CN105644743B - A kind of long-term ocean weather station observation type underwater robot of three bodies configuration - Google Patents
A kind of long-term ocean weather station observation type underwater robot of three bodies configuration Download PDFInfo
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- CN105644743B CN105644743B CN201410627558.2A CN201410627558A CN105644743B CN 105644743 B CN105644743 B CN 105644743B CN 201410627558 A CN201410627558 A CN 201410627558A CN 105644743 B CN105644743 B CN 105644743B
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Abstract
The invention belongs to underwater robot technical field, the long-term ocean weather station observation type underwater robot of specifically a kind of three bodies configuration.Including main body and two attached bodies for being respectively arranged at main body both sides, the main body includes the propulsion section, stern buoyancy adjustment section, main body battery bay section, electronics bay section, bow buoyancy adjustment section and the observation load section that are sequentially connected, wherein observation load section carries sensing equipment, stern buoyancy adjustment section, main body battery bay section, electronics bay section and bow buoyancy adjustment section are arranged in hermetically sealed main body pressure-resistant cabin, and the outside top of hermetically sealed main body pressure-resistant cabin is provided with satellite antenna；Attached body includes attached body battery pack and attached body propeller, wherein attached body battery pack is arranged in hermetically sealed attached body pressure-resistant cabin, attached body propeller is arranged at the stern of hermetically sealed attached body pressure-resistant cabin.Characteristic of the invention with long-range shipping, Fixed Point Operation, autonomous heave and long-term observation.
Description
Technical field
The invention belongs to underwater robot technical field, the long-term ocean weather station observation type water of specifically a kind of three bodies configuration
Lower robot, can long-distance navigation realize that the vertical section of oceanographic hydrological data (be not less than for a long time to target marine site
30 days) fixed point Continuous Observation autonomous underwater robot.
Background technology
It is important means that people recognize ocean to the fixed point Continuous Observation of marine environment.With continuing to develop for science and technology,
Oceanographic observation equipment all achieves progress at aspects such as species, function and performances.Full-featured, dependable performance, high financial profit
It is strong request of the scientific research personnel to observation platform.
Oceanographic observation can be divided into ocean weather station observation and Underway measurements by observed pattern.Ocean weather station observation platform includes can be real
The buoy or subsurface buoy observed in existing ocean surface or seawater, the edge of achievable fixed point vertical section observation are tethered at cable and vertically transport
Dynamic captive hoistable platform, is capable of achieving preventing seabed base of seabed ocean weather station observation etc..This kind of observation platform can only obtain certain in ocean
The information of a bit, it is impossible to obtain continuous ocean space environmental information.Obtaining large area marine site information must just lay multiple sights
Platform is surveyed continuously to be worked long hours.Laying for platform is generally required by ship or aircraft execution, warp high to laying carrier media
Ji property is poor.Underway measurements platform is obtained in that the consecutive variations situation of Ocean environment information in a certain marine site with space, this kind of
Observation platform is including scientific investigation ship, underwater robot, underwater glider, drifting buoy, section drifting buoy etc..Drifting buoy and cut open
Face drifting buoy is unpowered due to itself, can only be moved in the presence of ocean current, belongs to the observation platform of trailing type, and target is pointed to
Property is very poor.Scientific investigation ship can obtain a certain marine site Ocean environment information with time and spatial variations feelings by carrying different sensors
Condition, but for some dangerously exposed waters or Sensitive sea area, scientific investigation ship is apparently not selection well, and its economy is very poor.
Underwater glider, as power is driven, consumes energy low typically by the way of buoyancy is adjusted, and voyage is long, can carry out large area marine site
Observation, lay good economy performance, but because it can only be with zigzag or spiral motion, its fixed point Continuous Observation ability is very
Weak, anti-current ability is also not as the underwater robot using propeller.Traditional underwater robot mobility is good, can complete big
Part Underway measurements task, weak yet with its endurance, the time of controlling oneself is short, and the navigation of itself can only be leaned on to overcome certainly
The micro- positive buoyancy of body realizes depthkeeping or fixed motion high, it is impossible to off-lying sea marine site fixed point section is carried out continuously to observe for a long time.
