Buoyancy and propellor dual-driving-mode long-distance autonomous underwater robot

Abstract

A long-range flotage and the thruster driven under- water robot is used in the sea under-water engineering technical field. The invention contains the main body of the robot, a pair of main limbs, a pair of thrusters and upright empennages. The outer of the robot is the penetrating-water rind which is used in commuting. The main limb and the upright empennage is provided with the limb type of the low liquid resistance. The main limbs set on the back of the penetrating-water rind and symmetrically distribute on the left and right sides of the penetrating-water rind. The upright empennage sets on the tail of the penetrating-water rind and in the upright symmetrical side. The thruster sets in the outer of the main limbs. The invention is provided with two driving fashions which are the drive of the thruster and the drive of the flotage. In the drive of the flotage, it depends on the adjusting of the flotage and the barycenter to produce the thrust and control the motorial direction and provides the high endurance capability.

Description

technical field [0001] The invention relates to an underwater robot in the technical field of marine engineering, in particular to a remote autonomous underwater robot in a dual-drive mode of buoyancy and thruster. Background technique [0002] A large number of underwater robots are used in marine underwater exploration and operations, among which remote-controlled robots (ROV for short) and autonomous underwater vehicles (AUV for short) are the two most common types. The remote-controlled robot has an umbilical cable connecting the surface and underwater for energy transmission and communication, so it can work underwater for a long time, but it requires a complex surface support system and the cooperation of the surface mother ship, which is expensive to use and poor in concealment. The autonomous underwater robot does not have an umbilical cable connected to the surface and underwater, eliminating the need for complex surface support equipment and mother ships, low use a...

AI Technical Summary

Problems solved by technology

This kind of drive has low noise and little interference to the external environment. The disadvantage is that the speed is very low and the maneuverability is poor.

Autonomous underwater robots adopt the propeller drive method, which is characterized by good maneuverability and high speed, but this propulsion method has a short range and battery life, and the noise is relatively high, which has a certain degree of interference to the environment

In actual marine underwater exploration operations, high endurance, low noise, good maneuverability and rapidity are all important demand indicators. An ideal autonomous underwater robot needs to have satisfactory performance in these aspects. Existing technologies cannot meet this requirement

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