CN105644742A - Long-term fixed-point vertical-section observation-type underwater robot - Google Patents

Long-term fixed-point vertical-section observation-type underwater robot Download PDF

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Publication number
CN105644742A
CN105644742A CN201410627537.0A CN201410627537A CN105644742A CN 105644742 A CN105644742 A CN 105644742A CN 201410627537 A CN201410627537 A CN 201410627537A CN 105644742 A CN105644742 A CN 105644742A
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China
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underwater robot
observation
hydro
cylinder
buoyancy
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CN105644742B (en
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刘铁军
许以军
尹远
胡志强
朱兴华
李德隆
姜志斌
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Abstract

The invention belongs to the technical field of underwater robots, in particular to a long-term fixed-point vertical-section observation-type underwater robot. The long-term fixed-point vertical-section observation-type underwater robot comprises a propulsion section, a stern buoyancy adjusting section, a battery cabin section, an electronic cabin section, a bow buoyancy adjusting section and an observation load section, wherein the propulsion section and the observation load section use open frame structures; the observation load section carries an oceanographic hydrological data observation sensing equipment; the upper part of the propulsion section is provided with a satellite antenna; the stern buoyancy adjusting section, the battery cabin section, the electronic cabin section and the bow buoyancy adjusting section are arranged in a full-sealed pressure resistant cabin; and through double-way buoyancy adjusting of the stern buoyancy adjusting section and the bow buoyancy adjusting section, the motion posture of the underwater robot is adjusted and the underwater robot can hover at a fixed point. The underwater robot realizes a high-accuracy repeatable double-way buoyancy adjusting function and can realize autonomous balancing and fixed-point hovering.

Description

A kind of long-term fixed point vertical section observation type underwater robot
Technical field
The invention belongs to underwater robot technical field, specifically a kind of long-term fixed point vertical section observation type underwater robot. Fixed point day-night observation that the vertical section of ocean hydrology data is carried out (being not less than 30 days) for a long time by target marine site realization of can navigating by water at a distance.
Background technology
It is the important means that people recognize ocean to the fixed point day-night observation of ocean environment. Along with the development of science and technology, oceanographic observations equipment all achieves progress in kind, function and performance etc. Complete function, dependable performance, high financial profit are that scientific research personnel is to the strong request of observation platform.
By observation mode, oceanographic observations can be divided into fixed point observation and Underway measurements. Fixed point observation platform comprises the buoy or subsurface buoy that can realize observation in surface, ocean or seawater, it may be achieved the mooring formula lifting gantry along mooring cable vertical up-and-down movement of fixed point vertical section observation, it may be achieved the sea bed base etc. of seabed fixed point observation. This kind of observation platform can only obtain in ocean certain any information, can not obtain continuous ocean space environmental information. Obtain big area marine site information just to lay multiple observation platform and carry out continuously long-time work. Platform lay it is generally required to perform by ship or aircraft, to laying carrier media height, less economical. Underway measurements platform can obtain in a certain marine site that Ocean environment information is with the consecutive variations situation in space, and this kind of observation platform comprises scientific investigation ship, underwater robot, underwater glider, drifting buoy, section drifting buoy etc. Drifting buoy and section drifting buoy, owing to self is unpowered, at the move under influence of ocean current, can only belong to the observation platform of slave type, and target directing is very poor. Scientific investigation ship by carry different sensors can obtain a certain marine site Ocean environment information in time with spatial variations situation, but for some dangerously exposed waters or Sensitive sea area, scientific investigation ship is not obviously good selection, and its economy is very poor. Underwater glider generally adopts and regulates the mode of buoyancy as driving power, consume energy low, voyage is long, the observation in big area marine site can be carried out, lay good economy performance, but owing to it can only with zig-zag or spiral motion, its fixed point day-night observation ability is very weak, and anti-current ability is also not as adopting angle of rake underwater robot.Traditional underwater robot maneuvering characteristics is good, major part Underway measurements task can be completed, but due to its steaming range weak, the time of controlling oneself is short, and self micro-positive buoyancy realizes fixed dark or fixed high motion to overcome can only to lean on the navigation of self, and section of cannot being fixed a point in off-lying sea marine site carries out continuous print to be observed for a long time.