To complete the long-term observation task in a certain specified marine site of off-lying sea, obtain in a certain fixing point vertical section in the marine site
Ocean environment information changes over time situation and full wafer marine site Ocean environment information with spatial variations situation, it is necessary to design a kind of boat
Journey is long, of long duration, mobility of controlling oneself is good, heave ability with autonomous, has ocean weather station observation and Underway measurements function, and energy concurrently
The oceanographic observation equipment of enough Continuous Observation tasks that the marine site is independently completed according to fixed route and mission.
The content of the invention
Regarding to the issue above, it is an object of the invention to provide a kind of long-term ocean weather station observation type underwater of three bodies configuration
People.The underwater robot is using AUV technologies, the self-propulsion type developed, long-term fixed point, vertical section Continuous Observation new A UV
(abbreviation ocean weather station observation type AUV), the ocean environment parameter Continuous Observation data that a certain specified sea areas pinpoint section are obtained with this.Should
Type AUV will recognize for researcher and grasp big as a kind of platform that ocean environment parameter can be collected from boat to off-lying sea marine site
Foreign environment provides important support.
To achieve these goals, the present invention uses following technical scheme：
A kind of long-term ocean weather station observation type underwater robot of three bodies configuration, including main body and it is respectively arranged at main body both sides
Two attached bodies, the main body includes the propulsion section, stern buoyancy adjustment section, main body battery bay section, electronics bay section, the bow that are sequentially connected
Portion's buoyancy adjustment section and observation load section, wherein observation load section uses open frame structure, the observation load section to carry
The sensing equipment of oceanographic hydrological data observation, the propulsion section is using local closed Open architecture, the stern buoyancy
Regulation section, main body battery bay section, electronics bay section and bow buoyancy adjustment section are arranged in hermetically sealed main body pressure-resistant cabin, described complete close
The outside top for sealing main body pressure-resistant cabin is provided with satellite antenna；By bow buoyancy adjustment section and the two-way buoyancy of stern buoyancy adjustment section
Regulation, realizes the adjustment of underwater robot athletic posture and spot hover；Described two attached body structures are identical, including attached body battery
Group and attached body propeller, wherein attached body battery pack is arranged in hermetically sealed attached body pressure-resistant cabin, the attached body propeller is arranged at entirely
Seal the stern of attached body pressure-resistant cabin.
Stern buoyancy adjustment section is identical with bow buoyancy adjustment segment structure, including hydraulic cylinder, seawater adjust cylinder and
The valve piston side of hydraulic system, wherein hydraulic cylinder is connected by the big piston that take-off lever adjusts cylinder with seawater, and the seawater is adjusted
Section cylinder is provided with the water in-out port connected with seawater, and the hydraulic cylinder is connected with hydraulic system, and the hydraulic system drives hydraulic pressure
The valve piston of cylinder moves back and forth, and drives seawater to adjust the big reciprocating motion of the pistons of cylinder, so that seawater regulation cylinder passes through
Water in-out port suction seawater, and then realize underwater robot buoyancy adjustment.
The end of the valve piston opposite side take-off lever of the hydraulic cylinder is provided with displacement transducer, the stern buoyancy adjustment section
Inspection cover is equipped with the hermetically sealed main body pressure-resistant cabin of bow buoyancy adjustment section, the front end of the bow buoyancy adjustment section is provided with
There is rear spherical shell preceding spherical shell, the rear end of the stern buoyancy adjustment section.
The hydraulic system includes direct current generator, hydraulic pump, check valve, overflow valve, reversal valve, hydraulic control one-way valve, unidirectional
Flow speed control valve and pressure sensor, wherein hydraulic pump are connected for two and respectively with a direct current generator, after two hydraulic pressure parallels connection of pumps
By absorbing water oil feed line and draining oil feed line is connected with the two ends chamber of hydraulic cylinder respectively, water suction oil feed line and the row
Hydraulic control one-way valve and reversal valve are equipped with water oil feed line, the one-way speed-regulating valve is arranged on water suction oil feed line, two
The output end of hydraulic pump is equipped with a check valve, and two hydraulic pumps are connected by return line and overflow valve with fuel tank, described
Pressure sensor is arranged on the oil feed line after two hydraulic pressure parallels connection of pumps, the total charge oil pressure for detecting hydraulic system.
