CN109018277A - A kind of dish-shaped underwater robot promoted based on vector - Google Patents
A kind of dish-shaped underwater robot promoted based on vector Download PDFInfo
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- CN109018277A CN109018277A CN201810869555.8A CN201810869555A CN109018277A CN 109018277 A CN109018277 A CN 109018277A CN 201810869555 A CN201810869555 A CN 201810869555A CN 109018277 A CN109018277 A CN 109018277A
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- vector
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- underwater robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses a kind of dish-shaped underwater robots promoted based on vector, are related to latent device and underwater robot technical field；Top light shell 1 and lower part light shell 2 including being provided with conduit, are provided with the hole for passing through searchlight 5 and fiber optic cable 3 on top light shell 1；In lower part, light shell 2 is provided with the hole for passing through video camera 4；Lower layer support plate 10-3, middle layer support plate 10-2 and upper layer support plate 10-1 are installed from the bottom to top inside lower part light shell 2；Wherein lower layer support plate 10-3 supports pressure-resistant cabin 12, and carries video camera 4；Middle layer support plate 10-2 is run through by pressure-resistant cabin 12, and carries vector propulsion device；Upper layer support plate 10-1 carries searchlight 5 and depth gauge 7, and there are corresponding holes, run through watertight connector 16.The present invention is suitable for remote underwater robot and executes underwater observation field of operation, including military field, scientific research field, entertainment field.
Description
Technical field
The present invention relates to latent devices and underwater robot technical field, are specifically related to a kind of dish-shaped water promoted based on vector
Lower robot.
Background technique
In 21 century, the effect that ocean plays is increasing, and each state all increases the exploitation to ocean, it is seen then that underwater
The exploration and research in the world are related to economic development and the inherently safe in national future, and underwater robot exactly replaces the mankind to visit
One of carrier of Suo Haiyang, so the research increased to underwater robot has far reaching significance.
Underwater robot be one kind can free running in water, there is vision system and sensory perceptual system, pass through the reality of people
Border manipulation, the program perhaps set by people replace people using relevant tool or manned go to complete underwater construction, see
The device of tasks such as examine, investigate, sampling, destroying.In general, underwater robot has cable underwater robot by can be divided into whether there is or not umbilical cables
And cableless underwater robot.For having cable underwater robot, maximum feature is exactly that people can manipulate underwater machine in real time
Device people, and related data that is robot itself or measuring can be returned into people in real time.
Underwater robot realizes the movement of different freedom degrees usually using propeller, and the use that vector promotes can be protected
Demonstrate,prove comprehensively consider economy, the limitation of underwater robot own dimensions and underwater robot flexibility and maneuverability require
In the case of, the movement for meeting the different freedom degrees of underwater robot requirement on flexibility is realized using appropriate number of propeller.
Chinese patent document CN102616353A (applying date on 04 17th, 2012, patent name: Saucer submersible) mentions
A kind of dish-shaped underwater robot is gone out, four water spray motors built in the device are used for the navigation of submersible.But about the application
Technical solution without corresponding open.
(applying date on 09 30th, 2016, patent name: one kind was based on the fortune that is vortexed by Chinese patent document CN106218840A
Dynamic dish-shaped submarine navigation device) a kind of dish-shaped underwater robot, the external four conduit propellers of the device are proposed, and propose one
Body surface adsorption technology of the kind based on vortex absorption mechanism.But about the technical solution of the application without corresponding open.
