CN212290270U - Full-sea-depth offshore bottom autonomous underwater robot structure - Google Patents
Full-sea-depth offshore bottom autonomous underwater robot structure Download PDFInfo
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- CN212290270U CN212290270U CN202021654380.8U CN202021654380U CN212290270U CN 212290270 U CN212290270 U CN 212290270U CN 202021654380 U CN202021654380 U CN 202021654380U CN 212290270 U CN212290270 U CN 212290270U
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Abstract
The utility model belongs to the technical field of underwater robot, in particular to whole-sea deep coastal waters bottom is from water robot structure independently. The robot comprises a robot body, a main thruster, a horizontal channel thruster and a vertical channel thruster, wherein the robot body is of a flat fish-shaped structure, and a rudder plate and a stabilizing wing are arranged at the stern part; the main propeller is arranged at the stern part of the robot body and used for realizing the freedom degree of the robot in moving along the X-axis direction and rotating around the Z-axis; the horizontal channel propeller is arranged on the robot body along the horizontal direction and is used for realizing the movement of the robot along the Y-axis direction and the rotational freedom degree around the Z-axis; and the vertical channel propeller is arranged on the robot body along the vertical direction and is used for realizing the freedom degree of the robot in moving along the Z-axis direction and rotating around the X, Y axis. The utility model is used for the deep complicated topography sea area in full sea possesses the ability of colliding with the high motor-driven autonomic avoidance of complex environment perception, realizes the deep high motor-driven autonomic underwater robot's in full sea coastal waters bottom optical detection.
Description
Technical Field
The utility model belongs to the technical field of underwater robot, in particular to whole-sea deep coastal waters bottom is from water robot structure independently.
Background
Under the strategic background of constructing a powerful ocean, the autonomous underwater robot plays an irreplaceable important role in the fields of ocean exploration and deep sea resource exploration. The complex marine environment near the sea bottom provides higher requirements for complex environment perception and high maneuvering autonomous collision avoidance capability of the autonomous underwater robot, and how to stably realize the offshore bottom acousto-optic detection of the full-sea-depth high maneuvering autonomous underwater robot becomes a difficult point.
SUMMERY OF THE UTILITY MODEL
To the above problem, an object of the utility model is to provide a deep coastal waters end of sea independently underwater robot structure of full sea, this structure can be used to deep complicated topography sea area of full sea, possesses the perception of complex environment and the high motor-driven ability of independently keeping away bumps to realize deep high motor-driven autonomous underwater robot's of full sea coastal waters end acousto-optic detection.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a full-sea deep offshore autonomous underwater robotic structure comprising:
the robot body is provided with a flat fish-shaped body structure, and a rudder plate and a stabilizing wing are arranged at the stern part;
the main propeller is arranged at the stern part of the robot body and used for realizing the freedom degree of the robot in moving along the X-axis direction and rotating around the Z-axis;
the horizontal channel propeller is arranged on the robot body along the horizontal direction and is used for realizing the movement of the robot along the Y-axis direction and the rotational freedom degree around the Z-axis;
and the vertical channel propeller is arranged on the robot body along the vertical direction and is used for realizing the freedom degree of the robot in moving along the Z-axis direction and rotating around the X, Y axis.
The main thrusters comprise a left main thruster and a right main thruster which are arranged on two sides of the robot body, and the axial lines of the left main thruster and the right main thruster form an included angle of 20-30 degrees with the axial line of the robot body;
when the left main thruster and the right main thruster propel in the same direction, the freedom degree of the robot moving along the X direction is realized;
when the left main propeller and the right main propeller are propelled in different directions, the degree of freedom of the robot rotating around the Z axis is realized.
The horizontal channel propeller comprises a front horizontal channel propeller and a rear horizontal channel propeller, the front horizontal channel propeller is arranged at the bow part of the robot body, and the rear horizontal channel propeller is arranged at the stern part of the robot body;
the current horizontal channel propeller and the rear horizontal channel propeller are propelled in the same direction, so that the degree of freedom of the robot in moving along the Y-axis direction is realized;
the current horizontal channel propeller and the rear horizontal channel propeller are propelled in different directions, and the degree of freedom of the robot rotating around the Z axis is realized.
