A new type of ultra-maneuverable underwater helicopter and its control method

Abstract

The invention discloses a novel super-maneuverable underwater helicopter and its control method, belonging to the technical field of robots, including an upper cabin, a lower cabin, a cabin panel, a turntable, a vector propulsion system, a power supply component, an electronic governor, and an IMU inertial navigation system , wireless communication system, underwater camera system and attitude adjustment system. Select a high-energy density lithium battery pack as the power supply for the whole machine, realize accurate underwater positioning and navigation through inertial navigation, realize the pitch angle control of the underwater helicopter through the attitude adjustment system, change the direction of propulsion through the vector propulsion system, horizontal rotation performance and vertical The sinking and floating stability is good, and various sports and operation methods can be realized. Adjust the posture in the water, the rotation of the turntable motor makes the relative position of the buoyancy block and the gravity block different, and the attitude of the underwater helicopter can be corrected by means of buoyancy and gravity. No additional thrust compensation of the propeller is required, and it can be achieved at a certain angle of attack. underwater navigation.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a novel super-maneuverable underwater helicopter and a control method thereof. Background technique [0002] Up to now, although numerous submersibles that have appeared in the world are of a great variety, they still lack high maneuverability and high efficiency in the daily application process. For example, cable submersibles (ROV), untethered autonomous submersibles (AUV), manned submersibles (HOV) and underwater glider (Glider), etc., no matter what type of submersible it is, its underwater The high mobility of the movement has always been the guarantee for the efficient operation of the submersible, but due to its own structural design or the influence of changes in the external environment, how to improve the maneuverability of the submersible during operation is still one of the problems that need to be considered and solved urgently. [0003] In addition, as far as the cu...

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Problems solved by technology

[0004] The purpose of the present invention is to overcome the deficiencies in the maneuverability of the existing untethered autonomous submersible (AUV), and propose a new super-maneuverable underwater helicopter, which is equipped with an attitude adjustment system and a vector propulsion system. The ultra-maneuverable underwater helicopter can not only realize long-distance remote control and underwater observation, but also can realize vertical ups and downs underwater, straight forward (fixed depth), full-circle steering, fixed-angle dive (climb), and horizontal dive (climb) And many other functions, it is a fast, efficient and stable new underwater robot

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