Summary of the invention
The purpose of the present invention is to provide a kind of dish-shaped underwater robots promoted based on vector.The purpose is to be achieved
:
A kind of dish-shaped underwater robot promoted based on vector, which is characterized in that the top light shell including being provided with conduit
It invents 1 invention and lower part light shell invents 2 inventions, inventing to be provided in 1 invention in top light shell makes searchlight invent 5 inventions
And fiber optic cable invents the hole that 3 inventions pass through；In lower part, light shell invents 2 inventions and is provided with the hole for passing through video camera 4；Lower part is light
Shell is invented is equipped with lower layer support plate invention 10-3 invention, the invention 10-2 invention of middle layer support plate from the bottom to top inside 2 inventions
With the invention 10-1 invention of upper layer support plate；Wherein lower layer support plate invention 10-3 invention support pressure-resistant cabin invents 12 inventions, and takes
It carries video camera and invents 4 inventions；Middle layer support plate is invented 10-2 invention and is run through by pressure-resistant cabin 12 inventions of invention, and carries vector propulsion
Device；Upper layer support plate invents 10-1 invention carrying searchlight 5 inventions of invention and depth gauge invents 7 inventions, and there are corresponding
Hole makes watertight connector invent 16 inventions and runs through.
The vector propulsion device is formed by four groups, circumferentially disposed with underwater robot central symmetry, and is arranged in
Inside robot light shell；Wherein the first vector spout invention 6-1 invention and the second vector spout invention 6-2 invention are respectively with the
One water spray motor invention 14-1 invention is assembled with the second water spray motor invention 14-2 invention, is then invented by the first connector
17-1 invention constitutes first group of vector propulsion device with the invention 11-1 invention of the first steering engine；Third vector spout invents 6-3 invention
14-4 is invented with the 4th water spray motor with third water spray motor invention 14-3 invention respectively with four-vector spout invention 6-4 invention
Then invention assembly constitutes second group of vector with the invention 11-2 invention of the second steering engine by the invention 17-2 invention of the second connector and pushes away
Into device；The invention 6-5 invention of 5th vector spout is invented with the 5th water spray motor respectively with the 6th vector spout invention 6-6 invention
14-5 invention is assembled with the 6th water spray motor invention 14-6 invention, then invents 17-3 invention and third rudder by third connector
Machine invents 11-3 invention and constitutes third group vector propulsion device；7th vector spout is invented 6-7 invention and is sent out with the 8th vector spout
Bright 6-8 invention is assembled with the 7th water spray motor invention 14-7 invention, the 8th water spray motor invention 14-8 invention respectively, is then passed through
4th connector invents 17-4 invention and constitutes the 4th group of vector propulsion device with the invention 11-4 invention of the 4th steering engine.
The first connector invention 17-1 invention, the second connector invention 17-2 invention, third connector invent 17-3
It is disc-shape that connector adjacent thereto is invented in invention, the 4th connector invention 17-4, and two neighboring connector is respectively by the
One steering engine invents 11-1 invention, the second steering engine invention 11-2 invention, the invention 11-3 invention of third steering engine and invents 11- with the 4th steering engine
4 inventions are fixed, and are then fixed to each other again, and disk is invented with the first vector spout invention 6-1 invention, the second vector spout respectively
6-2 invention, third vector spout invention 6-3 invention, four-vector spout invention 6-4 invention, the 5th vector spout invent 6-5
Invention, the 6th vector spout invention 6-6 invention, the invention 6-7 invention of the 7th vector spout and the invention 6-8 invention of the 8th vector spout
It is fixed.
The present invention has the advantage that
1. underwater robot adjusts the direction of hydraulic propeller by steering engine, make propeller that can serve as horizontal direction master
It pushes away, and the vertical of vertical direction can be served as and pushed away, the navigation of underwater robot difference freedom degree is realized using eight hydraulic propellers,
It specifically includes: left-handed, original place state lower right under advance, retrogressing, forward travel state infralevoversion, forward travel state infradextroversion, original place state
It revolves, move to left, moving to right, floating and dive, and underwater robot can be made to realize floating and dive in the state of advance.
2. underwater robot shape is dish, most of element includes that propeller is placed in inside light shell, effectively
The ship resistance of underwater robot is reduced, also, has isotropic on horizontal plane, incoming flow suffered by surrounding is equal to be conducive to mention
High stability, and all components outside pressure-resistant cabin are according to being centrosymmetrically arranged, and space is enough in pressure-resistant cabin, electronic component volume
It is smaller, centre of buoyancy and metancenter can be made in same vertical line by the simple adjusting to positions of electronic parts, and can guarantee centre of buoyancy
Higher than 7 centimetres of metancenter or more.
