] Furthermore, the control system sends command control to the attitude-adjustable underwater robot to adjust the underwater robot's attitude, obtains data from the CTD sensor, and completes data feedback via the communication system.

[0018] On the other hand, the present invention also provides a method for using the posture-adjustable underwater robot based on the buoyancy adjustment system, characterized in that the method includes three modes:

[0019] 1) Profile motion mode: The buoyancy of the underwater robot can be adjusted by adjusting the posture of the underwater robot through the buoyancy adjustment device to perform profile measurement using the CTD sensor and transmit the measurement data using the communication system;

[0020] 2) Attitude adjustment mode: The attitude of the attitude-adjustable underwater robot is adjusted from vertical to horizontal or from horizontal to vertical through the attitude adjustment and energy supply integrated device, and real-time feedback is provided to the control system;

[0021] 3) Navigation mode: The attitude of the attitude-adjustable underwater robot is adjusted to a horizontal attitude with a pitch angle of 0° through the attitude adjustment and energy supply integrated device, and the thruster starts to operate under the control of the control system, so that the attitude-adjustable underwater robot navigates towards the target.

[0022] Furthermore, before implementing the profile motion mode, the attitude adjustment mode, and the navigation mode, a preparation process is performed, that is, the attitude-adjustable underwater robot based on the buoyancy adjustment system is turned on and put into water, and the attitude-adjustable underwater robot is remotely set through the communication system. After the setting command is executed, the attitude-adjustable underwater robot starts to work.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The buoyancy adjustment device reduces energy consumption while ensuring reliable depth-fixed suspension performance;

[0025] 2. Through the integrated device of attitude adjustment and energy supply, it can switch between two modes: self-sustaining profiling buoy and unmanned underwater vehicle. It has the functions of snorkeling, constant depth suspension and navigation. It can not only complete vertical profiling tasks, but also make timely maneuvering in complex situations.

[0026] 3. Through the ingenious combination of the attitude adjustment and energy supply integrated device and the energy system, the space utilization rate of the body is improved, and a wide variety of sensors can be carried according to specific observation missions;

[0027] 4. The system is simple and practical, low cost, and recyclable. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 1 is a schematic diagram of the external structure of an underwater robot with adjustable posture based on a buoyancy adjustment system provided by an embodiment of the present invention;

[0029] Figure 2 Schematic diagram of the internal structure of an underwater robot with adjustable posture based on a buoyancy adjustment system provided by an embodiment of the present invention;

[0030] Figure 3 Schematic diagram of an integrated device for posture adjustment and energy supply of a posture-adjustable underwater robot based on a buoyancy adjustment system provided by an embodiment of the present invention;

[0031] Figure 4 Schematic diagram of a buoyancy adjustment device for an underwater robot with adjustable posture based on a buoyancy adjustment system provided by an embodiment of the present invention;

[0032] Figure 5 Schematic diagram of an annular protruding component of a posture-adjustable underwater robot based on a buoyancy adjustment system provided by an embodiment of the present invention;

[0033] Figure 6 1 is a schematic diagram of a cross-sectional buoy mode of an underwater robot with adjustable posture based on a buoyancy adjustment system provided by an embodiment of the present invention;

[0034] Figure 7 2. It is a schematic diagram of an underwater vehicle mode of an underwater robot with adjustable posture based on a buoyancy adjustment system provided by an embodiment of the present invention;

[0035] Figure 8 This is a workflow diagram of an underwater robot with adjustable posture based on a buoyancy adjustment system provided by an embodiment of the present invention.

[0036] Explanation of the reference numerals: 1-pressure hull; 2-bow end cover; 3-communication system; 4-control system; 5-wing; 6-attitude adjustment and energy supply integrated device; 7-buoyancy adjustment device; 8-stern end cover; 9-propulsion device; 10-CTD sensor; 11-antenna; 12-external oil bag; 13-inner oil tank; 14-piston; 15-screw; 16-screw nut; 17-DC motor; 18-pin shaft; 19-wire displacement sensor; 20-rotating battery pack; 21-translational battery pack; 22-first gear; 23-second gear; 24-roll motor; 25-spur rack; 26-pitch motor; 27-worm gear; 28-displacement sensor; 29-annular raised component; 30-rotating battery pack track; 31-limiter. DETAILED DESCRIPTION

[0037] To make the purpose, technical solutions and advantages of this application more clear, the specific embodiments of this application will be further described in detail below in conjunction with the accompanying drawings of the specification of this application. It should be understood that the following embodiments are only used to illustrate this application and are not used to limit the scope of protection of this application.

