The invention discloses a modular underwater robot and a control method thereof, the modular underwater robot comprises supporting plates, a first chamber, a second chamber and a power assembly, the supporting plates are arranged in a stacked manner, and the edges of the front end and the rear end of each supporting plate are provided with a first hollow part and a second hollow part respectively; the first cavity is arranged in the first hollow part; the second cavity is arranged in the second hollow part, and the second cavity and the first cavity are located at the same horizontal position; the power assembly comprises a fixed vector thruster and a vertical thruster. The modular underwater robot at least has the following beneficial effects that in the modular underwater robot, the first cavity, the second cavity and the mounting position of the power assembly are reserved on the supporting plate, the first cavity and the second cavity are located at the same height, and the overall height of the modular underwater robot is reduced; the modular underwater robot can dive or float upwards through the vertical propellers, the modular underwater robot can advance, retreat or rotate through the fixed vector propellers, and the flexibility of the modular underwater robot is improved.

    本发明公开了一种模块化水下机器人及其控制方法,模块化水下机器人包括支撑板、第一腔室、第二腔室、动力组件,支撑板层叠设置,支撑板的前端、后端边缘分别设置有第一镂空部、第二镂空部;第一腔室设置于第一镂空部内;第二腔室设置于第二镂空部内,第二腔室与第一腔室处于同一水平位置上;动力组件包括固定矢量推进器、垂直推进器。本发明至少具有以下有益效果:本发明中,支撑板上预留第一腔室、第二腔室以及动力组件的安装位置,第一腔室与第二腔室处于同一高度,使模块化水下机器人的整体高度降低;垂直推进器能够使模块化水下机器人下潜或上浮,固定矢量推进器能够使模块化水下机器人前进、后退或转动,提升模块化水下机器人的灵活性。


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    Title :

    Modular underwater robot and control method thereof


    Additional title:

    一种模块化水下机器人及其控制方法


    Contributors:
    LIU AIRONG (author) / LIANG JIAQIAO (author) / FU JIYANG (author) / CHEN BINGCONG (author) / CHEN JUNDA (author) / XU YANG (author) / ZHANG PEIJIE (author)

    Publication date :

    2022-10-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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