The vertical channel propeller comprises a left vertical channel propeller, a right vertical channel propeller and a stern channel propeller, wherein the left vertical channel propeller and the right vertical channel propeller are arranged at the bow part of the robot body, and the stern channel propeller is arranged at the stern part of the robot body;
when the left vertical channel propeller, the right vertical channel propeller and the stern channel propeller are propelled in the same direction, the freedom degree of the robot moving along the Z-axis direction is realized;
when the left vertical channel propeller, the right vertical channel propeller and the stern channel propeller are propelled in different directions, the degree of freedom of the robot rotating around the Y axis is realized;
when the left vertical channel propeller and the right vertical channel propeller are propelled in different directions, the degree of freedom of the robot rotating around the X axis is realized.
The rudder plate comprises a left rudder plate and a right rudder plate which are respectively arranged on two sides of the robot body, and the rotation angles of the left rudder plate and the right rudder plate are both positive and negative 45 degrees.
The stabilizing wing comprises an upper left wing plate, a lower left wing plate, an upper right wing plate and a lower right wing plate, wherein the upper left wing plate and the lower left wing plate are arranged on the left side of the robot body and are positioned in a vertical plane; and the right upper wing plate and the right lower wing plate are arranged on the right side of the robot body and are positioned in another vertical plane.
The front end of the robot body is provided with a front-looking sonar and an acoustic communication positioning all-in-one machine, and two sides of the front-looking sonar are provided with an optical navigation sensor I and an optical navigation sensor II.
The top of the robot body is provided with a combined antenna, a bow traction ring, a stern oscillation stopping ring and a lifting hook, wherein the bow traction ring and the stern oscillation stopping ring are respectively arranged at the bow part and the stern part of the robot body, and the lifting hook is arranged in the middle of the robot body.
The bottom of the robot body is provided with a multi-beam sonar system, emergency load rejection, DVL inertial navigation and deep height combined equipment, wireless charging and wireless transmission equipment, a deep-sea camera and a deep-sea flash lamp;
an oil-filled integrated control cabin is arranged at the bow part of the robot body; and a pressure maintaining water sampler is arranged in the oil-filled integrated control cabin.
The robot body adopts aluminum alloy keel frame structure to carry full-sea-depth oil-filled pressure-resistant equipment, the flat fish-shaped buoyancy material is wrapped outside the aluminum alloy keel frame structure, and the skin is wrapped outside the buoyancy material.
The utility model discloses an advantage does with positive effect:
1. the utility model discloses a bionical deep sea flat fish type physique design, the fluid appearance physique structure of make full use of marine organism evolution obtains the high flexible ability of keeping away of low-speed navigation under water.
2. The utility model discloses a wireless charging and wireless transmission equipment provide the come-up energy of exempting from to support and the data transmission guarantee for the robot is long-term resident and is surveyed the operation at deep sea grass and deep sea bottom execution.
3. The robot adopts five channel propellers to be matched with two main propellers which are arranged in a vector manner to realize controllable maneuverability layout with six degrees of freedom in space.
4. The utility model discloses a deep sea pressurize water sampler carries out the pressurize sampling to the deep sea water sample, has realized independently underwater robot to the independently sampling detection of deep sea water environment.
5. The utility model discloses a forward-looking collision avoidance sonar realizes the degree of depth perception and the collision avoidance processing of complicated marine environment.
6. The utility model discloses a multi-beam sonar system can the online real-time survey and drawing of the meticulous topography and landform map of seabed of intelligence.
Drawings
Fig. 1 is a front view of the structure of the autonomous underwater vehicle at the sea bottom in the whole sea depth;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a left side view of FIG. 1;
FIG. 4 is a bottom view of FIG. 1;
fig. 5 is an axonometric view of the full-sea deep offshore autonomous underwater robot structure of the present invention;
fig. 6 is a schematic view of the working principle of the present invention.