For completing the long-term observation task in a certain appointment marine site of off-lying sea, obtain the Ocean environment information in a certain point of fixity vertical section in this marine site in time changing conditions and full wafer marine site Ocean environment information with spatial variations situation, need a kind of voyage length of design, the self-holding time is of a specified duration, maneuvering characteristics good, has autonomous heave ability, have fixed point observation and Underway measurements function concurrently, and can independently complete the oceanographic observations equipment of the day-night observation task in this marine site according to fixed route and mission.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide a kind of long-term fixed point vertical section observation type underwater robot.
In order to realize above-mentioned purpose, the present invention by the following technical solutions:
A kind of long-term fixed point vertical section observation type underwater robot, comprise the propelling section connected successively, stern buoyancy adjustment section, battery flat section, electronic compartment section, bow buoyancy adjustment section and observation load section, section and observation load section is wherein advanced to adopt open frame structure, described observation load section carries the sensing equipment of ocean hydrology data observation, described propelling section top is provided with satellite antenna, described stern buoyancy adjustment section, battery flat section, electronic compartment section and bow buoyancy adjustment section are arranged in hermetically sealed pressure-resistant cabin, by bow buoyancy adjustment section and the two-way buoyancy adjustment of stern buoyancy adjustment section, realize the adjustment of underwater robot athletic posture and fixed point hovering.
Described stern buoyancy adjustment section is identical with bow buoyancy adjustment section structure, include hydro-cylinder, seawater regulates cylinder and hydraulic efficiency system, wherein the little piston side of hydro-cylinder regulates the big piston of cylinder to be connected by take-off lever and seawater, described seawater regulates cylinder to be provided with the water in-out port being connected with seawater, described hydro-cylinder is connected with hydraulic efficiency system, described hydraulic efficiency system drives the little piston of hydro-cylinder to move back and forth, and drive seawater to regulate the big piston reciprocating motion of cylinder, thus make seawater regulate cylinder by water in-out port suction seawater, and then realize underwater robot buoyancy adjustment.
The end of another side take-off lever of little piston of described hydro-cylinder is provided with displacement sensor, the hermetically sealed pressure-resistant cabin of described stern buoyancy adjustment section and bow buoyancy adjustment section is equipped with and checks lid, the front end of described bow buoyancy adjustment section is provided with front spherical shell, and there is rear spherical shell the rear end of described stern buoyancy adjustment section.
Described hydraulic efficiency system comprises direct-current machine, hydro-pump, check valve, surplus valve, reversing valve, fluid-control one-way valve, one-way speed-regulating valve and pressure transmitter, wherein hydro-pump is two, and be connected with a direct-current machine respectively, it is connected with the room, chamber, two ends of hydro-cylinder respectively by water suction oil supply line and draining oil supply line after two hydro-pump parallel connections, described water suction oil supply line and draining oil supply line are equipped with fluid-control one-way valve and reversing valve, described one-way speed-regulating valve is arranged on water suction oil supply line, two hydraulic pressure delivery side of pumps are equipped with a check valve, two hydro-pumps are connected with fuel tank by used oil pipe and surplus valve, described pressure transmitter is arranged on the oil supply line after two hydro-pump parallel connections, for detecting total charge oil pressure of hydraulic efficiency system.
The sensing equipment of the ocean hydrology data observation that described observation load section is carried comprises acoustics fluid velocity profile instrument, the dark sensor of thermohaline, chlorophyll sensor, dissolved oxygen sensor and turbidometer, described observation load section is also provided with bow bail, Emergency Device device and the throwing rope device for the automatic recovery, wherein bow bail and Emergency Device device are arranged at front end and the bottom of observation load section respectively, are filled with buoyancy material in the open frame structure of described observation load section.
Being provided with control computer and control module in described electronic compartment section, the front end of described electronic compartment section is provided with into water from sink device, starts water inlet when underwater robot cannot reclaim from sink device, and in hermetically sealed pressure-resistant cabin, water inlet self-destruction is sunk. Described water inlet is priming system from sink device.
Described battery flat section loads series of cells, battery management unit and power supply module, and wherein series of cells is suspended on the slide rail of the inner left and right sides of hermetically sealed pressure-resistant cabin.