[0038] like Figure 1 and 2 As shown, the present invention provides an attitude-adjustable underwater robot based on a buoyancy adjustment system, including a pressure-resistant shell 1, a bow cover 2, a communication system 3, a control system 4, wings 5, an attitude adjustment and energy supply integrated device 6, a buoyancy adjustment device 7, a stern cover 8, a propulsion device 9, a CTD sensor 10, and an antenna 11.

[0039] The communication system 3, control system 4, attitude adjustment and energy supply integrated device 6, and buoyancy adjustment device 7 are arranged in sequence inside the pressure hull 1; the CTD sensor 10 and antenna 11 are arranged in front of the bow end cover 2; and the external oil bag 12 is arranged behind the stern end cover 8.

[0040] like Figure 3As shown, the integrated attitude adjustment and energy supply device 6 includes a roll assembly and a pitch assembly. The roll assembly includes a rotating battery pack 20, a first gear 22, a second gear 23, a roll motor 24, and an annular raised component 29. The roll motor 24 drives the rotating battery pack 20 around the rotation axis through the transmission of the first gear 22 and the second gear 23. The annular raised component 29 is disposed on the rotation axis and includes a rotating battery pack track 30 and a limiter 31 arranged on the contact surface between the rotating battery pack 20 and the inner fuel tank 13. The rotating battery pack track 30 is used to ensure that the rotating battery pack 20 does not undergo axial translation during rotation around the axis; the limiter 31 is located on the horizontal symmetry plane of the annular raised component 29 and is used to prevent travel conflicts between the battery packs due to excessive rotation of the rotating battery pack 20. The pitch assembly includes a translation battery pack 21, a spur rack 25, a pitch motor 26, a worm gear 27, and a displacement sensor 28. The translation battery pack 21 and the pitch motor 26 are connected via the worm gear 27, which converts the rotational motion of the pitch motor 26 into linear motion of the translation battery pack 21 on the spur rack 25. The displacement sensor 28 is mounted on the inner end of the posture-adjustable underwater robot, parallel to the movement trajectory of the translation battery pack 21, and provides feedback on the distance traveled by the translation battery pack 21. The rotation battery pack 20 and the translation battery pack 21 are both semi-annular in shape. Driven by the roll motor 24 and the pitch motor 26, they rotate around their axes and translate axially within the robot, respectively. The rotation battery pack 20 and the translation battery pack 21 are used to provide long-term, stable operating voltage and current for the normal operation of the communication system 3, the control system 4, the DC motor 17, the roll motor 24, the pitch motor 26, and various sensors. The first gear 22 is a spur internal gear, and the second gear 23 is a standard gear component. The integrated posture adjustment and energy supply device 6 cleverly combines the rotating battery pack 20 and the translational battery pack 21 for providing energy with the various components for posture adjustment, thereby greatly improving the utilization rate of the internal space of the machine while reducing the weight of the entire machine.

[0041] like Figure 4As shown, the buoyancy adjustment device 7 utilizes the piston principle, achieving changes in the overall sealed volume of the engine through the reciprocating motion of piston 14. The buoyancy adjustment device 7 employs a plunger buoyancy pump system, comprising an outer oil bladder 12, an inner oil tank 13, a piston 14, a lead screw 15, a lead screw nut 16, a DC motor 17, a pin 18, and a cable displacement sensor 19. The DC motor 17 drives the lead screw nut 16 to rotate, while the pin 18 restricts the swing of the lead screw 15, thereby achieving linear motion of the lead screw 15. The piston 14, equipped with a dynamic seal, is connected to one end of the lead screw 15. A ball screw converts the motor's rotational motion into linear motion of the piston. The reciprocating motion of the piston 14 transfers hydraulic oil between the outer oil bladder 12 and the inner oil tank 13. The outer oil bladder 12 is in direct contact with seawater, thereby achieving changes in the engine's displacement volume. The cable displacement sensor 19 provides feedback on changes in oil volume by measuring the distance traveled by the piston 14 within the inner oil tank 13.

[0042] The propulsion device 9 includes thrusters symmetrically arranged on either side of the underwater robot. Wings 5 enhance the underwater robot's stability during movement. The communication system 3 and control system 4 are located at the stern of the underwater robot. The control system 4 sends commands to various system modules to control the operating states of each component, enabling the underwater robot's attitude adjustment mode, profile motion mode, and navigation mode. It also acquires sensor data, such as the CTD sensor 10, and transmits and feeds this data via the communication system 3. The thrusters are symmetrically arranged on the outside of the underwater robot to provide propulsion when the robot is in a horizontal position.