In the figure: 1 is a robot body, 2 is a front sonar, 3 is an acoustic communication positioning integrated machine, 4 is a bow traction ring, 5 is a front horizontal channel propeller, 6 is a left skin, 7 is a lifting hook, 8 is a rear horizontal channel propeller, 9 is a combined antenna, 10 is a stern oscillation stopping ring, 11 is a left upper wing plate, 12 is a left rudder plate, 13 is a left main propeller, 14 is a left lower wing plate, 15 is a left vertical channel propeller, 16 is a pressure maintaining water sampler, 17 is a right vertical channel propeller, 18 is an oil-filled integrated control cabin, 19 is a right skin, 20 is a multi-beam sonar system, 21 is a right wing plate, 22 is a right upper wing plate, 23 is a right upper wing plate, 24 is a right main propeller, 25 is a stern channel propeller, 26 is a left wing plate, 27 is an optical navigation sensor I, 28 is an optical navigation sensor II, 29 is an emergency load, 30 is a DVL inertial navigation and depth combined device, 31 is a wireless charging and wireless transmission device, a deep-sea camera 32, a lower right wing 33, a deep-sea flash 34, a full-sea deep robot a docking station B.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-5, the utility model provides a full-sea deep offshore bottom autonomous underwater robot structure, include: the robot comprises a robot body 1, a main thruster, a horizontal channel thruster and a vertical channel thruster, wherein the robot body 1 is of a flat fish-shaped structure, and a rudder plate and a stabilizer wing are arranged at a stern part; the main propeller is arranged at the stern part of the robot body 1 and used for realizing the freedom degree of the robot in moving along the X-axis direction and rotating around the Z-axis; the horizontal channel propeller is arranged on the robot body 1 along the horizontal direction and is used for realizing the movement of the robot along the Y-axis direction and the rotational freedom degree around the Z-axis; and the vertical channel propeller is arranged on the robot body 1 along the vertical direction and is used for realizing the freedom degree of the robot in moving along the Z-axis direction and rotating around the X, Y axis.
In the embodiment of the present invention, as shown in fig. 2, the main thrusters include a left main thruster 13 and a right main thruster 24 respectively disposed at two sides of the robot body 1, and the axes of the left main thruster 13 and the right main thruster 24 and the axis of the robot body 1 form an included angle of 20-30 °; when the left main thruster 13 and the right main thruster 24 are propelled in the same direction, the freedom degree of the robot moving along the X direction is realized; when the left main propeller 13 and the right main propeller 24 propel in different directions, the robot can rotate around the Z axis.
In the embodiment of the present invention, as shown in fig. 1, the horizontal channel thruster includes a front horizontal channel thruster 5 and a rear horizontal channel thruster 8, the front horizontal channel thruster 5 is disposed at the bow of the robot body 1, and the rear horizontal channel thruster 8 is disposed at the stern of the robot body 1; the current horizontal channel propeller 5 and the rear horizontal channel propeller 8 propel in the same direction, so that the degree of freedom of the robot moving along the Y-axis direction is realized; the current horizontal channel propeller 5 and the rear horizontal channel propeller 8 propel in different directions, and the degree of freedom of the robot rotating around the Z axis is achieved.
In the embodiment of the present invention, as shown in fig. 2, the vertical channel thruster includes a left vertical channel thruster 15, a right vertical channel thruster 17, and a stern channel thruster 25, wherein the left vertical channel thruster 15 and the right vertical channel thruster 17 are disposed at the bow of the robot body 1, and the stern channel thruster 25 is disposed at the stern of the robot body 1; when the left vertical channel propeller 15, the right vertical channel propeller 17 and the stern channel propeller 25 are propelled in the same direction, the freedom degree of the robot moving along the Z-axis direction is realized; when the left vertical channel propeller 15, the right vertical channel propeller 17 and the stern channel propeller 25 are propelled in different directions, the degree of freedom of the robot rotating around the Y axis is realized; when the left vertical channel propeller 15 and the right vertical channel propeller 17 are propelled in different directions, the degree of freedom of the robot rotating around the X axis is realized.
The embodiment of the utility model provides an in, as shown in fig. 2, the rudder plate is including setting up respectively in left rudder plate 12 and the right rudder plate 22 of robot 1 both sides, and the turned angle of left rudder plate 12 and right rudder plate 22 is positive negative 45.
In the embodiment of the present invention, as shown in fig. 5, the stabilizing wing includes a left upper wing plate 11, a left lower wing plate 14, a right upper wing plate 23 and a right lower wing plate 33, wherein the left upper wing plate 11 and the left lower wing plate 14 are disposed on the left side of the robot body 1 and are located in a vertical plane; the right upper wing plate 23 and the right lower wing plate 33 are provided on the right side of the robot body 1, and are located in another vertical plane. A stern channel propeller 25 is arranged between the left upper wing plate 11 and the right upper wing plate 23.