Buoyancy material, thruster, electric-motor drive unit, elevating rudder, yaw rudder, Emergency Device device and the underwater acoustic communication apparatus that described propelling section comprises open frame and is arranged on open frame, wherein elevating rudder is horizontally disposed with, described yaw rudder and elevating rudder square crossing are arranged, described elevating rudder and yaw rudder are connected with electric-motor drive unit, described thruster and Emergency Device device are arranged at afterbody and the bottom of open frame respectively, are filled with buoyancy material in the space of described open frame.
Described Emergency Device device comprises two blocks of electro-magnet and one piece of foundary weight, wherein two pieces of electro-magnet energizing magnetic, and two blocks of electro-magnet attract foundary weight by magnetic power, makes underwater robot produce zero-buoyancy, makes underwater robot at normal operation under water; When emergency occurs in underwater robot, making two pieces of electro-magnet dead electricity, electro-magnet magnetic disappears, and foundary weight is sunk by action of gravity, and underwater robot produces positive buoyancy floating to the water surface.
Advantage and the useful effect of the present invention be:
1. the ocean hydrology data specifying marine site can be carried out vertical section observation of fixing a point for a long time by the present invention, obtain the first-hand Ocean environment information specifying marine site, have important scientific meaning.
2. the present invention realizes vertical heave by bow stern two regulating mechanism of buoyancies, breaches conventional underwater robot and can only perform the restriction that constant depth walks boat observation.
3. underwater platform technology and marine scientific research demand are combined closely by the present invention, can significantly promote the capability and qualification of the autonomous hydrospace detection equipment of China.
4. the present invention adopts sectional modular to design, and the different segmentations of multiple underwater robot can be general, is conducive to maintenance and the guarantee of system.
5. the present invention has high precision and can repeat two-way buoyancy adjustment function, it is possible to realize autonomous equilibrium and the fixed point hovering of underwater robot.
6. housing diameter of the present invention is 534mm, is the conventional diameter of heavy torpedo, its Structure and energy ripening degree height, dependable performance.
Accompanying drawing explanation
The axle that Fig. 1 is the present invention surveys view;
Fig. 2 is the front view of the present invention;
Fig. 3 is the frontview of the present invention;
Fig. 4 is the rear view of the present invention;
Fig. 5 is the skeleton view of the present invention;
Fig. 6 is the observation load section skeleton view of the present invention;
Fig. 7 is bow, the stern buoyancy adjustment section control principle schematic of the present invention.
Wherein: 1 is thruster, 2 is yaw rudder, 3 is satellite antenna, 4 for advancing section, 5 is stern buoyancy adjustment section, 6 is stern inspection lid, 7 is battery flat section, 8 is electronic compartment section, 9 is bow inspection lid, 10 is the dark sensor of thermohaline, 11 is bow bail, 12 is observation load section, 13 is acoustics fluid velocity profile instrument, 14 is front spherical shell, 15 is bow buoyancy adjustment section, 16 is rear spherical shell, 17 is elevating rudder, 18 is series of cells I, 19 is series of cells II, 20 is control computer, 21 is chlorophyll sensor, 22 is dissolved oxygen sensor, 23 is turbidometer, 24 for throwing rope device, 25 is Emergency Device device, 26 is direct-current machine, 27 is hydro-pump, 28 is check valve, 29 is surplus valve, 30 is reversing valve, 31 is fluid-control one-way valve, 32 is one-way speed-regulating valve, 33 is pressure transmitter, 34 is displacement sensor, 35 is hydro-cylinder, 36 is seawater adjustment cylinder, 37 is water in-out port.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in figures 1 to 6, the present invention adopts sectional modular to design, comprise the propelling section 4, stern buoyancy adjustment section 5, battery flat section 7, electronic compartment section 8, bow buoyancy adjustment section 15 and the observation load section 12 that connect successively, section 4 and observation load section 12 is wherein advanced to adopt open frame structure, described observation load section 12 carries the sensing equipment of ocean hydrology data observation, and described propelling section 4 top is provided with satellite antenna 3. Described stern buoyancy adjustment section 5, battery flat section 7, electronic compartment section 8 and bow buoyancy adjustment section 15 are arranged in hermetically sealed pressure-resistant cabin, by bow buoyancy adjustment section 15 and the two-way buoyancy adjustment of stern buoyancy adjustment section 5, it is achieved the adjustment of underwater robot athletic posture and fixed point hovering.
