Variable-Size Gasbags for Underwater Robot Buoyancy Control
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Solution Overview
Problem
Traditional underwater robots consume excessive energy due to the need for continuous operation of vertical rotors to maintain buoyancy and control depth, which is inefficient and can disrupt the underwater environment.
Innovation Solution
An underwater robot equipped with a variable-size auxiliary drive module featuring a silo, micro push rod motors, and gasbags, where the size of the gasbags is adjusted using a control system to manage buoyancy and reduce energy consumption, along with a propulsion module and head vision system for navigation and environmental data processing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Use of energy by moving object
If traditional underwater robots use multiple screw propellers for horizontal and vertical propulsion, then the robots can achieve sufficient cruising ability and attitude control, but the energy consumption increases significantly due to continuous operation of vertical rotors for buoyancy control
Solution Approach 1:
The gasbags are designed with variable size capability through push rod motors that can adjust the volume of gasbags dynamically. This allows the buoyancy to be adjusted according to the robot's depth and attitude requirements, enabling the system to transition between different operational states (hovering, ascending, descending) without continuous propeller operation, thus reducing energy consumption while maintaining attitude control capability
Solution Approach 2:
The invention introduces gasbags as a pneumatic buoyancy control mechanism. By injecting or releasing gas into the gasbags, the system can adjust the overall buoyancy of the robot, providing an alternative to continuous propeller operation for vertical position control. This pneumatic system works in conjunction with the propulsion module to achieve energy-efficient attitude and depth control
2Reliability
If vertical rotors operate continuously to provide power and buoyancy at different depths, then the robots can maintain sufficient cruising ability, but the impact on underwater ecological environment increases
Solution Approach 1:
Instead of continuous propeller operation, the system uses periodic adjustment of gasbag volume to control buoyancy and depth. The push rod motors adjust gasbag size in discrete steps based on depth and mission requirements, allowing the rotors to operate intermittently rather than continuously, thereby reducing disturbance to the underwater environment while maintaining reliable cruising ability
Solution Approach 2:
The gasbags provide a buoyant force that counteracts the gravitational force on the robot, creating a natural tendency to float or sink without requiring continuous propeller thrust. This counterweight mechanism using variable buoyancy reduces the need for continuous active propulsion, thereby reducing environmental impact while maintaining the robot's ability to navigate and cruise effectively
3Force
If multiple pairs of screw propellers are used for horizontal and vertical propulsion, then the robots can achieve sufficient propulsion force, but the device complexity increases
Solution Approach 1:
The invention merges the buoyancy control function and propulsion function into an integrated system. The gasbags handle the vertical position and attitude control through buoyancy adjustment, while the propulsion module handles horizontal movement. This functional integration reduces the number of independent propulsion systems needed, simplifying the overall device while maintaining sufficient propulsion force through coordinated operation of the reduced propulsion elements
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The variable-size auxiliary drive module reduces energy consumption by dynamically adjusting buoyancy, allowing for more efficient control of the robot's attitude and navigation, while minimizing environmental impact and enhancing operational flexibility.
Implementation Method 1
the first gasbags are fixed to an outer side of the first variable-size silo... configured to provide buoyancy for the underwater robot
Implementation Method 2
each of the first variable-size units includes a first micro push rod motor, a first push rod... the main control system is electrically connected with the first micro push rod motors and configured to control the first micro push rod motors to drive the first push rods
Data Source
AI summary
An underwater robot based on a variable-size auxiliary drive and a control method thereof includes a variable-size auxiliary drive module and a main control system. The variable-size auxiliary drive module includes a first variable-size silo, at least two first variable-size units and at least two first gasbags. The first variable-size silo has a first accommodating space with at least two first accommodating subspaces. Each of the first variable-size units includes a first micro push rod motor, a first push rod, a first push plate and a first gas guide tube. The first micro push rod motor, the first push rod and the first push plate are accommodated in the corresponding first accommodating subspace. The first push rod is fixed to the first push plate. one of the first gas guide tubes correspondingly communicates with one of the first accommodating subspaces and one of the first gasbags.