The invention discloses a miniaturized underwater autonomous robot structure which comprises an underwater robot body, a headlamp, a propeller, a floating block and a depth sensor. The headlamp, the propeller, the floating block and the depth sensor are arranged on the front portion of the underwater robot body. The middle part of the underwater robot body is an acrylic sealed cabin, the front part of the acrylic sealed cabin is an acrylic hemispherical holder, and a camera is fixed at the holder part in the acrylic hemispherical holder; a sealed cabin supporting frame is arranged in the acrylic sealed cabin, and a flight controller, a raspberry Pi, a battery and an electronic speed controller are fixed to the sealed cabin supporting frame; and the rear part of the acrylic sealed cabin is sealed through a sealing cover. A double-layer clamping plate structure and a four-push structure dynamic model are adopted, so that the overall size and mass of the robot are reduced, and the problem that an underwater robot in the prior art is large in structure is solved; and meanwhile, diversified data of vision, depth information, IMU and compass are provided for the underwater robot, so that the underwater autonomous exploration of the robot becomes possible.
本发明公开了一种小型化水下自主机器人结构,包括水下机器人本体、设置在水下机器人本体前部的前照灯、推进器、浮块和深度传感器;所述水下机器人本体的中部是亚克力密封舱,所述亚克力密封舱的前部是亚克力半球状云台,所述亚克力半球状云台内的云台处固定有摄像头;所述亚克力密封舱内设置有密封舱支撑架,所述密封舱支撑架固定有飞控、树莓派、电池以及电调;所述亚克力密封舱的后部通过密封盖密封。本发明采用双层夹板结构及四推结构动力学模型,从而减小了机器人的整体体积和质量,解决了现有技术水下机器人结构较大的问题;同时为水下机器人提供了视觉、深度信息、IMU、罗盘的多样化数据,使机器人水下自主探索成为了可能。
Miniaturized underwater autonomous robot structure
一种小型化水下自主机器人结构
2025-02-18
Patent
Electronic Resource
Chinese
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