The sensing equipment of the oceanographic hydrological data observation that the observation load section is carried includes thermohaline depth sensor, Ye Lv
Plain sensor, acoustics fluid velocity profile instrument, dissolved oxygen sensor and nephelometer, observation load section is also equipped with bow stops and swinging
Ring, emergeney ejectioning device and for the automatic line-throwing appliance for reclaiming, wherein bow stop and swing ring and emergeney ejectioning device is respectively arranged at
The top and bottom of observation load section, buoyant material is filled with the open frame structure of the observation load section.
Control computer and control module are installed, the outside of the electronics bay section and front end are distinguished in the electronics bay section
Lifting component and water inlet are installed from sink device, when robot cannot be reclaimed under water, start water inlet from sink device, hermetically sealed master
Water inlet self-destruction is sunk in body pressure-resistant cabin.Described water inlet from sink device is priming system.
The main body battery bay section loads battery pack, battery management unit and power module, and wherein battery pack is suspended on entirely
On the slide rail of the sealing pressure-resistant cabin inside left and right sides, the satellite antenna set is in the outside top of main body battery bay section.
Described propulsion section include housing and the buoyant material on housing, main body propeller, electric-motor drive unit,
Elevator, rudder, steering wheel, emergeney ejectioning device and underwater acoustic communication set, it is open frame that the housing of the propulsion section is anterior,
Underwater acoustic communication set and jettison system are installed, and buoyant material is installed at open frame space position, the elevator level sets
Put, the rudder and elevator square crossing are set, the elevator and rudder are connected with steering wheel, the steering wheel and motor
Driver element is connected, and the main body propeller is arranged at the stern of housing.
The emergeney ejectioning device includes two blocks of electromagnet and one piece of foundary weight, wherein two pieces of electromagnet energizing magnetics,
Two blocks of electromagnet attract foundary weight by magnetive attraction, underwater robot is produced neutral buoyancy, make underwater robot normal work under water
Make；When emergency occurs in underwater robot, two pieces of electromagnet dead electricity, electromagnetism ferromagnetism are made to disappear, foundary weight is made by gravity
With sinking, underwater robot generation positive buoyancy is floating to the water surface.
The present invention has advantages below and beneficial effect：
1. the present invention oceanographic hydrological data of specifying marine site can be carried out for a long time, fixed point, vertical section observe, acquisition refers to
The first-hand Ocean environment information in Dinghai domain, with important scientific meaning.
2. the present invention realizes vertical heave by two regulating mechanisms of buoyancy of bow stern, and breaching conventional subsea robot can only
Perform the limitation that constant depth walks boat observation.
3. the present invention combines closely underwater platform technology and scientific research of seas demand, can be obviously improved China independently extra large
The ability and level of foreign detection equipment.
4. using sectional modular design, the different segmentations of multiple underwater robots can be conducive to the present invention with general
The maintenance and guarantee of system.
5. there is the present invention high accuracy to repeat two-way buoyancy adjustment function, can realize the autonomous equilibrium of underwater robot
And spot hover.
6. housing diameter of the invention is 324mm, is the diameter that light-duty fish use, its structure and processing technology maturity
Height, dependable performance.The voyage of underwater robot can be effectively improved using multi-hull type.
7. attached body of the invention possesses certain positive buoyancy, and attached body is also had concurrently to intermediate host in addition to loading battery pack
Buoyancy, and the function that a part of navigating power is provided for sail body are provided.
8. the present invention has the characteristic of long-range shipping, Fixed Point Operation, autonomous heave and long-term observation, can be to specifying marine site
The parameter such as ocean current profile, close thermohaline, turbidity, chlorophyll, dissolved oxygen pinpointed vertical section observation for a long time.
