A new type of small underwater robot for small scale ocean observation

摘要

A novel small underwater robot for ocean observation is introduced, especially suitable for fixed point or small range and underwater slit and gully area of ocean observation. The underwater robot adopts the jellyfish shape design, changes its attitude through adjusting underwater robot's center of gravity position, and possesses five degrees of freedom combining the propeller thrust. Four cameras are equipped at the bottom of the robot which can conduct an all-round observation in the water. And the robot also has the emergency handing device, which ensures the safety of the underwater robot. In addition, all various kinds of other small sensors can be installed easily on the underwater robot to extend the functionality. The most distinguishing features of the underwater robot are high reliability, simple structure, low-cost, easy-operation, and portability. Maximum cylinder diameter is 150 mm, height is 300 mm, weight is about 3 kg. The research background, mechanical design, fluid analysis, kinematic analysis of the underwater robot is introduced. In the end, development prospects and significance are discussed.