The invention belongs to the technical field of underwater robots, and particularly relates to a high-maneuverability miniature autonomous underwater robot. Comprising a bow section, a front control cabin section, a battery cabin section, a control cabin section, a communication cabin section, a rear control cabin section, a steering cabin section and a propeller thruster which are sequentially connected, the front control cabin section and the rear control cabin section are each provided with a vertical channel thruster and two lateral channel thrusters, and underwater hovering and horizontal or vertical translational motion can be achieved; four rudder plates which are arranged in a cross mode are arranged on the outer side of the steering cabin section, and control over the underwater robot is achieved in the underwater forward sailing state. The device is small and exquisite in structure, light in weight and low in cost, and can be folded, unfolded and operated by a single person; due to the fact that two pose control means of a cross rudder and a channel propeller are combined, various types of underwater high-maneuverability sailing capabilities including zero-speed hovering, vertical and lateral translation movement, underwater high-speed sailing and the like can be achieved.
本发明属于水下机器人技术领域,特别涉及一种高机动性微型自主水下机器人。包括依次连接的艏段、前操纵舱段、电池舱段、控制舱段、通信舱段、后操纵舱段、操舵舱段及螺旋桨推进器,其中前操纵舱段和后操纵舱段均设有一个垂向槽道推进器和两个侧向槽道推进器,能够实现水下悬停、水平或垂向平移运动;操舵舱段的外侧设有十字型布置的四个舵板,在水下前向航行状态下实现水下机器人的操纵。本发明结构小巧、重量轻、成本低,能够实现单人收放和操作;由于兼有十字舵和槽道推进器两种位姿操纵手段,能够实现包括零速悬停,垂向、侧向平移移动,水下高速航行等各种类型的水下高机动航行能力。
High-maneuverability miniature autonomous underwater robot
一种高机动性微型自主水下机器人
2024-06-28
Patent
Electronic Resource
Chinese
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