Brief description of the drawings
Fig. 1 is general structure axle surveys view of the invention；
Fig. 2 is general structure top view of the invention；
Fig. 3 is rearview of the invention；
Fig. 4 is front view of the invention；
Fig. 5 is main body partial sectional view of the invention；
Fig. 6 is main body partial enlarged drawing of the invention；
Fig. 7 is attached body partial sectional view of the invention；
Fig. 8 is bow of the invention, stern buoyancy adjustment section control principle schematic diagram.
Wherein：1 is main body propeller, and 2 is rudder, and 3 is propulsion section, and 4 is underwater acoustic communication machine, and 5 is stern buoyancy adjustment
Section, 6 is satellite antenna, and 7 is lifting component, and 8 is thermohaline depth sensor, and 9 is chlorophyll sensor, and 10 is acoustics fluid velocity profile
Instrument, 11 swing ring for bow stops, and 12 is observation load section, and 13 is transducer, and 14 is bow buoyancy adjustment section, and 15 is attached body, and 16 are
Electronics bay section, 17 is main body battery flat section, and 18 is attached body propeller, and 19 is elevator, and 20 is emergeney ejectioning device, and 21 is optical fiber
Top compass, 22 is control computer, and 23 is main body battery pack, and 24 is dissolved oxygen sensor, and 25 is nephelometer, and 26 is attached body battery
Group, 27 is hydraulic pump, and 28 is check valve, and 29 is overflow valve, and 30 is reversal valve, and 31 is hydraulic control one-way valve, and 32 is one-way speed-regulating valve,
33 is pressure sensor, and 34 is displacement transducer, and 35 is hydraulic cylinder, and 36 is that seawater adjusts cylinder, and 37 is water in-out port, and 38 is direct current
Motor.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in figs. 1-7, the present invention includes main body and two attached bodies 15 for being symmetricly set in main body both sides, and the main body is adopted
Designed with sectional modular, including propulsion section 3, the stern buoyancy adjustment section 5, main body battery bay section 17, electronics being sequentially connected
Bay section 16, bow buoyancy adjustment section 14 and observation load section 12, wherein observation load section 12 uses open frame structure, it is described
Observation load section 12 carries the sensing equipment of oceanographic hydrological data observation, and propulsion section 3 is using local closed open
Structure, the stern buoyancy adjustment section 5, main body battery bay section 17, electronics bay section 16 and bow buoyancy adjustment section 14 are arranged at complete
In sealed body pressure-resistant cabin, the outside top of the hermetically sealed main body pressure-resistant cabin is provided with satellite antenna 6.Hermetically sealed main body pressure-resistant cabin
Shell structure uses 324mm standard series, and the diameter series is that lightweight torpedo often uses bore (maximum pressure-resistant depth is up to 800m),
Its structure design, processing technology are highly developed, using the Wedge-Ring Connection Structure of lightweight torpedo between six segmentations.It is open
Structure takes the sealing means of punching oil compensation, and pressure-resistant seal cabin takes high-strength aluminum alloy material, is sealed by O-ring seals,
System-wide working depth requirement can be met.Adjusted by bow buoyancy adjustment section 14 and the two-way buoyancy of stern buoyancy adjustment section 5
Section, realizes the adjustment of underwater robot athletic posture and spot hover.Described two structures of attached body 15 are identical, including attached body battery
Group 26 and attached body propeller 18, wherein attached body battery pack 26 is arranged in hermetically sealed attached body pressure-resistant cabin, the attached body propeller 18
It is arranged at the afterbody of hermetically sealed attached body pressure-resistant cabin.Attached body 15 possesses certain positive buoyancy, and the attached body 15 of main body both sides is except loading
Outside battery pack, also have concurrently and provide buoyancy, and the function that a part of navigating power is provided for sail body to intermediate host.