[0043] The annular raised component 29 includes a rotating battery pack track 30 and a stopper 31, which are arranged on the contact surface between the rotating battery pack 20 and the inner fuel tank 13. The rotating battery pack track 30 is used to prevent the rotating battery pack 20 from axial translation during its rotation; the stopper 31 is located on the horizontal symmetry plane of the annular raised component 29 to prevent excessive rotation of the rotating battery pack 20 and the resulting travel conflict between the two battery packs.

[0044] The working process of the posture-adjustable underwater robot based on the buoyancy adjustment system of the present invention is as follows:

[0045] Preparation process:

[0046] When the attitude-adjustable underwater robot based on the buoyancy adjustment system provided by the embodiment of the present invention is powered on and submerged, the external oil bladder 12 is fully inflated, providing maximum buoyancy, and the underwater robot floats vertically at sea level. The underwater robot drifts with the current, with the CTD sensor 10 and antenna 11 exposed above sea level. The control terminal on the shore remotely configures the underwater robot via the communication system 3. The configuration commands include parameters such as the CTD sensor 10 sampling frequency, the positioning and recovery frequency, and the target diving depth. After the configuration commands are executed, the control terminal on the shore remotely transmits a profile measurement start command, and the underwater robot begins operation.

[0047] Usage process:

[0048] In combination with the two working states of the attitude-adjustable underwater robot of the present invention, the use process is divided into three modes, namely, profile movement mode, attitude adjustment mode, and navigation mode.

[0049] (1) Profile motion mode: After the underwater robot receives the profile measurement command, the DC motor 17 in the buoyancy adjustment device 7 is started, and the piston 14 in the inner oil tank 13 moves backward under the drive of the screw rod 15 and the screw nut 16, and the hydraulic oil is transferred from the outer oil bag 12 to the inner oil tank 13. As the volume of the outer oil bag 12 decreases, the displacement volume of the underwater robot decreases, the buoyancy it experiences decreases, and under the action of gravity, the underwater robot begins to dive. During the underwater robot's dive, the CTD sensor 10 performs depth measurement. When the control system 4 detects that the underwater robot has dived to the target diving depth, the underwater robot enters a dormant state. At this time, the buoyancy and gravity are balanced, and the underwater robot is suspended and drifts with the ocean current for 7 to 10 days. After the delayed hovering ends, the buoyancy control device 7 activates, and the piston 14 in the inner oil tank 13 moves forward, driven by the lead screw 15 and the lead screw nut 16. The hydraulic oil in the inner oil tank 13 is pumped out, and the volume of the outer oil bladder 12 increases. The buoyancy of the underwater robot becomes greater than the gravity, and the underwater robot begins to float. During the underwater robot's ascent, the CTD sensor 10 measures and stores profile data such as temperature, salinity, and depth according to the set sampling frequency. The underwater robot continues to rise until the antenna 11 is raised above sea level. After the measurement data is transmitted back through the communication system 3, the underwater robot receives the next mission command.

[0050] (2) Posture adjustment mode: see Figure 5 and Figure 6The initial state of the attitude-adjustable underwater robot of the present invention is a vertical profile buoy posture. In this state, the translation battery pack 21 in the integrated attitude adjustment and energy supply device 6 is located at the aft end of its range of motion. At this time, the rotation battery pack 20 and the translation battery pack 21 are located in the same plane, which is parallel to the aft end cover 8. When the control system 4 issues an attitude adjustment command, the integrated attitude adjustment and energy supply device 6 is activated. First, the pitch motor 26 drives the worm gear 27 to rotate, which then connects to the translation battery pack 21, driving the translation battery pack 21 to move on the spur rack 25 toward the bow of the underwater robot to the front end of its travel. Then, the rotation battery pack 20, under the action of the second gear 23 and the roll motor 24, rotates 180° around the axis along the first gear 22. As the rotation battery pack 20 and the translation battery pack 21 move, the pitch angle of the underwater robot is adjusted from 90° to 0° (a pitch angle of 90° means that the underwater robot is vertical, with the bow facing up and the stern facing down), that is, from a vertical posture to a horizontal posture. When the control system 4 issues another posture adjustment command, the rotation battery pack 20 first rotates 180° under the action of the roll motor 24 to overcome gravity until it contacts the limiter 31. Then, the translation battery pack 21 moves toward the stern of the underwater robot to the end of its travel, adjusting from a horizontal posture to a vertical posture. At this time, the pitch angle of the underwater robot is adjusted again from 0° to −90°. During the adjustment process, the displacement sensor 28 detects the position of the translation battery pack 21 and provides real-time feedback to the control system 4.