Each point of piece housing structure adopts 534mm standard series, and this diameter series is the conventional bore of heavy torpedo, and its structure design, complete processing are very ripe. The straight bolt fastening structure of heavy torpedo is adopted between six segmentations, wherein observe load section 12 and advance the equipment installed in the Open architecture of section 4 to take the sealing means of oil-filled compensation, hermetically sealed pressure-resistant cabin takes high-strength aluminum alloy material, sealed by O shape sealing-ring, it is possible to meet the technical requirements of maximum working depth 1000m.
As shown in Figure 7, described stern buoyancy adjustment section 5 is identical with bow buoyancy adjustment section 15 structure, include hydro-cylinder 35, seawater adjustment cylinder 36 and hydraulic efficiency system, wherein the little piston side of hydro-cylinder 35 regulates the big piston of cylinder 36 to be rigidly connected by take-off lever and seawater, described seawater regulates cylinder 36 to be provided with the water in-out port 37 being connected with seawater, and described hydro-cylinder 35 is connected with hydraulic efficiency system. Described hydraulic efficiency system drives the little piston of hydro-cylinder 35 to move back and forth, and drives seawater to regulate the big piston reciprocating motion of cylinder 36, thus makes seawater regulate cylinder 36 by water in-out port 37 suction seawater, and then realizes underwater robot buoyancy adjustment.
The end of another side take-off lever of little piston of described hydro-cylinder 35 is provided with displacement sensor 34, the hermetically sealed pressure-resistant cabin of described stern buoyancy adjustment section 5 and bow buoyancy adjustment section 15 is respectively equipped with stern inspection lid 6 and bow inspection lid 9, conveniently this section is carried out examination and maintenance. The front end of described bow buoyancy adjustment section 15 is provided with front spherical shell 14, and there is rear spherical shell 16 rear end of described stern buoyancy adjustment section 5, and ball shell can improve housing voltage endurance capability.
Described hydraulic efficiency system comprises direct-current machine 26, hydro-pump 27, check valve 28, surplus valve 29, reversing valve 30, fluid-control one-way valve 31, one-way speed-regulating valve 32 and pressure transmitter 33, wherein hydro-pump 27 is two and is connected with a direct-current machine 26 respectively, it is connected with the room, chamber, two ends of hydro-cylinder 35 respectively by water suction oil supply line and draining oil supply line after two hydro-pumps 27 are in parallel, being equipped with fluid-control one-way valve 31 and reversing valve 30 on described water suction oil supply line and draining oil supply line, described one-way speed-regulating valve 32 is arranged on water suction oil supply line. The output terminal of two hydro-pumps 27 is equipped with a check valve 28, two hydro-pumps 27 are connected with fuel tank by used oil pipe and surplus valve 29, described pressure transmitter 33 is arranged on the oil supply line after the parallel connection of two hydro-pumps 27, for detecting total charge oil pressure of hydraulic efficiency system.
In two hydro-pumps 27, one is high-pressure low-flow, and another is low pressure and mass flow. When hydraulic efficiency system starts, provide hydraulic efficiency oil to hydraulic efficiency system by two hydro-pumps 27, it is to increase response speed simultaneously.Along with the rising of hydraulic fluid pressure, when hydraulic fluid pressure exceedes the operating pressure of low-pressure pump, low-pressure pump stopping work, provides high-pressure oil to hydraulic efficiency system separately by high-pressure pump, until reaching the system pressure that surplus valve 29 sets. Hydraulic efficiency system drives two hydro-pumps 27 to produce high pressure liquid force feed by bi-motor 26 respectively, the little piston of hydro-cylinder 35 is driven to move back and forth, thus drive seawater to regulate the big piston of cylinder 36 to realize to-and-fro movement suction seawater, it is achieved the effect of underwater robot buoyancy adjustment. The direction of motion of little piston is regulated, it is achieved the two-ways regulation of buoyancy by control reversing valve 30. Displacement sensor 34 can accurately detect the stroke of little piston, thus realizes the accurate detection of buoyancy adjustment amount. Because bow buoyancy adjustment section 15 is identical with the structure of stern buoyancy adjustment section 5, therefore can exchange.