As shown in figure 8, the stern buoyancy adjustment section 5 is identical with bow buoyancy adjustment 14 structures of section, including hydraulic cylinder
35th, seawater regulation cylinder 36 and hydraulic system, the wherein valve piston side of hydraulic cylinder 35 adjusts cylinder 36 by take-off lever with seawater
Big piston connection, the seawater regulation cylinder 36 is provided with the water in-out port 37 connected with seawater, the hydraulic cylinder 35 and hydraulic pressure system
System connection, the valve piston of the hydraulic system driving hydraulic cylinder 35 moves back and forth, and drives seawater to adjust the big work of cylinder 36
Plug is moved back and forth, so that seawater regulation cylinder 36 is by the suction seawater of water in-out port 37, and then realizes that underwater robot buoyancy is adjusted
Section.
The end of the valve piston opposite side take-off lever of the hydraulic cylinder 35 is provided with displacement transducer 34, and the stern buoyancy is adjusted
Inspection cover, the bow buoyancy adjustment section 14 are equipped with the hermetically sealed main body pressure-resistant cabin of sections 5 and bow buoyancy adjustment section 14
Front end be provided with preceding spherical shell, there is rear spherical shell the rear end of the stern buoyancy adjustment section 5, and ball-type shell can improve the resistance to pressure energy of housing
Power.
The hydraulic system includes direct current generator 38, hydraulic pump 27, check valve 28, overflow valve 29, reversal valve 30, hydraulic control list
To valve 31, one-way speed-regulating valve 32 and pressure sensor 33, wherein hydraulic pump 27 connects for two and respectively with a direct current generator 38
Connect, connected with the two ends chamber of hydraulic cylinder 35 respectively by absorb water oil feed line and draining oil feed line after the parallel connection of two hydraulic pumps 27
Connect, hydraulic control one-way valve 31 and reversal valve 30, the unidirectional speed governing are equipped with the water suction oil feed line and draining oil feed line
Valve 32 is arranged on water suction oil feed line, and the output end of two hydraulic pumps 27 is equipped with a check valve 28, two hydraulic pumps 27
It is connected with fuel tank by return line and overflow valve 29, the pressure sensor 33 is arranged at the confession after the parallel connection of two hydraulic pumps 27
On oil pipe line, the total charge oil pressure for detecting hydraulic system.
In two hydraulic pumps 27, one is high-pressure low-flow, and another is low pressure and mass flow.When hydraulic system starts, lead to
Cross two hydraulic pumps 27 and provide hydraulic oil to hydraulic system simultaneously, improve response speed.With the rising of hydraulic system pressure, when
When hydraulic system pressure exceedes the operating pressure of low-lift pump, low-lift pump is stopped, and is individually provided to hydraulic system from high-pressure pump
Hydraulic oil, the system pressure until reaching the setting of overflow valve 29.Hydraulic system drives two hydraulic pumps respectively by bi-motor 26
27 produce high pressure liquid force feed, and the valve piston of driving hydraulic cylinder 35 moves back and forth, so as to drive seawater to adjust the big work of cylinder 36
Plug is realized moving back and forth suction seawater, realizes the effect of underwater robot buoyancy adjustment.Small work is adjusted by controlling reversal valve 30
The direction of motion of plug, realizes the bidirectional modulation of buoyancy.Displacement transducer 34 can accurate detection valve piston stroke, so as to realize floating
The accurate detection of power regulated quantity.Because bow buoyancy adjustment section 14 is identical therefore interchangeable with the structure of stern buoyancy adjustment section 5.
It is described observation load section 12 carry oceanographic hydrological data observation sensing equipment include thermohaline depth sensor 8,
Chlorophyll sensor 9, acoustics fluid velocity profile instrument 10, dissolved oxygen sensor 24 and nephelometer 25, the observation load section 12 are also pacified
Stop equipped with bow and swing ring 11, emergeney ejectioning device 20 and for the automatic line-throwing appliance for reclaiming, wherein bow stops and swings ring 11 and meet an urgent need
Jettison system 20 is respectively arranged at the top and bottom of observation load section 12, the open frame structure of the observation load section 12
It is interior filled with buoyant material, each equipment directly bears external water pressure.The automatic line-throwing appliance for reclaiming and bow stop and swing that ring 11 is convenient to be received
Work is put, the line-throwing appliance can be used to aid in underwater robot to reclaim.When underwater robot completes observation mission shipping to recovery
After point, recovery personnel remote control on lash ship starts line-throwing appliance and dishes out pull rope, and the personnel of recovery have salvaged pull rope on lash ship, from
And realize personnel and do not descend canoe to reclaim underwater robot.Emergeney ejectioning device 20 is to prevent appearance in the underwater robot course of work
Can be climbed up on top of the water during problem.
