The invention discloses a modular reconfigurable underwater robot. The robot comprises a signal buoy and a plurality of module cabins connected end to end through connecting assemblies; the signal buoy communicates with the module cabins through a zero-buoyancy communication line; the module cabins comprise a camera cabin, a tail propelling cabin, a propeller cabin, a battery cabin and a control cabin; and a wireless communication and motor driving circuit is arranged in each module cabin and is used for receiving a driving control signal sent by the control cabin so as to control each modulecabin to work. When the robot navigates in water, the signal buoy receives remote control signals sent by a receiving station and inputs the signals into the control cabin through the zero-buoyancy communication line; the control cabin transmits motor driving signals of all the module cabins to all the module cabins in a wireless mode; and the module cabins achieve the functions of advancing, retreating, steering, hovering, translation, depth setting, self-stabilization, fixed-point cruising, mechanical arm grabbing and the like.
本发明公开了一种模块化可重构水下机器人,包括信号浮标、以及通过连接组件首尾相连的若干个模块舱;所述的信号浮标通过零浮力通讯线与模块舱进行通讯;所述的模块舱包括:摄像头舱、尾部推进舱、推进器舱、电池舱、控制舱;每一个模块舱的内部均安装有无线通讯与电机驱动电路,用于接收控制舱发出的驱动控制信号,进而控制各个模块舱工作。在水中航行时,信号浮标接收接收站发出的遥控信号,将信号通过零浮力通讯线输入控制舱,控制舱将各个模块舱的电机驱动信号通过无线传输至各个模块舱,模块舱进而实现前进、后退、转向、悬停、平动、定深、自稳定、定点巡航、机械手抓取等功能。
Modular reconfigurable underwater robot
一种模块化可重构水下机器人
2020-06-23
Patent
Electronic Resource
Chinese
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
Design of a Reconfigurable Modular Underwater Vehicle
Trans Tech Publications | 2011
|