Spherical underwater robot based on vector advancing

Abstract

The invention provides a spherical underwater robot based on vector advancing. The spherical underwater robot based on vector advancing comprises a spherical light housing, a main body frame and a compressive cabin and a control circuit, wherein the main body frame and the compressive cabin are mounted within the light housing; the control circuit is mounted in the compressive cabin; four propellers are placed around the light housing; four rotating shafts, which are uniformly placed around the centre of sphere in a circumferential direction, are mounted on the main body frame; the propellersare fixed at the outer ends of the rotating shafts; the other ends of the rotating shafts are connected with propeller steering engines; the propellers are Kort ducted propellers; brushless motors aremounted in the propellers; the control circuit comprises a main control chip, a battery, a voltage conversion chip, a posture sensor and an optical transmitter and receiver; a water through tight joint for an optical fiber and an electric wire of the control circuit to pass through is arranged on a sealing head of the compressive cabin; cameras are arranged at the top and the bottom of the robot;and a manipulator is arranged at the bottom of the robot. The spherical underwater robot based on vector advancing can rapidly, flexibly and stably sail in the water.

Description

technical field [0001] The invention relates to a submersible or an underwater robot, specifically a spherical underwater robot. Background technique [0002] With the development of science and technology, the role played by the ocean has been paid more and more attention, and the development of the ocean has become a development strategy of our country. As an important means of ocean development, underwater robots can replace humans to perform many tasks related to ocean exploration. The task has received more and more attention from the state. [0003] Underwater robots can usually be divided into cable underwater robots and cable-free underwater robots. The biggest feature of the cabled underwater robot is that it can be accurately controlled by the operator, and can return various data obtained by the robot in real time, so it has been widely used. Among them, the spherical underwater robot has the characteristics of complete symmetry and isotropy in appearance, that ...

AI Technical Summary

Problems solved by technology

However, there are deficiencies in the above three situations. The summary can be divided into the following categories: First, the flexibility of the underwater robot is limited, that is, it cannot complete the movement of all degrees of freedom; In the case of reverse rotation, the thrust of propeller reverse rotation is much smaller than that of forward rotation, which is likely to affect the sailing speed or stability; third, although using more propellers will increase flexibility to a certain extent, it also takes up more space. Too much space increases the cost of the robot, and it is impossible to ensure that the propeller is always in the forward rotation state; Fourth, the robot does not have a closed-loop control adjustment method so that the smooth sailing cannot be guaranteed

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