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针对现有水下机器人模态(航态)单一的不足,完成了一种新型开架式模态切换水下机器人(MC-ROV)的总体设计方案,提出了ROV浮游与爬行模态切换方法,可实现浮游与爬行清污作业的自由切换,完成了ROV样机的装配,并进行了陆上系统测试、水密性测试、整体平衡实验。在此基础上开展了下水试航实验,实现了视频捕获、直航、回转、潜浮等功能,完成了推进系统的推力测试,测试数据为进一步开展MC-ROV操控性能的研究提供了理论参考和试验数据。
Aiming at the single deficiency of existing underwater vehicle modal (flight state), the overall design scheme of a new open-frame modal-switching underwater vehicle (MC-ROV) is completed. The method of ROV floating and creeping modal switching is proposed, It can realize the free switching of planktonic and crawl cleaning operations, complete the assembly of ROV prototype, and conduct onshore system testing, watertightness testing and overall balance experiment. On the basis of this, we carried out launching trials and achieved the functions of video capture, direct flight, slewing and submarine flooding. The thrust test of the propulsion system was completed. The test data provided a theoretical reference for further research on MC-ROV handling performance. Test Data.