Novel super-maneuvering underwater helicopter and control method thereof

Abstract

The invention discloses a novel super-maneuvering underwater helicopter and a control method thereof and belongs to the technical field of robots. The novel super-maneuvering underwater helicopter comprises an upper cabin, a lower cabin, a cabin disc, a turntable, a vector propulsion system, a power supply assembly, an electronic speed regulator, an IMU inertial navigation system, a wireless communication system, an underwater camera system and an attitude adjustment system. A high-energy-density lithium battery pack is selected to supply power to the whole helicopter; underwater precise positioning navigation is achieved through inertial navigation; pitch angle control over the underwater helicopter is achieved through the attitude adjustment system; the direction of propelling force is changed through the vector propelling system; the horizontal rotation performance and vertical sinking and floating stability of the helicopter are good, so that various movement and operation modes can be achieved. When the attitude of the helicopter is adjusted in water, a turntable motor rotates to enable the relative positions of a buoyancy block and a gravity block to be different, so that theattitude of the underwater helicopter can be corrected by means of buoyancy and gravity, extra thrust compensation of a propeller is not needed, and underwater navigation at a certain attack angle can be achieved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a novel super-maneuverable underwater helicopter and a control method thereof. Background technique [0002] Up to now, although numerous submersibles that have appeared in the world are of a great variety, they still lack high maneuverability and high efficiency in the daily application process. Such as cable submersibles (ROV), untethered autonomous submersibles (AUV), manned submersibles (HOV) and underwater glider (Glider), etc., no matter what type of submersible it is, its underwater The high mobility of the movement has always been the guarantee for the efficient operation of the submersible, but due to its own structural design or the influence of changes in the external environment, how to improve the maneuverability of the submersible during operation is still one of the problems that need to be considered and solved urgently. [0003] In addition, as far as the current...

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Problems solved by technology

[0003] In addition, as far as the current underwater submersible technology is concerned, it is still difficult to have a high all-round anti-flow capability

In the current structural design of submersibles, in order to increase its navigation speed and provide the power to turn left and right, it is generally necessary to configure two paddles in the forward direction, and one paddle in the lateral direction, so that the lateral flow resistance of the submersible is relatively small

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