Microminiature full-freedom-degree cable-controlled underwater robot

Abstract

The invention provides a microminiature full-freedom-degree cable-controlled underwater robot, and belongs to the technical field of underwater robots. The microminiature full-freedom-degree cable-controlled underwater robot comprises an upper floating body, a frame, an illuminating lamp I, a lower floating body, an illuminating lamp II, a control cabinet, a rear camera and a front camera. The microminiature full-freedom-degree cable-controlled underwater robot is characterized by also comprising an upper propulsion system and a lower propulsion system; the upper floating body is connected with the lower floating body through the frame; four through holes are formed in the surface of the upper floating body, and the upper propulsion system is arranged in the four through holes; the control cabinet is arranged in a middle position of a lower surface; and the lower propulsion system is arranged on the upper surface of the lower floating body. The microminiature full-freedom-degree cable-controlled underwater robot disclosed by the invention has the beneficial effects that an eight-propeller non-singular structure arranging form is adopted, so that full-freedom-degree control can be achieved, and the anti-jamming capability of a small-scale ROV is improved; the microminiature full-freedom-degree cable-controlled underwater robot adopts an image recognizing and tracking algorithm and an environment self-adaption intelligent control algorithm, so that the manoeuvrability of the ROV is greatly improved; and in addition, the microminiature full-freedom-degree cable-controlled underwater robot has the advantages of being small in size, light in mass, convenient to use, low in price and the like, and is convenient for market popularization and application.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a miniature full-degree-of-freedom cable-controlled underwater robot. Background technique [0002] With the development of the economy, especially the development and utilization of rivers, lakes and sea resources, the construction of large and medium-sized hydropower stations and dams, and the exploration and utilization of offshore resources, small ROVs (micro and small , mini, conventional) demand is increasing. However, at present, the ROVs in domestic products are all large and medium-sized structures, and there are also a small number of small ROVs. However, due to the small quality and weak power of small ROVs, they are easily affected by external interference during underwater observation and operation, especially those that are impacted by water flow. Affects, resulting in motion instability and other problems. Contents of the invention [0003] The presen...

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Problems solved by technology

However, at present, the ROVs in domestic products are all large and medium-sized structures, and there are also a small number of small ROVs. However, due to the small quality and weak power of small R...

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