On the basis of the above embodiment, as shown in fig. 3, the front end of the robot body 1 is provided with a forward-looking sonar 2 and an acoustic communication positioning all-in-one machine 3, the depth perception and collision avoidance processing of the complex marine environment is realized through the forward-looking sonar 2, and the acoustic signal communication and positioning are performed on the robot through the acoustic communication positioning all-in-one machine 3. Optical navigation sensors I27 and II 28 are arranged on two sides of the front-looking sonar 2 for optical navigation. The combination of the optical navigation sensor I27 and the optical navigation sensor II 28 can realize bionic binocular optical fine navigation control. The optical navigation sensor I27 has large wide-angle and close-range fine environment sensing and navigation capabilities; the optical navigation sensor II 28 has small wide angle, remote fine environment perception and navigation capability, and binocular capability complementation and cooperative work, and completes high-precision optical fine environment perception and navigation control together.
On the basis of the above embodiments, as shown in fig. 5, the top of the robot body 1 is provided with a combined antenna 9, a fore traction ring 4, a stern oscillation stop ring 10 and a lifting hook 7, wherein the fore traction ring 4 and the stern oscillation stop ring 10 are respectively arranged at the fore part and the stern part of the robot body 1, and the lifting hook 7 is arranged at the middle position of the robot body 1.
In addition to the above embodiments, as shown in fig. 4, the bottom of the robot body 1 is provided with a multi-beam sonar system 20, an emergency load rejection 29, a DVL inertial navigation and deep height combination device 30, a wireless charging and wireless transmission device 31, a deep sea camera 32, and a deep sea flash 34; wherein multi-beam sonar system 20 can survey and draw the meticulous topography geomorphologic map of seabed in real time on line intelligently. The wireless charging and wireless transmission equipment 31 is adopted to provide floating-free energy support and data transmission guarantee for the robot to perform long-term residence and detection operation at deep-sea and deep-sea bottom; near wireless seafloor optical detection is performed by a deep sea camera 32 and a deep sea flash 34.
On the basis of the above embodiment, as shown in fig. 2, the oil-filled integrated control cabin 18 is arranged at the bow of the robot body 1, and the pressure-maintaining water sampler 16 is arranged in the oil-filled integrated control cabin 18, so that the pressure-maintaining water sampling in deep sea can be realized. The oil-filled integrated control cabin 18 is adopted to carry out oil-filled weight-reducing design on the robot pressure-bearing group components, and the problem that the residual buoyancy is insufficient in the structural design of the full-sea-depth robot is solved.
The utility model discloses an in the embodiment, robot 1 adopts aluminum alloy keel frame structure to carry on the withstand voltage equipment of full sea deep oil charge, and aluminum alloy keel frame structure's outside parcel flat fish type physique buoyancy material, buoyancy material outside parcel covering. The design scheme of the outer covering solves the problem of insufficient reliability of the deep-Brillouin buoyancy material execution long-term residence technology. Specifically, the skin includes a left skin 6 and a right skin 19. The utility model discloses a withstand voltage design of full sea deep oil charge realizes that optimization by a wide margin of robot subtracts heavy design, has solved the contradiction that full sea deep buoyancy material surplus buoyancy is little, the carrying equipment is heavy, realizes the design objective of higher index super high mobility.
The utility model discloses a theory of operation does:
and (5) the robot is in a water surface standby submerging stage, and comprehensive inspection operation before submerging is completed. During the inspection operation, the self-contained iridium GPS antenna and the like in the combined antenna 9 need to be calibrated on the water surface. At this time, as shown in fig. 6, the full-sea-depth robot a and the docking station B are fixedly connected and locked by the locking mechanism. And then the full-sea deep robot A and the deep-Yuan base station are hoisted and put into water together from the operation deck, the docking station B stably sits at the bottom after the full-sea deep robot A and the deep-Yuan base station are submerged together to a deep-Yuan operation area, the full-sea deep robot A firstly performs self-detection, fault diagnosis and self-repair operation, and performs undocking operation with the docking station B according to a preset mission program after the self-detection, fault diagnosis and self-repair operation is completed. The undocked full-sea deep robot A firstly senses the depth environment and starts an autonomous learning mode to perform near-bottom optical detection operation on deep-sea resources. In the operation process, an optical navigation sensor I27 and an optical navigation sensor II 28 are adopted for optical navigation, and the DVL inertial navigation and deep altimeter combined equipment 30 is used for assisting in the offshore bottom high maneuvering optical detection operation. After the detection operation is completed, the docking station B returns to the docking station B and is docked with the docking station B, the detection data is uploaded with the wireless transmission equipment 31 through wireless charging, wireless charging operation is carried out simultaneously, after the data transmission is completed and the battery is fully charged, the mission task of the next potential is read from the docking station B through the wireless transmission equipment, and then the previous process is repeated. In the whole operation flow, the robot is not required to be thrown and loaded to return to the water surface for distribution and recovery operation after single diving, a large amount of manpower, material resources and time are saved, a mother ship is greatly liberated, the scale of a scientific investigation support team is simplified, and meanwhile the working efficiency of scientific investigation operation is greatly improved.