As shown in Figure 6, the sensing equipment of the ocean hydrology data observation that described observation load section 12 is carried comprises acoustics fluid velocity profile instrument 13, the dark sensor 10 of thermohaline, chlorophyll sensor 21, dissolved oxygen sensor 22 and turbidometer 23, described observation load section 12 is also provided with bow bail 11, Emergency Device device 25 and the throwing rope device 24 for the automatic recovery, wherein bow bail 11 and Emergency Device device 25 are arranged at front end and the bottom of observation load section 12 respectively, are filled with buoyancy material in the open frame structure of described observation load section 12. Described observation load section 12 adopts open frame to fill the structure of buoyancy material, and each equipment directly bears external water pressure.
When being reclaimed by underwater robot, recovery personnel remote control on lash ship starts throws rope device 24 and dishes out traction rope, and the personnel of recovery have salvaged traction rope on lash ship, are recovered on lash ship by underwater robot. Underwater robot break down cannot floating to the water surface time, jettison system 25 abandons foundary weight, underwater robot gravity reduce, float up to the water surface by natural buoyancy, then informed the position at its place of lash ship by satellite antenna and radio antenna, and turn on lights indicate position.
As shown in Figure 5, control computer 20 and other control module are installed in described electronic compartment section 8, comprise fiber optic gyro, electronics compass, the network switch, Inertial Measurement Unit etc. The front end of described electronic compartment section 8 is provided with into water from sink device, when underwater robot cannot be reclaimed, sending water filling by wireless or satellite to drown oneself instruction, described water inlet makes the damaged inner inlet of hermetically sealed pressure-resistant cabin from sink device, it is achieved underwater robot self-destruction is sunk. Described water inlet is priming system from sink device, and described control computer 20 and other control module are prior art.
Described battery flat section 7 loads series of cells, battery management unit and power supply module, for underwater robot provides the energy, comprises 24VDC, 48VDC, 150VDC etc. Series of cells is suspended on the slide rail of the inner left and right sides of hermetically sealed pressure-resistant cabin, is realized Fast Installation and the dismounting of series of cells after removing electronic compartment section 8 by push-and-pull series of cells on slide rail.
Buoyancy material, thruster 1, electric-motor drive unit, elevating rudder 17, yaw rudder 2, Emergency Device device 25 and the underwater acoustic communication apparatus that described propelling section 4 comprises open frame and is arranged on open frame, wherein elevating rudder 17 is horizontally disposed with, described yaw rudder 2 is arranged with elevating rudder 17 square crossing, and described elevating rudder 17 and yaw rudder 2 are connected with electric-motor drive unit. Elevating rudder 17 comprises left elevating rudder and right elevating rudder, and described left elevating rudder and right elevating rudder are independently controlled by two steering wheels, and described yaw rudder 2 is linkage rudder, by a servos control.Steering wheel assembly adopts oil-filled sealing means, drives corresponding rudder plate control underwater robot attitude. Described thruster 1 and Emergency Device device 25 are arranged at afterbody and the bottom of open frame respectively, are filled with buoyancy material in the space of described open frame.
Described Emergency Device device 25 comprises two blocks of electro-magnet and one piece of foundary weight, wherein two pieces of electro-magnet energizing magnetic, and two blocks of electro-magnet attract foundary weight by magnetic power, makes underwater robot produce zero-buoyancy, ensures that underwater robot is at normal operation under water; When emergency occurs in underwater robot, making two pieces of electro-magnet dead electricity, electro-magnet magnetic disappears, and foundary weight is sunk by action of gravity, and underwater robot produces positive buoyancy floating to the water surface.
Stablizing wing front end highest point in described propelling section 4 and be provided with satellite antenna 3, described satellite antenna 3 comprises GPS and iridium satellite positioning antenna, and other realizes the antenna of communication function, it is achieved the surface communications of underwater robot and location function. With observation load section 12, advance section 4 to there are also installed Emergency Device device 25, and buoyancy material is installed at position, space buoyancy is provided. Thruster 1 is shrouded propeller, and this thruster 1 adopts oil-filled sealing means.