3. underwater robot lower part disposes video camera, positioned inside attitude transducer and depth gauge, underwater machine can be monitored
The situation on periphery and the boat state of underwater robot itself when device people navigates by water.
Detailed description of the invention
Fig. 1 is surface structure schematic diagram of the invention；
Fig. 2 is schematic diagram of internal structure under the hiding light shell state of the present invention；
Fig. 3 is the structural schematic diagram of vector propulsion device of the present invention；
Fig. 4 is pressure-resistant cabin and supporting plate structure schematic diagram of the present invention；
Fig. 5 is ahead running status diagram of the present invention；
Fig. 6 is that the present invention moves to right operational configuration schematic diagram；
Fig. 7 is that the present invention moves to left operational configuration schematic diagram；
Fig. 8 is backrunning status diagram of the present invention；
Fig. 9 is dextrorotation operational configuration schematic diagram of the present invention；
Figure 10 is the left-handed operational configuration schematic diagram of the present invention；
Figure 11 is forward travel state infradextroversion operational configuration schematic diagram of the present invention；
Figure 12 is forward travel state infralevoversion operational configuration schematic diagram of the present invention；
Figure 13 is the diving stations schematic diagram of the hiding top light shell of the present invention；
Figure 14 is the floating status diagram of the hiding lower part light shell of the present invention；
Figure 15 is forward travel state float downward status diagram of the present invention；
Figure 16 is status diagram of sinking under forward travel state of the present invention；
Figure 17 is control system schematic diagram of the present invention.
Specific embodiment
The present invention is described further with reference to the accompanying drawing.
Embodiment 1
The artificial remote underwater robot of machine, i.e. ROV, specific technical solution are as follows: the shape of the robot
For dish, i.e. the shape of underwater robot light shell is dish.There are four vector propulsion devices inside the underwater robot, often
There are two propeller, the propellers can rotate around the axis at propeller center for a vector propulsion device, and the propeller is adopted
With hydraulic propeller, the hydraulic propeller is connected by connector with steering engine, and the steering engine is for changing the hydraulic jet propulsion
The direction of device spout, the light shell inside are the main body frame and pressure-resistant cabin of underwater robot, and the pressure-resistant cabin is for filling
Carry control underwater robot various electronic components, including master controller, battery, decompression chip, attitude transducer, optical transmitter and receiver,
Depth gauge etc..The pressure-resistant cabin end is pressure-resistant hatchcover, and the pressure resistance hatchcover makes optical fiber and electronic component by watertight connector
Electric wire pass through.The underwater robot lower part disposes video camera, and the underwater robot top disposes searchlight.
The decompression chip is placed in power management module integrated circuit, for the voltage of regulating cell, the decompression core
The voltage output of battery can be the different size of voltages such as 3.3V, 5V, 12V by piece, and then give the master controller, the spray
The power elements such as water propeller, the optical transmitter and receiver, the attitude transducer, the depth gauge.
The attitude transducer and the depth gauge can make operator read machine people navigate the real time data of state, make one and
The boat state of underwater robot described in Shi Xiugai.
Searchlight is arranged on the top of the underwater robot, for providing sufficient light.
The lower disposed video camera of the underwater robot, observer robot surrounding situation when for navigating by water.
The underwater robot realizes the communication between waterborne and underwater, the light end using optical fiber two optical transmitter and receivers of connection
Machine has utilizing camera interface, and 485 interfaces and network interface are installed on inside underwater robot for connecting the video camera
Vision signal and network signal are converted optical signal by optical transmitter and receiver, and optical signal is transmitted by the optical fiber, light end waterborne
Optical signal is decoded as vision signal and network signal by machine, and vision signal is transmitted to computer using video frequency collection card.