In the embodiment of the present invention, as shown in fig. 5, the six-degree-of-freedom implementation manner of the robot is implemented by means of the left vertical channel propeller 15, the right vertical channel propeller 17, and the stern channel propeller 25 which are propelled in the same direction, so as to implement the degree of freedom of the robot moving along the Z-axis direction; the left main thruster 13 and the right main thruster 24 are used for propelling in the same direction, so that the freedom degree of the robot moving along the X-axis direction is realized; the front horizontal channel propeller 5 and the rear horizontal channel propeller 8 are used for propelling in the same direction, so that the freedom degree of the robot moving along the Y-axis direction is realized; the robot is propelled in different directions by the left vertical channel propeller 15, the right vertical channel propeller 17 and the stern channel propeller 25, so that the degree of freedom of rotation of the robot around the Y axis is realized; the robot can rotate around the X axis by means of the opposite propulsion of the left vertical channel propeller 15 and the right vertical channel propeller 17; the front horizontal channel propeller 5 and the rear horizontal channel propeller 8 are used for propelling in different directions, so that the degree of freedom of the robot rotating around the Z axis is realized; meanwhile, the left main propeller 13 and the right main propeller 24 can be used for performing incongruous propulsion, so that the degree of freedom of the robot in rotation around the Z axis is realized, and the propulsion capability of the redundant degree of freedom of rotation around the Z axis further enhances the high maneuvering steering and maneuvering capability of the robot in the horizontal plane.
The utility model discloses a high-efficient redundant propeller overall arrangement, but the cooperation positive negative direction rotation 45 degrees left and right sides rudder plate, supplementary high accuracy optical navigation technique realizes the high maneuvering optics of coastal waters end of the deep complicated seabed topography region of full sea and surveys the operation. Wherein, the full sea depth means the submergence depth is not less than 11000 m.
The utility model provides a pair of high maneuvering optics of full sea deep coastal waters end is from underwater robot structure through the design of bionical deep sea flat fish type physique, obtains the high maneuvering collision avoidance ability of low-speed navigation under water. The robot adopts five channel thrusters to match with two main thrusters arranged in a vector manner to realize controllable maneuverability layout with six degrees of freedom in space.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (10)
1. A full-sea deep offshore autonomous underwater vehicle structure, comprising:
the robot comprises a robot body (1) and a tail part, wherein the robot body has a flat fish-shaped structure, and a rudder plate and a stabilizing wing are arranged at the tail part;
the main propeller is arranged at the stern part of the robot body (1) and is used for realizing the freedom degree of the robot in moving along the X-axis direction and rotating around the Z-axis;
the horizontal channel propeller is arranged on the robot body (1) along the horizontal direction and is used for realizing the moving of the robot along the Y-axis direction and the rotational freedom degree around the Z-axis;
the vertical channel propeller is arranged on the robot body (1) along the vertical direction and is used for realizing the freedom degree of the robot in moving along the Z-axis direction and rotating around the X, Y axis.
2. Full-sea deep offshore autonomous underwater vehicle structure according to claim 1, characterized in that said main thrusters comprise a left main thruster (13) and a right main thruster (24) arranged on either side of said robot body (1), the axes of the left main thruster (13) and of the right main thruster (24) being at an angle of 20-30 ° with respect to the axis of said robot body (1);
when the left main propeller (13) and the right main propeller (24) propel in the same direction, the freedom degree of the robot moving along the X direction is realized;
when the left main propeller (13) and the right main propeller (24) are propelled in different directions, the degree of freedom of the robot rotating around the Z axis is realized.