[0051] (3) Navigation Mode: The control terminal on the shore sends navigation instructions to the underwater robot via antenna 12, and the attitude adjustment and energy supply integrated device 6 is activated. When the displacement sensor 28 detects that the translation battery pack 21 is at the end of the movable range and the rotation battery pack 20 is on the same side as the translation battery pack 21, the underwater robot adjusts to a horizontal attitude with a pitch angle of 0°. The propellers begin to operate under the coordination of the control system 4, and the underwater robot navigates towards the target. Figure 7 2 is a flowchart showing the working process of the posture-adjustable underwater robot based on the buoyancy adjustment system provided by an embodiment of the present invention.

[0052] It should be noted that the above-described embodiments are merely preferred embodiments of the present invention. Persons skilled in the art will appreciate that various modifications, improvements, and equivalent substitutions may be made to the present invention without departing from the principles of the present invention, and such modifications, improvements, and equivalent substitutions are deemed to fall within the scope of protection of the claims of the present invention.

Claims

1. A posture-adjustable underwater robot based on a buoyancy adjustment system, comprising a pressure hull, a bow end cover, a communication system, a control system, wings, a CTD sensor, an antenna, and a stern end cover, characterized in that: It also includes an integrated device for attitude adjustment and energy supply, a buoyancy adjustment device, and a propulsion device. Among them, the posture adjustment and energy supply integrated device includes a roll assembly and a pitch assembly, which are used to adjust the posture of the posture-adjustable underwater robot and provide energy. The roll assembly includes a rotating battery pack, a first gear, a second gear, a roll motor, and an annular protrusion component. The roll motor realizes the rotational motion of the rotating battery pack around the rotation axis through the transmission of the first gear and the second gear. The annular protrusion component is arranged on the rotation axis; the pitch assembly includes a translation battery pack, a spur rack, a pitch motor, a worm gear, and a displacement sensor. The translation battery pack is connected to the pitch motor through the worm gear. The worm gear converts the rotational motion of the pitch motor into linear motion of the translation battery pack on the spur rack. The buoyancy regulating device includes an outer oil bag, an inner oil tank, a piston, a lead screw, a lead screw nut, a DC motor, a pin, and a pull-wire displacement sensor; the DC motor drives the lead screw nut to rotate, while the pin limits the swing of the lead screw, thereby realizing the linear motion of the lead screw, the piston is connected to one end of the lead screw, and the reciprocating motion of the piston realizes the transfer of hydraulic oil between the outer oil bag and the inner oil tank; The propulsion device includes propellers symmetrically arranged on both sides of the posture-adjustable underwater robot.

2. The posture-adjustable underwater robot based on the buoyancy adjustment system according to claim 1, characterized in that: The rotating battery pack and the translating battery pack are semi-annular and can be used to provide energy for the posture-adjustable underwater robot.

3. The posture-adjustable underwater robot based on the buoyancy adjustment system according to claim 1, characterized in that: The annular raised component includes a rotating battery pack track and a limiter arranged on the contact surface between the rotating battery pack and the inner oil tank. The rotating battery pack track is used to ensure that the rotating battery pack does not perform axial translation during the rotation around the axis; the limiter is located on the horizontal symmetry plane of the annular raised component, and is used to avoid travel conflicts between battery packs due to excessive rotation of the rotating battery pack.

4. The posture-adjustable underwater robot based on the buoyancy adjustment system according to claim 1, characterized in that: The displacement sensor is fixed to the inner end of the posture-adjustable underwater robot, parallel to the moving track of the translation battery pack, and is used to feed back the moving distance of the translation battery pack.

5. The posture-adjustable underwater robot based on the buoyancy adjustment system according to claim 1, characterized in that: The first gear is a spur internal gear, and the second gear is a standard gear part.

6. The posture-adjustable underwater robot based on the buoyancy adjustment system according to claim 1, characterized in that: The wire displacement sensor feeds back the change in oil volume by measuring the moving distance of the piston in the inner oil tank.

7. The posture-adjustable underwater robot based on the buoyancy adjustment system according to claim 1, characterized in that: The communication system, control system, attitude adjustment and energy supply integrated device, and buoyancy adjustment device are arranged in sequence inside the pressure hull; the CTD sensor and antenna are arranged in front of the bow end cover; and the external oil bag is arranged behind the stern end cover.

8. The posture-adjustable underwater robot based on the buoyancy adjustment system according to claim 1, characterized in that: The control system sends command control to the attitude-adjustable underwater robot to adjust the underwater robot's attitude, obtains data from the CTD sensor, and completes data feedback via the communication system.

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