Modular reconfigurable underwater robot

Abstract

The invention discloses a modular reconfigurable underwater robot. The robot comprises a signal buoy and a plurality of module cabins connected end to end through connecting assemblies; the signal buoy communicates with the module cabins through a zero-buoyancy communication line; the module cabins comprise a camera cabin, a tail propelling cabin, a propeller cabin, a battery cabin and a control cabin; and a wireless communication and motor driving circuit is arranged in each module cabin and is used for receiving a driving control signal sent by the control cabin so as to control each modulecabin to work. When the robot navigates in water, the signal buoy receives remote control signals sent by a receiving station and inputs the signals into the control cabin through the zero-buoyancy communication line; the control cabin transmits motor driving signals of all the module cabins to all the module cabins in a wireless mode; and the module cabins achieve the functions of advancing, retreating, steering, hovering, translation, depth setting, self-stabilization, fixed-point cruising, mechanical arm grabbing and the like.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a modular reconfigurable underwater robot. Background technique [0002] With the advancement of science and technology, more and more underwater robots have been created, carrying manipulators, sonar, cameras and data acquisition sensors to explore the underwater world deep underwater. Most underwater robots with mobile operations, from autonomous cruising underwater unmanned aerial vehicles (AUVs) to remote-controlled cable underwater vehicles (ROVs), have a problem: the load of operating functions that can be carried is single and can only be realized. Oriented job tasks cannot meet the increasingly diverse task requirements. [0003] In the application field of underwater robots, underwater salvage, underwater grasping, underwater terrain scanning and photography are currently the mainstream development directions. The current underwater robots are designed and ma...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a modular reconfigurable underwater robot, which is divided into a plurality of module cabins, in order to overcome the defects of single functional load of the underwater robot in the prior art and the inability to use one machine to realize multiple tasks. , using a unified and standardized design, each functional cabin is fixed to each other by bolts through the reserved module cabin fixing holes, and assembled into an underwater robot whose functional cabin, propulsion mode, and battery cabin can be changed according to requirements

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