Design of Modular Mechanical System for ADCP Underwater UAV Under Turbidity Waters

In view of the complex and changeable water flow conditions of the Yellow River section in Lanzhou, it is affected by natural factors such as seasonal flow changes, sediment content changes, and human factors such as water conservancy projects and urban sewage discharge. In view of the characteristics of high turbidity and large sediment content in the water in this basin, a modular mechanical system for underwater UAV based on Acoustic Doppler Flow Profiler (ADCP) was designed to improve the accuracy and adaptability of hydrological monitoring. Based on the modular architecture, the system integrates the anti-jamming ADCP sensing unit, the adaptive stable propulsion mechanism and the replaceable task module to effectively cope with the complex hydrodynamic environment of the Yellow River. The mechanical design focuses on optimizing the streamlined housing to reduce sediment deposition, reducing energy consumption with corrosion-resistant lightweight materials, and enhancing the stability of the equipment in turbulent currents through a dynamic balance adjustment mechanism. The simulation and experimental results show that the system can still maintain a flow velocity measurement error of <5% in the Yellow River waters with a turbidity of > 1000 NTU, and the modular design supports rapid function expansion, which provides a reliable mechanized solution for hydrological monitoring of high turbidity rivers.