3. The full-sea deep offshore autonomous underwater vehicle structure of claim 1, characterized in that said horizontal channel thrusters comprise a front horizontal channel thruster (5) and a rear horizontal channel thruster (8), the front horizontal channel thruster (5) being arranged at the bow of said robot body (1) and the rear horizontal channel thruster (8) being arranged at the stern of said robot body (1);
the current horizontal channel propeller (5) and the rear horizontal channel propeller (8) are propelled in the same direction, so that the degree of freedom of the robot in moving along the Y-axis direction is realized;
the current horizontal channel propeller (5) and the rear horizontal channel propeller (8) are propelled in different directions, and the degree of freedom of the robot rotating around the Z axis is realized.
4. The full-sea deep offshore autonomous underwater vehicle structure of claim 1, characterized in that said vertical channel thrusters comprise a left vertical channel thruster (15), a right vertical channel thruster (17) and a stern channel thruster (25), wherein the left vertical channel thruster (15), the right vertical channel thruster (17) are arranged at the bow of said robot body (1) and the stern channel thruster (25) is arranged at the stern of the robot body (1);
when the left vertical channel propeller (15), the right vertical channel propeller (17) and the stern channel propeller (25) are propelled in the same direction, the freedom degree of the robot moving along the Z-axis direction is realized;
when the left vertical channel propeller (15), the right vertical channel propeller (17) and the stern channel propeller (25) are propelled in different directions, the degree of freedom of the robot rotating around the Y axis is realized;
when the left vertical channel propeller (15) and the right vertical channel propeller (17) are propelled in different directions, the degree of freedom of the robot rotating around the X axis is realized.
5. Full-sea depth offshore autonomous underwater vehicle structure according to claim 1, characterized in that said rudder plates comprise a left rudder plate (12) and a right rudder plate (22) respectively arranged on both sides of said robot body (1), the turning angles of the left rudder plate (12) and the right rudder plate (22) being both positive and negative 45 °.
6. Full-sea deep offshore autonomous underwater robot structure according to claim 1, characterized in that said stabilizer wings comprise a left upper wing plate (11), a left lower wing plate (14), a right upper wing plate (23) and a right lower wing plate (33), wherein the left upper wing plate (11) and the left lower wing plate (14) are arranged on the left side of the robot body (1) and in a vertical plane; the right upper wing plate (23) and the right lower wing plate (33) are arranged on the right side of the robot body (1) and are positioned in another vertical plane.
7. The full-sea-depth offshore bottom autonomous underwater vehicle structure according to claim 1, characterized in that a forward-looking sonar (2) and an acoustic communication positioning integrated machine (3) are arranged at the front end of the robot body (1), and an optical navigation sensor I (27) and an optical navigation sensor II (28) are arranged on two sides of the forward-looking sonar (2).
8. The full-sea deep offshore autonomous underwater vehicle structure according to claim 1, characterized in that the top of said robot body (1) is provided with a combined antenna (9), a bow towing ring (4), a stern oscillation stopping ring (10) and a lifting hook (7), wherein the bow towing ring (4) and the stern oscillation stopping ring (10) are respectively arranged at the bow and stern of said robot body (1), and the lifting hook (7) is arranged at the middle position of said robot body (1).
9. The full-sea-depth offshore bottom autonomous underwater vehicle structure according to claim 1, characterized in that the bottom of the robot body (1) is provided with a multi-beam sonar system (20), an emergency load rejection (29), a DVL inertial navigation and deep altitude combination device (30), a wireless charging and wireless transmission device (31), a deep-sea camera (32) and a deep-sea flashlight (34);
an oil-filled integrated control cabin (18) is arranged at the bow part of the robot body (1); a pressure maintaining water sampler (16) is arranged in the oil-filled integrated control cabin (18).
10. The full-sea-depth offshore autonomous underwater vehicle structure according to claim 1, characterized in that the robot body (1) carries full-sea-depth oil-filled pressure-resistant equipment by adopting an aluminum alloy keel frame structure, a flat fish-shaped buoyancy material is wrapped outside the aluminum alloy keel frame structure, and a skin is wrapped outside the buoyancy material.
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| CN111874195A (en) * | 2020-08-11 | 2020-11-03 | 中国科学院沈阳自动化研究所 | Full-sea-depth offshore bottom autonomous underwater robot structure |
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