Control computer 22 and control module be installed in the electronics bay section 16, such as light gyrocompass 21, drive automatically
Sail unit, Inertial Measurement Unit etc..The outside and front end of the electronics bay section 16 are separately installed with lifting component 7 and water inlet is drowned oneself
Device, lifting component 7 is the cage connection with electronics bay section 15 by two lifting anchor ears.Robot cannot be reclaimed under water
When, starting water inlet from sink device, water inlet self-destruction is sunk in hermetically sealed main body pressure-resistant cabin.Described water inlet from sink device is priming system.
The main body battery bay section 17 loads battery pack, battery management unit and power module, for underwater robot is provided
The energy, including 24VDC, 48VDC, 150VDC etc..Battery pack is suspended on the hermetically sealed main body pressure-resistant cabin enclosure interior left and right sides
On slide rail, being rapidly assembled and disassembled for battery pack is realized by the push-and-pull battery pack on slide rail after removing electronics bay section 16.Satellite
Antenna 6 is arranged in the back of main body battery bay section 17, including GPS and iridium satellite antenna and other there is the antenna of communication function,
Realize the surface communications and positioning function of underwater robot.The profile of main body battery bay section 17 sets wing flow-guiding structure.
It is single that described propulsion section 3 includes that housing and the buoyant material on housing, main body propeller 1, motor drive
Unit, elevator 19, rudder 2, steering wheel, emergeney ejectioning device 20 and underwater acoustic communication set 4, it is to open that propulsion section 3 housing is anterior
Formula framework is put, underwater acoustic communication set 4 and jettison system 20 is installed, and buoyancy material offer buoyancy is installed at space position.Elevator 19
Horizontally disposed, the rudder 2 is set with the square crossing of elevator 19.Elevator 19 includes left elevator and right elevator, institute
Left elevator and right elevator are stated by two steering wheel independent controls, the rudder 2 is linkage rudder, by a servos control.Rudder
Thermomechanical components use oil-filled sealing means, drive correspondence rudder plate control underwater robot attitude.The main body propeller 1 is arranged at shell
The stern of body.Main body propeller 1 is ducted propeller propeller, and the oil-filled sealing of the propeller is pressed by pressure compensator
Force compensating.
The emergeney ejectioning device 20 includes two blocks of electromagnet and one piece of foundary weight, wherein two blocks of electromagnet are powered and produce magnetic
Property, two blocks of electromagnet make underwater robot produce neutral buoyancy, make underwater robot normal under water by magnetive attraction attraction foundary weight
Work；When emergency occurs in underwater robot, two pieces of electromagnet dead electricity, electromagnetism ferromagnetism are made to disappear, foundary weight passes through gravity
Effect is sunk, and underwater robot produces positive buoyancy floating to the water surface.
The course of work of the invention is：
Ocean weather station observation type underwater robot is hung into water from operation lash ship first, and autonomous shipping is to predetermined sight under water
Measuring point (can set upper floating-point and receive satellite correction to the water surface) according to navigation accuracy requirement midway, in observation station dive to pre- depthkeeping
Degree, makes underwater robot be in zero surplus buoyancy state by regulating mechanism of buoyancy, and underwater robot is with the dormancy of minimum power consumption
Pattern hovering swims in the setting depth of water (such as 700m), the water velocity of the depth should be ensured that it is smaller, so as to ensure machine under water
Position excursion of the device people during dormancy is little.By after the dormancy of setting time, underwater robot enters observation work pattern,
Underwater robot is set to produce positive buoyancy by buoyancy regulating system, underwater robot is according to top ocean current distribution situation contexture by self
Path is spirally floated, and load is observed during floating and is started working, and related oceanographic hydrological element is measured and recorded.Float
To after sea, this time observation data are sent by iridium satellite link.Due to being made by ocean current in floating-upward process and in sending data procedures
With underwater robot may deviate from former observation station, if offset distance exceedes predictive error, the autonomous shipping of underwater robot is returned and set
Determine observation station, then readjust buoyancy, underwater robot system is changed into negative buoyancy force, underwater robot adjusts course and with cunning
Xiang mode dive.During dive, observation load power-off is stopped.And so on (can be not less than daily 4 times, it is most long to connect
Continuous work 30 days), until long-term ocean weather station observation tasks carrying is finished.After completing whole observation mission, underwater robot independently navigates
Row floats and sends positional information to predetermined recovery point, waits to be recycled.After, remote control starts line-throwing appliance to lash ship, reclaims personnel
After picking up the pull rope dished out, underwater robot is lifted by crane and is reclaimed.
