The invention belongs to the technical field of underwater robots, and particularly relates to a high-maneuverability large-submergence-depth autonomous underwater robot body structure. The structurecomprises a submarine body, channel propellers and rudder-propeller coupling mechanisms. The submarine body is a vertical flat structure, the channel propellers are horizontally arranged on a bow of the submarine body, and the rudder-propeller coupling mechanisms are arranged on the two sides of the submarine body; and six degrees of freedom of the submarine body are cooperatively controlled by the channel propellers and the rudder-propeller coupling mechanisms. Each rudder-propeller coupling mechanism comprises front horizontal rudder plates, auxiliary propellers, rear horizontal rudder plates and main propellers; the front horizontal rudder plates are arranged on the two sides of the bow of the submarine body, and the rear horizontal rudder plates are arranged on the two sides of a stern; the auxiliary propeller is arranged on each of the two front horizontal rudder plates; and the main propeller is arranged on each of the two rear horizontal rudder plates. Each front horizontal rudder plate is arranged on the rear side of the channel propeller. The structure can be used for large-depth complex terrain sea areas, and has a complex environment perception and high-maneuverability autonomous collision avoidance capability so as to realize a high-efficiency environment perception and high-maneuverability autonomous collision avoidance detection capability of the complex terrain sea areas.

    本发明属于水下机器人技术领域,特别涉及一种高机动大潜深自主水下机器人形体结构。包括艇体、槽道推进器及舵推耦合机构,其中艇体为立扁形体结构,槽道推进器水平设置于艇体的艏部,舵推耦合机构设置于艇体的两侧;槽道推进器和舵推耦合机构协同控制艇体的六自由度。舵推耦合机构包括前水平舵板、辅推进器、后水平舵板及主推进器;艇体的艏部两侧设置前水平舵板,艉部两侧设置后水平舵板;两个前水平舵板上分别设有一辅推进器;两个后水平舵板上分别设有一主推进器。前水平舵板设置于槽道推进器的后侧。本发明可用于大深度复杂地形海域,具备复杂环境感知与高机动自主避碰能力,以实现复杂地形海域的高效环境感知与高机动自主避碰探测能力。


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    Title :

    High-maneuverability large-submergence-depth autonomous underwater robot body structure


    Additional title:

    一种高机动大潜深自主水下机器人形体结构


    Contributors:
    XU HUIXI (author) / WANG XIAOFEI (author) / YIN YUAN (author) / LIU JIAN (author) / ZHAO HONGYU (author) / CHEN ZHONG (author) / LI YANG (author)

    Publication date :

    2020-11-27


    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 / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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