The underwater robot realizes that vector promotes by steering engine, and it is 50Hz that the steering engine, which receives signal frequency, wherein high
Level time is 1-2ms, rotation angle and the linear variation of high level time.Before installation, the letter of the steering engine 1.5ms is first given
Number, so that it is rotated to median location, further according to the duty ratio change steering engine corner for needing adjustment signal.
Embodiment 2
Such as attached drawing 1, the underwater robot is specifically divided into top light shell 1 and lower part is light using dish-shaped light shell
Shell 2.
Such as attached drawing 1, for the underwater robot dish light shell there are conduit, the conduit is vector spout 6-1 to 6-8's
Motion path.
Such as attached drawing 1, the underwater robot dish light shell there are hole, the hole for make video camera 4, searchlight 5 with
And fiber optic cable 3 passes through.
If the pressure-resistant hatchcover 13 of attached drawing 4,12 end of pressure-resistant cabin has watertight connector 16, the watertight connector 16 is used for
Through associated cable.
Such as attached drawing 4, support plate shares three layers, and upper layer support plate 10-1 carries the searchlight 5 and the depth gauge 7, and
There are corresponding holes, run through the watertight connector 16, and middle layer support plate 10-2 is run through by the pressure-resistant cabin 12, and described in carrying
Vector propulsion device, lower layer support plate 10-3 supports the pressure-resistant cabin 12, and carries the video camera 4.
Such as attached drawing 3, vector spout 6-1,6-2, spray water motor 14-1,14-2, and steering engine 11-1 and connector 17-1 constitute one
Group vector propulsion device.Vector spout 6-3,6-4, spray water motor 14-3,14-4, and steering engine 11-2 and connector 17-2 constitute one group
Vector propulsion device.Vector spout 6-5,6-6, spray water motor 14-5,14-6, and steering engine 11-3 and connector 17-3 constitute one group of arrow
Measure propulsion device.Vector spout 6-7,6-8, spray water motor 14-7,14-8, and steering engine 11-4 and connector 17-4 constitute one group of arrow
Measure propulsion device.Wherein connector is mainly made of two disks, and two disks are fixed with steering engine, and solid each other between disk
It is fixed, and disk is also fixed with vector spout.
The vector principle of propeller of the underwater robot are as follows: the person of being operated first provides instruction, signal by the optical transmitter and receiver from
It is waterborne to reach under water, it is finally transmitted to master controller, the master controller issues instruction, one side order steering engine 11-1 to 11-4
Corresponding position is gone to, and by vector propulsion device, makes vector spout 6-1 to 6-8 towards corresponding direction, on the one hand order spray
Hydroelectric machine 14-1 to 14-8 is in work or halted state.And then realize the movement of different freedom degrees.
Hydraulic propeller posture under difference boat state is as follows:
Such as attached drawing 5, when the underwater robot advances, the vector spout of all propellers is in horizontal position, at this time
Water spray motor 14-5 and 14-6 work, the water of ejection are flowed out from vector spout 6-5 and 6-6, generate forward thrust.And then it is real
Existing robot advances.
Such as attached drawing 6, when the underwater robot moves to right, the vector spout of all propellers is in horizontal position, at this time
Water spray motor 14-3 and 14-4 work, the water of ejection are flowed out from vector spout 6-3 and 6-4, generate thrust to the right.And then it is real
Existing robot moves to right.
Such as attached drawing 7, when the underwater robot moves to left, the vector spout of all propellers is in horizontal position, at this time
Water spray motor 14-7 and 14-8 work, the water of ejection are flowed out from vector spout 6-7 and 6-8, generate thrust to the left.And then it is real
Existing robot moves to left.
Such as attached drawing 8, when the underwater robot retreats, the vector spout of all propellers is in horizontal position, at this time
Water spray motor 14-1 and 14-2 work, the water of ejection are flowed out from vector spout 6-1 and 6-2, generate thrust backward.And then it is real
Existing robot retreats.
