Design and implementation of a modular and reconfigurable underwater robot
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摘要: 为使水下机器人可以迅速适应不同应用场景，设计了一种模块化可拼搭组合的无人水下航行器（Unmanned Underwater Vehicle, UUV）。水下机器人采用长方体模块作为基本组成部件，通过无线电能与数据传输实现了模块间非电气接触式互联，避免了传统水密接插件的使用。模块设计为主控、拓展两种类型，可根据任务需求进行自由组合，并通过特殊的滑块与卡扣结构实现模块间快速装配与稳固连接。通过模块拼搭试验验证了模块间的拼搭拓展能力，通过水下试验验证了模块间通信和无线电能传输的可行性。无线电能传输测试显示，模块在水下环境中可稳定输出电压，满足设备运行需求。原理样机水下运行测试验证了整体方案的可行性。模块化可拼搭设计可为UUV在各种应用场景中的灵活部署与功能扩展提供了广泛的可能性。Abstract: To enable underwater robots to quickly adapt to various application scenarios, a modular and reconfigurable Unmanned Underwater Vehicle (UUV) was designed. The UUV employs rectangular modules as its basic components, achieving non-electrical-contact interconnection through wireless power and data transmission, thereby eliminating the need for traditional watertight connectors. The modules are categorized into control and extension types, allowing flexible combinations based on task requirements. A specialized slider and clasp structure facilitates rapid assembly and secure connections between modules. Module interconnection and expansion capabilities were validated through modular assembly tests, and underwater experiments confirmed the feasibility of inter-module communication and wireless power transmission. Wireless power transfer tests demonstrated stable voltage output in underwater environments, meeting operational requirements. Prototype underwater operation tests further validated the feasibility of the overall design. This modular, reconfigurable design offers extensive possibilities for flexible deployment and functional expansion of UUVs across various application scenarios.
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图 1 模块化可拼搭组合的水下机器人一种布局示意图
Fig. 1 One configuration of a modular and reconfigurable UUV
图 5 模块间锁定机构解锁和锁定状态示意图
(a) 解锁状态 (b) 锁定状态
Fig. 5 Locked and unlocked states of inter-module locking mechanism
(a) Unlocked states (b) Locked states
图 6 结构布局示意图
(a) 主控模块结构布局示意图 (b) 推进器模块结构布局示意图(a) Layout of main control module structure (b)Layout of thruster module structure
Fig. 6 Layout of structural configuration
图 7 模块结构剖视图
(a) 主控模块结构剖视图(b) 推进器模块结构剖视图
Fig. 7 Cross-sectional view of module structure
(a) Cross-sectional view of main control module (b) Cross-sectional view of thruster module
图 8 线圈位置示意图
(a) 主控模块线圈位置示意图 (b) 推进器模块线圈位置示意图
Fig. 8 Schematic diagram of coil positions
(a) Coil positions in the main control module (b) Coil positions in the thruster module
图 9 主控模块和拓展模块电子系统组成及模块间互联工作示意图
Fig. 9 Electronic system composition of main control module and expansion module and their power and signal interconnection
图 12 主控和推进器模块实物装配图
(a)主控模块实物装配（不含舱体） (b)推进器模块实物装配
Fig. 12 Physical assembly diagram of the main control and thruster modules
(a) Physical assembly of the main control module (without housing) (b)Physical assembly of the thruster module
图 16 无线电能传输测试场景
(a)陆地上进行无线电能传输测试 (b)水下进行无线电能传输测试
Fig. 16 Wireless power transmission test
(a) Wireless power transmission test on land (b) Underwater wireless power transmission test
图 15 模块拼搭组合试验
(a)拼搭实现四垂推UUV (b)拼搭实现推进器两平两立UUV
Fig. 15 Module assembly combination test
(a) Modular assembly realizing a UUV with four vertical thrusters (b)Modular assembly realizing a UUV with two horizontal and two vertical thrusters
图 17 无线电能传输单元带载工作图
Fig. 17 Operational diagram of wireless power transmission unit under load
图 18 无线电能传输波形图
(a)发射和接收线圈的电压波形（黄线为示波器通道1测得的发射线圈电压波形，绿线为通道2测得的接收线圈电压波形）(b)直流电电压波形（黄线为示波器通道1测得的发射端输入波形，绿线为示波器通道2测得的接收端输出波形）
Fig. 18 Waveform diagram of wireless power transmission
(a) Voltage waveforms of transmitting and receiving coils (yellow: transmitter coil via oscilloscope channel 1; green: receiver coil via channel 2) (b) DC voltage waveforms (yellow: transmitter input via oscilloscope channel 1; green: receiver output via channel 2)
图 19 模块化UUV在水中运行图
(a)模块化UUV前进过程关键帧组图(b)模块化UUV旋转过程关键帧组图
Fig. 19 Images of modular UUV operating underwater
(a) Keyframes of forward movement of the modular UUV (b) Keyframes of rotational movement of the modular UUV
表 1 模块和样机的体积、质量及因模块化设计额外增加的占比
Tab. 1 Volume, mass, and increased proportion due to modular design in modules and the prototype
推进器模块 主控模块 本文四推进器样机 尺寸（长×宽×高）/mm 97.8×68×145 118×118×166 452.6×452.6×151.5 体积/cm3 407.45 803.15 2874.51 质量/g 790 1271 4875 模块化设计产生的
额外体积/cm345.96 61.28 154.1 模块化设计产生的
额外体积占比11.28% 7.63% 10.08% 模块化设计产生的
额外质量/g209.57 279.46 1117.74 模块化设计产生的
额外质量占比26.53% 21.99% 22.93% 
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表 2 带载状态无线电能传输测试数据
Tab. 2 Wireless power transmission test data under load
电压/V 电流/A 功率/W 发射端的输入 11.11 1.25 13.88 接收端的输出 10.97 1.19 13.05
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