In addition to ocean weather station observation, long-term observation underwater robot can also be used for performing Underway measurements task.In the present embodiment
Line-throwing appliance 24 was used disclosed in 3 days July in 2013, Publication No. 103185484A, in Application No. 201110445814.2
State's application for a patent for invention " a kind of underwater robot reclaims automatic line-throwing appliance ".
Claims (9)
1. the long-term ocean weather station observation type underwater robot of a kind of three bodies configuration, it is characterised in that：Including main body and being respectively arranged at
Two attached bodies (15) of main body both sides, the main body includes propulsion section (3), stern buoyancy adjustment section (5), the main body that are sequentially connected
Battery bay section (17), electronics bay section (16), bow buoyancy adjustment section (14) and observation load section (12), wherein observation load section
(12) open frame structure is used, observation load section (12) carries the sensing equipment of oceanographic hydrological data observation, institute
Propulsion section (3) is stated using local closed Open architecture, stern buoyancy adjustment section (5), main body battery bay section (17), electricity
Sub- bay section (16) and bow buoyancy adjustment section (14) are arranged in hermetically sealed main body pressure-resistant cabin, the hermetically sealed main body pressure-resistant cabin
Outside top is provided with satellite antenna (6)；Adjusted by bow buoyancy adjustment section (14) and the two-way buoyancy of stern buoyancy adjustment section (5)
Section, realizes the adjustment of underwater robot athletic posture and spot hover；Described two attached body (15) structures are identical, including attached body electricity
Pond group (26) and attached body propeller (18), wherein attached body battery pack (26) is arranged in hermetically sealed attached body pressure-resistant cabin, the attached body
Propeller (18) is arranged at the stern of hermetically sealed attached body pressure-resistant cabin；
Stern buoyancy adjustment section (5) is identical with bow buoyancy adjustment section (14) structure, is adjusted including hydraulic cylinder (35), seawater
Section cylinder (36) and hydraulic system, wherein the valve piston side of hydraulic cylinder (35) adjust the big work of cylinder (36) by take-off lever with seawater
Plug connection, the seawater adjusts cylinder (36) and is provided with the water in-out port (37) connected with seawater, the hydraulic cylinder (35) and hydraulic pressure
System is connected, and the valve piston of the hydraulic system driving hydraulic cylinder (35) moves back and forth, and drives seawater to adjust cylinder (36)
Big reciprocating motion of the pistons so that seawater adjusts cylinder (36) by water in-out port (37) suction seawater, and then realize machine under water
Device people's buoyancy adjustment.
2. the long-term ocean weather station observation type underwater robot of the three body configurations as described in claim 1, it is characterised in that：The hydraulic pressure
The end of the valve piston opposite side take-off lever of cylinder (35) is provided with displacement transducer (34), stern buoyancy adjustment section (5) and bow
Inspection cover, the front end of bow buoyancy adjustment section (14) are equipped with the hermetically sealed main body pressure-resistant cabin in portion's buoyancy adjustment section (14)
Preceding spherical shell is provided with, there is rear spherical shell the rear end of stern buoyancy adjustment section (5).