Such as attached drawing 9, when the underwater robot dextrorotation, the vector spout of all propellers is in horizontal position, at this time
Water spray motor 14-1,14-3,14-5,14-7 work, the water of ejection are flowed out from vector spout 6-1,6-3,6-5,6-7, are generated
Clockwise torque (depression angle).And then realize robot dextrorotation.
Such as attached drawing 10, when the underwater robot is left-handed, the vector spout of all propellers is in horizontal position, at this time
Water spray motor 14-2,14-4,14-6,14-8 work, the water of ejection are flowed out from vector spout 6-2,6-4,6-6,6-8, are generated
Torque (depression angle) counterclockwise.And then realize that robot is left-handed.
Such as attached drawing 11, in forward travel state infradextroversion, the vector spout of all propellers is in the underwater robot
Horizontal position, motor 14-5 and 14-6 work of spraying water at this time, the water of ejection are flowed out from vector spout 6-5 and 6-6, pass through adjusting
The voltage of water spray motor, the amount of water sprayed for reducing right side water spray motor generate clockwise torque while generating forward thrust
(depression angle).And then realize robot in forward travel state infradextroversion.
Such as attached drawing 12, in forward travel state infralevoversion, the vector spout of all propellers is in the underwater robot
Horizontal position, motor 14-5 and 14-6 work of spraying water at this time, the water of ejection are flowed out from vector spout 6-5 and 6-6, pass through adjusting
The voltage of water spray motor, the amount of water sprayed for reducing left side water spray motor generate torque counterclockwise while generating forward thrust
(depression angle).And then realize robot in forward travel state infralevoversion.
Such as attached drawing 13, in order to preferably show the posture of underwater robot vector spout, attached drawing 13 conceals described underwater
The top light shell 1 of robot.The underwater robot is in dive, by the adjusting of steering engine 11-1,11-2,11-3,11-4,
The equal vertical-horizontal of vector spout of all propellers is set to face upward, all water spray motors work at this time, and the water of ejection is from vector
It is flowed out in spout, generates the thrust of vertical-horizontal downwards.And then realize the dive of the robot.
Such as attached drawing 14, in order to preferably show the posture of underwater robot vector spout, attached drawing 14 conceals described underwater
The lower part light shell 2 of robot.The underwater robot is when floating, by the adjusting of steering engine 11-1,11-2,11-3,11-4,
Making the equal vertical-horizontals of vector spout of all propellers, all water spray motors work at this time downwards, and the water of ejection is from vector
It is flowed out in spout, generates the thrust that vertical-horizontal faces upward.And then realize the floating of the robot.
Such as attached drawing 15, the underwater robot, by the adjusting of steering engine 11-2,11-4, makes in forward travel state float downward
Downwards, other vector spouts are in a horizontal position vector spout 6-3,6-4,6-7 and 6-8 vertical-horizontal of propeller, at this time
Spray water motor 14-3,14-4,14-5,14-6,14-7,14-8 is in running order, the water of ejection from vector spout 6-3,6-4,
It is flowed out in 6-5,6-6,6-7,6-8, while generating forward thrust, generates the thrust that vertical-horizontal faces upward.And then it realizes
The robot is in forward travel state float downward.
Such as attached drawing 16, the underwater robot when dive, by the adjusting of steering engine 11-2,11-4, makes under forward travel state
Vector spout 6-3,6-4,6-7 and 6-8 vertical-horizontal of propeller faces upward, other vector spouts are in a horizontal position, at this time
Spray water motor 14-3,14-4,14-5,14-6,14-7,14-8 is in running order, the water of ejection from vector spout 6-3,6-4,
It is flowed out in 6-5,6-6,6-7,6-8, while generating forward thrust, generates the thrust of vertical-horizontal downwards.And then it realizes
Robot dive under forward travel state.
It is the underwater robot control system schematic diagram such as attached drawing 17.
