一种混合驱动小型自主水下机器人设计

Design of a Small Hybrid Underwater Autonomous Vehicle

本文介绍了一种小型水下观测机器人的设计方法。机器人有两种驱动方式:浮力驱动和螺旋桨推动。浮力驱动以节省能耗延长作业时间,螺旋桨推进以更好地应对水下环境挑战。文章从载体结构、控制系统和软件系统三个方面,详细介绍小型混合驱动水下机器人的设计。机器人具有成本低、续航时间长等优点,为渔业养殖、湖泊污染防治等长时间、大面积水体观测应用提供了新的思路。

The paper describes the design of a small hybrid underwater autonomous vehicle which is driven by buoyance and pump.Utilizing of buoyance would save energe consume and extend the woeking time. Driven by pump would speed up the vehicle to better handle the underwater challenges. This paper details the design from three aspects： platform architecture, control system and software system. The vehicle with the advantages of low-cost and long-endurance could be a new solution for fisheries and lake protection that require large time and space observation of the water quality.