3. the long-term ocean weather station observation type underwater robot of the three body configurations as described in claim 1, it is characterised in that：The hydraulic pressure
System includes direct current generator (38), hydraulic pump (27), check valve (28), overflow valve (29), reversal valve (30), hydraulic control one-way valve
(31), one-way speed-regulating valve (32) and pressure sensor (33), wherein hydraulic pump (27) for two and respectively with a direct current generator
(38) connect, after the parallel connection of two hydraulic pumps (27) by absorb water oil feed line and draining oil feed line respectively with hydraulic cylinder (35)
Two ends chamber connection, hydraulic control one-way valve (31) and reversal valve are equipped with the water suction oil feed line and draining oil feed line
(30), the one-way speed-regulating valve (32) is arranged on water suction oil feed line, and the output end of two hydraulic pumps (27) is equipped with one
Check valve (28), two hydraulic pumps (27) are connected by return line and overflow valve (29) with fuel tank, the pressure sensor
(33) it is arranged on the oil feed line after two hydraulic pump (27) parallel connections, the total charge oil pressure for detecting hydraulic system.
4. the long-term ocean weather station observation type underwater robot of the three body configurations as described in claim 1, it is characterised in that：The observation
The sensing equipment of the oceanographic hydrological data observation that load section (12) is carried includes thermohaline depth sensor (8), chlorophyll sensor
(9), acoustics fluid velocity profile instrument (10), dissolved oxygen sensor (24) and nephelometer (25), observation load section (12) are also installed
There is bow to stop and swing ring (11), emergeney ejectioning device (20) and for the automatic line-throwing appliance for reclaiming, wherein bow stop swing ring (11) and
Emergeney ejectioning device (20) is respectively arranged at the top and bottom of observation load section (12), the opening of observation load section (12)
Buoyant material is filled with formula frame structure.
5. the long-term ocean weather station observation type underwater robot of the three body configurations as described in claim 1, it is characterised in that：The electronics
Control computer (22) and control module are installed in bay section (16), the outside and front end of the electronics bay section (16) are respectively mounted
There are lifting component (7) and water inlet from sink device, when robot cannot be reclaimed under water, start water inlet from sink device, hermetically sealed master
Water inlet self-destruction is sunk in body pressure-resistant cabin.
6. the long-term ocean weather station observation type underwater robot of the three body configurations as described in claim 5, it is characterised in that：The water inlet
It is priming system from sink device.
7. the long-term ocean weather station observation type underwater robot of the three body configurations as described in claim 1, it is characterised in that：The main body
Battery bay section (17) loads battery pack, battery management unit and power module, and wherein battery pack is suspended in hermetically sealed pressure-resistant cabin
On the slide rail of the portion left and right sides, the satellite antenna (6) is arranged at the outside top of main body battery bay section (17).
8. the long-term ocean weather station observation type underwater robot of the three body configurations as described in claim 1, it is characterised in that：Described pushes away
Enter buoyant material, main body propeller (1), electric-motor drive unit, elevator of the section (3) including housing and on housing
(19), rudder (2), steering wheel, emergeney ejectioning device (20) and underwater acoustic communication set (4), the housing front portion of propulsion section (3) is
Open frame, installs underwater acoustic communication set (4) and jettison system (20), and install buoyancy material at open frame space position
Material, the elevator (19) is horizontally disposed with, and the rudder (2) is set with elevator (19) square crossing, the elevator
(19) it is connected with steering wheel with rudder (2), the steering wheel is connected with electric-motor drive unit, the main body propeller (1) is arranged at
The stern of housing.
9. the long-term ocean weather station observation type underwater robot of the three body configurations as described in claim 4 or 8, it is characterised in that：It is described
Emergeney ejectioning device (20) includes two blocks of electromagnet and one piece of foundary weight, wherein two pieces of electromagnet energizing magnetics, two blocks of electromagnetism
Tie Tong crosses magnetive attraction and attracts foundary weight, underwater robot is produced neutral buoyancy, makes underwater robot normal work under water；When under water
When emergency occurs in robot, two pieces of electromagnet dead electricity, electromagnetism ferromagnetism are made to disappear, foundary weight is sunk by Action of Gravity Field, water
Lower robot produces positive buoyancy floating to the water surface.
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