The working process of the present invention is:
First long-term observation underwater robot is hung into water from operation lash ship, in autonomous shipping under water to predetermined point of observation (according to navigation accuracy requirement, midway can set floating-point and receive satellite correction to the water surface), in point of observation dive to predetermined depth, underwater robot is made to be in zero residue buoyant state by stern buoyancy adjustment section 5 and bow buoyancy adjustment section 15, underwater robot swims in the setting depth of water (such as 700m) with the dormancy pattern hovering of minimum power consumption, the flow velocity of this degree of depth is less, thus ensure that the position excursion of underwater robot between resting stage is little. after the dormancy of setting-up time, underwater robot enters observation work pattern, underwater robot is made to produce positive buoyancy by the buoyancy adjustment system of stern buoyancy adjustment section 5 and bow buoyancy adjustment section 15, underwater robot is according to the spiral floating in ocean current distribution situation contexture by self path, top, observe load section 12 during floating to start working, relevant ocean hydrological element are measured and record. after floating to sea, send this observed data by iridium satellite link. owing to being subject to action of ocean current in floating-upward process and transmission data procedures, underwater robot may deviate from former point of observation, if departure distance exceedes predetermined error, setting point of observation is returned in the autonomous shipping of underwater robot, then buoyancy is readjusted, make underwater robot system turn into negative buoyancy, underwater robot adjustment course and with mode dive of gliding. in dive process, observation load section 12 power-off stopping work. and so forth (every day can be not less than 4 times, the longest can non-stop run 30 days), until long-term fixed point observation tasks carrying is complete. after completing whole observation task, underwater robot independently navigates by water predetermined recovery point, and floating send positional information, waits to be recycled. after lash ship is close, remote control starts throws rope device 24, after recovery personnel pick up the traction rope dished out, by underwater robot lifting recovery.
Except fixed point observation, long-term observation underwater robot also can be used for performing Underway measurements task. Except fixed point observation, long-term observation underwater robot also can be used for performing Underway measurements task. Throwing rope device 24 in the present embodiment adopts disclosed in 3 days July in 2013, and publication number is 103185484A, and application number is the Chinese invention patent application " a kind of underwater robot reclaims and automatically throws rope device " of 201110445814.2.

Claims (10)

1. a vertical section observation type underwater robot of fixing a point for a long time, it is characterized in that: comprise the propelling section (4) connected successively, stern buoyancy adjustment section (5), battery flat section (7), electronic compartment section (8), bow buoyancy adjustment section (15) and observation load section (12), wherein the section of propelling (4) and observation load section (12) adopt open frame structure, described observation load section (12) carries the sensing equipment of ocean hydrology data observation, described propelling section (4) top is provided with satellite antenna (3), described stern buoyancy adjustment section (5), battery flat section (7), electronic compartment section (8) and bow buoyancy adjustment section (15) are arranged in hermetically sealed pressure-resistant cabin, by bow buoyancy adjustment section (15) and stern buoyancy adjustment section (5) two-way buoyancy adjustment, realize the adjustment of underwater robot athletic posture and fixed point hovering.
2. by long-term fixed point vertical section observation type underwater robot according to claim 1, it is characterized in that: described stern buoyancy adjustment section (5) is identical with bow buoyancy adjustment section (15) structure, include hydro-cylinder (35), seawater regulates cylinder (36) and hydraulic efficiency system, wherein the little piston side of hydro-cylinder (35) regulates the big piston of cylinder (36) to be connected by take-off lever and seawater, described seawater regulates cylinder (36) to be provided with the water in-out port (37) being connected with seawater, described hydro-cylinder (35) is connected with hydraulic efficiency system, described hydraulic efficiency system drives the little piston of hydro-cylinder (35) to move back and forth, and drive seawater to regulate the big piston reciprocating motion of cylinder (36), thus make seawater regulate cylinder (36) by water in-out port (37) suction seawater, and then realize underwater robot buoyancy adjustment.
3. by long-term fixed point vertical section observation type underwater robot according to claim 2, it is characterized in that: the end of another side take-off lever of little piston of described hydro-cylinder (35) is provided with displacement sensor (34), the hermetically sealed pressure-resistant cabin of described stern buoyancy adjustment section (5) and bow buoyancy adjustment section (15) is equipped with and checks lid, the front end of described bow buoyancy adjustment section (15) is provided with front spherical shell (14), and there is rear spherical shell (16) rear end of described stern buoyancy adjustment section (5).
