The invention discloses a bionic multi-arm underwater unmanned aerial vehicle for underwater operation of an unmanned ship, the unmanned ship is dragged by the unmanned ship when the unmanned ship has no working requirement, the unmanned aerial vehicle keeps passive stability in the dragging process depending on the crab-like shape design, and active balance can also be realized based on balance control of a mechanical arm carried by the unmanned aerial vehicle; when the unmanned ship has working requirements, the unmanned aerial vehicle can replace an underwater operator to carry out underwater operation, active movement balance is achieved through power supply and communication of a dragging rope of the unmanned ship and remote control of the operator by means of a propelling device of the unmanned aerial vehicle, and an underwater working task is completed by using a mechanical arm carried by the unmanned aerial vehicle. The unmanned aerial vehicle depends on the crab-like appearance design, passive balance is achieved in the long-time dragging process, active control is rarely depended on, and active movement balance is achieved through a propelling system and a mechanical arm when underwater operation of the unmanned ship is completed; the underwater unmanned aerial vehicle has the advantages of long endurance, remote control and extremely high underwater operation capability.
本发明公开一种用于无人艇水下作业的仿生多臂水下无人机,在无人艇无工作需求的时候由无人艇拖曳,无人机在拖曳过程中依靠于仿蟹型的外形设计保持自身的被动稳定,并基于无人机搭载机械臂的平衡控制下也可以实现主动平衡;在无人艇存在工作需求的时候该无人机可代替水下作业人员进行水下作业,通过无人艇拖曳绳的供电和通信,通过工作人员远程操控,依靠无人机自身的推进装置实现主动运动平衡,并使用无人机搭载的机械臂完成水下工作任务。该无人机依靠于仿蟹型外形设计,在长时间拖曳过程中实现被动平衡,极少依靠于主动控制,而在完成无人艇水下作业时,依靠于推进系统和机械臂实现主动运动平衡,是一种具有长续航和远程操控的优势以及极强的水下作业能力的水下无人机。
Bionic multi-arm underwater unmanned aerial vehicle for underwater operation of unmanned ship
一种用于无人艇水下作业的仿生多臂水下无人机
2024-09-10
Patent
Electronic Resource
Chinese
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
Dual-module multifunctional bionic underwater unmanned vehicle and operation method
European Patent Office | 2022
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