The invention belongs to the technical field of underwater robots, and particularly relates to a full-sea-depth near-seabed autonomous underwater robot structure. The structure comprises a robot body,a main thruster, a horizontal channel thruster and a vertical channel thruster; the robot body is of a flat fish-shaped structure, and a rudder plate and stabilizing wings are arranged at the stern of the robot body; the main propeller is arranged at the stern of the robot body and used for achieving movement of the robot in the X-axis direction and the degree of freedom of rotation around the Zaxis. The horizontal channel thruster is arranged on the robot body in the horizontal direction and used for achieving movement of the robot in the Y-axis direction and the rotation freedom degree around the Z axis. And the vertical channel thruster is arranged on the robot body in the vertical direction and used for achieving movement of the robot in the Z-axis direction and the degree of freedomof rotation around the X axis and the Y axis. The structure can be used for a sea area with a full-sea-depth complex terrain, has complex environment perception and high-maneuverability autonomous collision avoidance capability, and realizes near-seabed optical detection of the full-sea-depth high-maneuverability autonomous underwater robot.

    本发明属于水下机器人技术领域,特别涉及一种全海深近海底自主水下机器人结构。包括机器人本体、主推进器、水平槽道推进器及垂直槽道推进器,其中机器人本体具有扁平鱼型形体结构,并且艉部设有舵板和稳定翼;主推进器设置于机器人本体的艉部,用于实现机器人沿X轴方向的移动及绕Z轴旋转的自由度;水平槽道推进器沿水平方向设置于机器人本体上,用于实现机器人沿Y轴方向的移动及绕Z轴的旋转自由度;垂直槽道推进器,沿竖直方向设置于机器人本体上,用于实现机器人沿Z轴方向的移动及绕X、Y轴转动的自由度。本发明可用于全海深复杂地形海域,具备复杂环境感知与高机动自主避碰能力,实现全海深高机动自主水下机器人的近海底光学探测。


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    Title :

    Full-sea-depth near-seabed autonomous underwater robot structure


    Additional title:

    一种全海深近海底自主水下机器人结构


    Contributors:
    XU HUIXI (author) / ZHANG HONGBIN (author) / LI YANG (author) / ZHAO HONGYIN (author) / YIN YUAN (author) / CHEN ZHONG (author)

    Publication date :

    2020-11-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / G01S RADIO DIRECTION-FINDING , Funkpeilung



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