4. by long-term fixed point vertical section observation type underwater robot according to claim 2, it is characterized in that: described hydraulic efficiency system comprises direct-current machine (26), hydro-pump (27), check valve (28), surplus valve (29), reversing valve (30), fluid-control one-way valve (31), one-way speed-regulating valve (32) and pressure transmitter (33), wherein hydro-pump (27) is two, and be connected with a direct-current machine (26) respectively, it is connected with the room, chamber, two ends of hydro-cylinder (35) respectively by water suction oil supply line and draining oil supply line after two hydro-pumps (27) are in parallel, described water suction oil supply line and draining oil supply line are equipped with fluid-control one-way valve (31) and reversing valve (30), described one-way speed-regulating valve (32) is arranged on water suction oil supply line, the output terminal of two hydro-pumps (27) is equipped with a check valve (28), two hydro-pumps (27) are connected with fuel tank by used oil pipe and surplus valve (29), described pressure transmitter (33) is arranged on the oil supply line after two hydro-pumps (27) parallel connections, for detecting total charge oil pressure of hydraulic efficiency system.
5. by long-term fixed point vertical section observation type underwater robot according to claim 1, it is characterized in that: the sensing equipment of the ocean hydrology data observation that described observation load section (12) is carried comprises acoustics fluid velocity profile instrument (13), the dark sensor of thermohaline (10), chlorophyll sensor (21), dissolved oxygen sensor (22) and turbidometer (23), described observation load section (12) is also provided with bow bail (11), Emergency Device device (25) and throwing rope device (24) for the automatic recovery, wherein bow bail (11) and Emergency Device device (25) are arranged at front end and the bottom of observation load section (12) respectively, it is filled with buoyancy material in the open frame structure of described observation load section (12).
6. by long-term fixed point vertical section observation type underwater robot according to claim 1, it is characterized in that: control computer (20) and control module are installed in described electronic compartment section (8), the front end of described electronic compartment section (8) is provided with into water from sink device, starting water inlet when underwater robot cannot reclaim from sink device, in hermetically sealed pressure-resistant cabin, water inlet self-destruction is sunk.
7. by long-term fixed point vertical section observation type underwater robot according to claim 6, it is characterised in that: described water inlet is priming system from sink device.
8. by long-term fixed point vertical section observation type underwater robot according to claim 1, it is characterized in that: described battery flat section (7) loads series of cells, battery management unit and power supply module, wherein series of cells is suspended on the slide rail of the inner left and right sides of hermetically sealed pressure-resistant cabin.
9. by long-term fixed point vertical section observation type underwater robot according to claim 1, it is characterized in that: the buoyancy material that described propelling section (4) comprises open frame and is arranged on open frame, thruster (1), electric-motor drive unit, elevating rudder (17), yaw rudder (2), Emergency Device device (25) and underwater acoustic communication apparatus, wherein elevating rudder (17) is horizontally disposed with, described yaw rudder (2) is arranged with elevating rudder (17) square crossing, described elevating rudder (17) and yaw rudder (2) are connected with electric-motor drive unit, described thruster (1) and Emergency Device device (25) are arranged at afterbody and the bottom of open frame respectively, it is filled with buoyancy material in the space of described open frame.
10. by the long-term fixed point vertical section observation type underwater robot described in claim 5 or 9, it is characterized in that: described Emergency Device device (25) comprises two blocks of electro-magnet and one piece of foundary weight, wherein two pieces of electro-magnet energizing magnetic, two blocks of electro-magnet attract foundary weight by magnetic power, make underwater robot produce zero-buoyancy, make underwater robot at normal operation under water; When emergency occurs in underwater robot, making two pieces of electro-magnet dead electricity, electro-magnet magnetic disappears, and foundary weight is sunk by action of gravity, and underwater robot produces positive buoyancy floating to the water surface.
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CN106394836A (en) * 2016-11-21 2017-02-15 中国科学院大气物理研究所 Small submarine
CN106564576A (en) * 2016-10-25 2017-04-19 西安兰海动力科技有限公司 Modularized small-size unmanned underwater vehicle
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