The pressure-resistant cabin 12 of the underwater robot is provided with master controller, optical transmitter and receiver, attitude transducer, battery and decompression mould
Block.When the robot navigation is in the waters of water flow complexity, the attitude transducer and the depth gauge return to robot
The deviation of practical boat state and expectation boat state, it may be assumed that the head that the attitude transducer can obtain underwater robot in real time shakes, heel,
The angle and angular acceleration of trim, the depth gauge can return to robot change in depth in real time, and data are passed through fiber optic cable 3
It is back to waterborne, operator is made to make decisions in time.
The underwater robot buoyancy adjustment mainly passes through arrangement counterweight or buoyancy material.Robot Design mistake under water
Cheng Zhong usually makes buoyancy be equal to gravity by adjusting, i.e. underwater robot can suspend in water, but since error can not be kept away
Exempt from, so usually making buoyancy slightly larger than gravity, specifically, between the lower part light shell 2 and the support plate bottom 10-3
Space for arranging counterweight, the space between the top light shell 1 and the support plate top layer 10-1 is for arranging buoyancy
Material.
Such as attached drawing 1, video camera 4 is installed in the underwater robot bottom, is used for observer robot surrounding situation.Concrete condition
Are as follows: in slave computer, supply lines and signal wire need to be connected by imaging drive end unit, wherein the supply lines is directly connected to the pressure-resistant cabin 12
Interior power supply, the signal wire, that is, BNC extended line, BNC extended line one end are connected with the camera shooting drive end unit, and one end need to connect one
A BNC turns AV connector, this is because signal enters video frequency collection card after being transferred to host computer, and video frequency collection card can only receive
AV signal, so needing to convert signal, the other end of the AV connector connects slave computer optical transmitter and receiver.In host computer, on
Position machine optical transmitter and receiver is directly connected to video frequency collection card, and the USB joint of video frequency collection card connects computer.It works in the underwater robot
Under state, operator can observe the underwater robot forward travel state picture in real time by computer (or display screen).
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (3)
1. a kind of dish-shaped underwater robot promoted based on vector, which is characterized in that the top light shell (1) including being provided with conduit
With lower part light shell (2), the hole for passing through searchlight (5) and fiber optic cable (3) is provided on top light shell (1)；In lower part
Light shell (2) is provided with the hole for passing through video camera 4；Lower layer support plate (10- is installed from the bottom to top inside lower part light shell (2)
3), middle layer support plate (10-2) and upper layer support plate (10-1)；Wherein lower layer support plate (10-3) support pressure-resistant cabin (12), and take
It carries video camera (4)；Middle layer support plate (10-2) is run through by pressure-resistant cabin (12), and carries vector propulsion device；Upper layer support plate
(10-1) carries searchlight (5) and depth gauge (7), and there are corresponding holes, run through watertight connector (16).
2. a kind of dish-shaped underwater robot promoted based on vector according to claim 1, which is characterized in that the vector
Propulsion device is formed by four groups, circumferentially disposed with underwater robot central symmetry, and is arranged in inside robot light shell；
Wherein the first vector spout (6-1) and the second vector spout (6-2) are electric with the first water spray motor (14-1) and the second water spray respectively
Machine (14-2) assembly, then constitutes first group of vector propulsion device by the first connector (17-1) and the first steering engine (11-1)；
Third vector spout (6-3) and four-vector spout (6-4) spray water motor (14-3) with third respectively and the 4th water spray motor
(14-4) assembly, then constitutes second group of vector propulsion device by the second connector (17-2) and the second steering engine (11-2)；The
Five vector spouts (6-5) are sprayed water motor (14-5) with the 5th respectively with the 6th vector spout (6-6) and the 6th water spray motor (14-
6) it assembles, third group vector propulsion device is then constituted by third connector (17-3) and third steering engine (11-3)；7th arrow
Spout (6-7) and the 8th vector spout (6-8) is measured to fill with the 7th water spray motor (14-7), the 8th water spray motor (14-8) respectively
Match, the 4th group of vector propulsion device is then constituted by the 4th connector (17-4) and the 4th steering engine (11-4).
