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A distributed sensing underwater vehicle and its drive control method

An underwater vehicle and a technology for an underwater vehicle, which is applied in the directions of underwater ships, underwater operation equipment, instruments, etc., can solve the problems that the underwater robot is difficult to adapt to the fluid movement and the movement is unstable.

Active Publication Date: 2020-10-27
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Underwater vehicles have been widely used in underwater operations, but most underwater robots are difficult to adapt to complex fluid motion, and the motion is not stable

Method used

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  • A distributed sensing underwater vehicle and its drive control method
  • A distributed sensing underwater vehicle and its drive control method
  • A distributed sensing underwater vehicle and its drive control method

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Embodiment Construction

[0036] The present invention will be further described below in conjunction with accompanying drawing.

[0037] Such as figure 1 As shown, a distributed sensing underwater vehicle includes a main body of the vehicle, a terminal thruster 1, a side thruster 3, a distributed sensing unit 4 and a control module. The main body of the aircraft includes an aircraft tail 2 , a fuselage 5 and an aircraft head 6 arranged in sequence. The aircraft tail 2 is fixed on the fuselage 5 by bolts. The fuselage 5 is cylindrical and has a chamber inside, and a control module is installed in the chamber. The aircraft head 6 is hemispherical and fixed with the head end of the fuselage by bolts. The terminal thruster 1 is installed on the outer end of the tail 2 of the aircraft, and is used to provide the power required for the advancement of the aircraft, and is mounted on the tail 2 of the aircraft. Both ends of the outer wall of the fuselage 5 are provided with sets of mounting slots. The mo...

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PUM

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Abstract

The invention discloses a distributed sensing underwater vehicle and a driving control method thereof. Most underwater robots are difficult to adapt to complex fluid motion and are unstable in motion.The distributed sensing underwater vehicle is characterized by comprising a vehicle body, a tail end propeller, a side propeller and distributed sensing units, wherein the distributed sensing unit comprises an outer shell and a differential pressure sensor, the differential pressure sensors are evenly distributed on the vehicle body, the pressure of all positions around the vehicle can be detected, a closed-loop system is formed by the propellers on the vehicle body, the underwater vehicle can stably run along the preset track even under the complex flowing condition, and then underwater operation and the like are completed; the elastic body is bent through the pressure difference between two sides of the elastic body; the elastic body enables capacitance values of the two capacitors in the elastic body to change through bending of the elastic body, and thereby the pressure difference between two sides of the elastic body is accurately obtained according to the difference between thetwo capacitance values.

Description

technical field [0001] The invention belongs to the technical field of underwater vehicles, and in particular relates to a distributed sensing underwater vehicle and a driving control method thereof. Background technique [0002] As an interdisciplinary product of marine engineering and robotics, underwater vehicles have unique advantages such as high safety factor, low cost, small size, light weight, high flexibility, and wide range of activities. Therefore, it is widely used in military, scientific, economic and many other fields. Underwater vehicles have been widely used in underwater operations, but most underwater robots are difficult to adapt to complex fluid motion, and the motion is not stable. Contents of the invention [0003] The object of the present invention is to provide a distributed sensing underwater vehicle and a driving control method thereof. [0004] The invention relates to a distributed sensing underwater vehicle, which comprises a main body of th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63G8/00B63H5/07G01L13/06
CPCB63G8/00B63H5/07G01L13/06
Inventor 许明何龙陈国金
Owner HANGZHOU DIANZI UNIV
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