Deformable underwater carrier

Abstract

The invention relates to the technical field of underwater operations, in particular to a deformable underwater carrier. The deformable underwater carrier includes a submersible vehicle main body anda head. The head is mounted rotatably at the front end of the submersible vehicle main body, and a rotation axis of the head is arranged horizontally, a head shell is internally and fixedly provided with a rotator connector, a pair of head thrusters are correspondingly mounted on both ends of the rotator connector, a rotational drive mechanism is installed inside a main body shell cavity body, andthe rotational drive mechanism is connected with the middle part of the rotator connector in a transmitting mode; and in an initial state, axes of the head thrusters are in a vertical state, when thehead is perpendicular to the submersible vehicle main body, the axes of the head thrusters are in a horizontal state. The head can be rotated to change the position, the thrust direction of the headthrusters after being rotated to change the position is transversal, so that the distance between an underwater robot and an observed object is precisely adjusted, and the effect of underwater eddy current can be effectively weakened during observing cylindrical objects, so that the close surrounding detection of target objects is achieved.

Description

technical field [0001] The invention relates to the technical field of underwater operations, specifically, an underwater robot. Background technique [0002] With the development of computer technology in recent years, the intelligence, logic and software technology have advanced by leaps and bounds. AUV has got rid of the shackles of tethers and is more flexible in underwater operations. However, my country's underwater robots started late and the degree of intelligence Not high enough, it is necessary to strengthen the learning ability of the system, interact with the external environment, and adapt to the external environment to the greatest extent, and the current movement of the underwater robot is a six-degree-of-freedom space movement, which requires a complete integrated motion control system to ensure Motion and positioning accuracy, but due to the time-varying nature of underwater robot motion in a complex environment, it is difficult to establish an accurate motion...

AI Technical Summary

Problems solved by technology

[0002] With the development of computer technology in recent years, the intelligence, logic and software technology have advanced by leaps and bounds. AUV has got rid of the shackles of tethers and is more flexible in underwater operations. However, my country's underwater robots started late and the degree of intelligence Not high enough, it is necessary to strengthen the learning ability of the system, interact with the external environment, and adapt to the external environment to the greatest extent, and the current movement of the underwater robot is a six-degree-of-freedom space movement, which requires a complete integrated motion control system to ensure Motion and positioning accuracy, but due to the time-varying nature of underwater robot motion in complex environments, it is difficult to establish an accurate motion model, resulting in a relatively single motion mode for underwater robots, making it difficult to scan and observe at close range

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