3. a kind of dish-shaped underwater robot promoted based on vector according to claim 2, which is characterized in that described first
Connector (17-1), the second connector (17-2), third connector (17-3), the 4th connector (17-4) connector adjacent thereto
It is disc-shape, two neighboring connector is respectively by the first steering engine (11-1), the second steering engine (11-2), third steering engine (11-3)
It is fixed with the 4th steering engine (11-4), it is then fixed to each other again, and disk is sprayed with the first vector spout (6-1), the second vector respectively
Mouth (6-2), third vector spout (6-3), four-vector spout (6-4), the 5th vector spout (6-5), the 6th vector spout (6-
6), the 7th vector spout (6-7) and the 8th vector spout (6-8) are fixed.
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| CN201810869555.8A CN109018277B (en) | 2018-08-02 | 2018-08-02 | Dish underwater robot based on vector propulsion |
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| CN201810869555.8A CN109018277B (en) | 2018-08-02 | 2018-08-02 | Dish underwater robot based on vector propulsion |
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| CN109018277B CN109018277B (en) | 2020-08-18 |
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| CN109693775A (en) * | 2019-01-10 | 2019-04-30 | 西北工业大学 | A kind of dish-shaped submarine navigation device of the dynamical system based on valve switch in conjunction with duct motor |
| CN110316338A (en) * | 2019-07-12 | 2019-10-11 | 西北工业大学 | Can the water spray vector of posture adjustment promote circle butterfly shaped underwater robot and its control method |
| CN110346525A (en) * | 2019-07-25 | 2019-10-18 | 广东华中科技大学工业技术研究院 | A kind of movable water quality monitering buoy and its application method |
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| CN111959736A (en) * | 2020-08-21 | 2020-11-20 | 南京工程学院 | Water jet propulsion type underwater spherical heavy-load robot |
| CN112145868A (en) * | 2020-09-10 | 2020-12-29 | 深圳市博铭维智能科技有限公司 | Vector propulsion pipeline robot |
| CN113071634A (en) * | 2021-03-29 | 2021-07-06 | 电子科技大学成都学院 | Underwater mobile device and fishpond water environment monitoring robot |
| CN113277042A (en) * | 2021-07-07 | 2021-08-20 | 东南大学 | Omnidirectional disc-shaped underwater robot |
| CN115140287A (en) * | 2022-06-09 | 2022-10-04 | 东南大学 | Jet flow driven dish-shaped submersible and motion method thereof |
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| CN110316338A (en) * | 2019-07-12 | 2019-10-11 | 西北工业大学 | Can the water spray vector of posture adjustment promote circle butterfly shaped underwater robot and its control method |
| CN110346525A (en) * | 2019-07-25 | 2019-10-18 | 广东华中科技大学工业技术研究院 | A kind of movable water quality monitering buoy and its application method |
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| CN110637543B (en) * | 2019-09-20 | 2022-04-15 | 山东理工大学 | Paddy field mobile operation platform |
| CN111959736A (en) * | 2020-08-21 | 2020-11-20 | 南京工程学院 | Water jet propulsion type underwater spherical heavy-load robot |
| CN111959736B (en) * | 2020-08-21 | 2022-04-15 | 南京工程学院 | Water jet propulsion type underwater spherical heavy-load robot |
| CN112145868A (en) * | 2020-09-10 | 2020-12-29 | 深圳市博铭维智能科技有限公司 | Vector propulsion pipeline robot |
| CN113071634A (en) * | 2021-03-29 | 2021-07-06 | 电子科技大学成都学院 | Underwater mobile device and fishpond water environment monitoring robot |
| CN113277042A (en) * | 2021-07-07 | 2021-08-20 | 东南大学 | Omnidirectional disc-shaped underwater robot |
| CN115140287A (en) * | 2022-06-09 | 2022-10-04 | 东南大学 | Jet flow driven dish-shaped submersible and motion method thereof |
| CN115140287B (en) * | 2022-06-09 | 2023-12-19 | 东南大学 | Disk-shaped submersible driven by jet flow and movement method thereof |
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