Full-degree-of-freedom underwater vehicle and control method thereof

A technology for submersibles and degrees of freedom, applied in the field of ROV, can solve the problems of torque imbalance, the inability of the submersible to achieve full-degree-of-freedom attitude navigation, and the poor stability of the submersible, so as to avoid algorithm errors, improve control stability and attitude control. Response speed, stable control effect

Active Publication Date: 2020-06-05
SHENZHEN CHASING INNOVATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The object of the present invention is to provide a full-degree-of-freedom underwater vehicle and its control method, which solves the problem that the existing underwater vehicle cannot realize full-degree-of-freedom attitude navigation, and at the same time solves the problem that the existing The problem of poor stability of submersibles

Method used

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  • Full-degree-of-freedom underwater vehicle and control method thereof
  • Full-degree-of-freedom underwater vehicle and control method thereof
  • Full-degree-of-freedom underwater vehicle and control method thereof

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Embodiment 1

[0049] figure 1 It shows a full-degree-of-freedom underwater vehicle, which is characterized in that: it includes a cabin body part 1, a whole machine bracket part 2 and a propeller part, and the cabin body part 1 and the propeller part are all fixed on the whole machine bracket part 2, The cabin part 1 is connected to the propeller part by cables; the propeller part is composed of eight propellers, and the propeller part has symmetry plane I, symmetry plane II and symmetry plane III, and symmetry plane I, symmetry plane II, Symmetry plane III is perpendicular to each other, and the adjacent propeller blades rotate in opposite directions. The acute angle formed by the central axis of the propeller and the plane of symmetry I is 15°-75°, preferably the included angle is 45°; the acute angle formed by the central axis of the propeller and the plane of symmetry II is 15°-75°, Preferably, the included angle is 45°; the acute angle formed by the central axis of the propeller and t...

Embodiment 2

[0086] In order to further optimize the technical solution in Embodiment 1, the cabin body part 1 in this embodiment includes a control cabin part and a battery cabin part, and the control cabin body 11 of the control cabin part is provided with a lens and a control board. The battery compartment body 12 of the battery compartment part is provided with a battery pack, the control compartment body 11 and the battery compartment body 12 are detachably plugged in, and the side wall of the control compartment body 11 is provided with a watertight connector 13, and the watertight connector 13 is connected to the The thruster parts are connected by cables. Such as Figure 5 As shown, the end of the control cabin 11 is provided with a watertight socket, and the corresponding end of the battery cabin 12 is provided with a watertight plug, and the power supply and the control cabin are connected through the plug socket to realize power supply to the components of the control cabin. Wh...

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Abstract

The invention discloses a full-degree-of-freedom underwater vehicle and a control method thereof, and relates to the technical field of ROVs. A cabin part and a propeller part of the underwater vehicle are fixed to an integral support part and connected through a cable. The propeller part is composed of eight propellers, the propeller part is provided with a symmetry plane I, a symmetry plane II and a symmetry plane III, every two of the symmetry plane I, the symmetry plane II and the symmetry plane III are orthogonal, and the rotating directions of adjacent propeller blades are opposite. Theeight propellers are completely and symmetrically arranged, and blades of the adjacent propellers rotate differently, so that the underwater vehicle can complete actions of advancing, retreating, floating, diving, left-right translation, left-right turning, left-right tilting and overturning, low-head-rising rotation and fixed-depth hovering posture, and full-degree-of-freedom movement of front-back, left-right and up-down movement and overturning of the underwater vehicle is realized. In the process, translation and rotation are mutually independent, the resultant force during translation isonly a force vector coinciding with the translation direction, the resultant force during rotation is only a couple coinciding with the rotation direction, and the control effect is stable.

Description

technical field [0001] The invention relates to the technical field of ROV, in particular to a full-degree-of-freedom underwater vehicle and a control method thereof. Background technique [0002] The submersible is powered by underwater propellers to realize underwater navigation. The number and layout of the propellers determine the sailing direction and the degree of attitude stability that the submersible can achieve. [0003] Patent CN201710547507.2 discloses an underwater vehicle equipped with 4 propellers, of which 2 horizontal propellers are located at the tail of the casing, and the propulsion direction is parallel to the horizontal plane, and the forward and reverse rotation of the motor is changed to provide forward movement for the submersible , back, and turning propulsion; the other two vertical propellers are located in the front middle of the fuselage, and the propulsion direction is perpendicular to the horizontal plane. By changing the forward and reverse r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63G8/16B63H5/08
CPCB63G8/16B63H5/08B63G2008/005
Inventor 张洵朱明陵王哲王思奥马翔刘威熊淦
Owner SHENZHEN CHASING INNOVATION TECH CO LTD
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