Double-body detection underwater robot device and control method

Abstract

The invention provides a double-body detection underwater robot device and a control method. A robot main body is of a double-body structure consisting of a middle wing-shaped body and two streamline boat bodies symmetrically arranged on two sides of the middle wing-shaped body, wherein an elevating rudder is arranged at the tail end of the middle wing-shaped body; a core control cabin and two vertical thruster cabins arranged at the front and the back are arranged in the middle wing-shaped body; a vertical thruster is arranged in each vertical thruster cabin; a stabilizing wing is arranged on the side surface of the tail part of each streamline boat body; an airfoil profile vertical wing is arranged at the tail part of each streamline boat body; a main thruster is arranged at the tail end of each streamline boat body; battery cabins and detection equipment cabins are further arranged in the two streamline boat bodies; wall touch sonars are further arranged on the robot main body. The double-body detection underwater robot device can make an intelligent decision and can be switched among different operation modes according to a relative flowing speed, so that the posture can be kept stable, and functions of fixed-speed continuation, posture holding, hovering monitoring and the like are realized.

Description

technical field [0001] The invention relates to a two-body detecting underwater robot device and a control method, belonging to the technical field of detecting underwater robots. Background technique [0002] Due to the demand for the development of river and ocean resources and the urgent need for hydrological environment monitoring, many countries in the world are constantly developing and updating hydrological monitoring systems. More and more efficient and economical monitoring methods and devices are gradually being adopted. Underwater robots are used as marine environment detection One of the important means of resource survey and monitoring has attracted more and more attention from all countries. The underwater robot is a portable platform that can be used as an underwater measurement sensor. The use of underwater robots for monitoring has obvious advantages over other traditional platforms. Underwater robots are all-weather, portable, and can perform tasks in com...

AI Technical Summary

Problems solved by technology

Relevant practical experience shows that robots using these two arrangements alone have obvious deficiencies in application: underwater robots using rudder-propeller joint control are difficult to achieve precise attitude control at low speeds, and the response time for maneuvering is long. The influence of the data is great; for an underwater robot controlled by multiple propellers, when the relative water velocity of the robot gradually increases, the efficiency of the vertical propeller decreases rapidly, which has little effect on attitude control, and it is difficult to quickly to achieve maneuvering and maintain deep navigation, and even fail to complete actions such as diving and surfacing.

The space in the existing robot cabin is limited, and the number of equipment and batteries carried is limited, which makes it difficult to meet the needs of different tasks. At the same time, the battery life cannot be improved due to the small number of batteries.

Images