UNDERWATER MOVING APPARATUS AND MOVING METHOD THEREOF

摘要

PURPOSE: An underwater moving device and a moving method thereof are provided to easily move to the target water depth by changing the posture of the device and generating thrust. CONSTITUTION: An underwater moving device (10) comprises a body (20), a propeller (30), a thruster part (50), and multiple leg parts (60). The propeller is installed on the rear of the body. The thruster part comprises a vertical thruster and a horizontal thruster installed on the body. The leg parts are located at both side of the body and comprise multi-joint modules. [Reference numerals] (10) Underwater moving device; (160) Part for moving the center of gravity; (170) Sensor part; (171) Water depth sensor; (172) Tilt sensor; (173) Ultrasonic waves sensor; (180) Communication part; (190) Control part; (20) Body; (30) Propeller; (40) Tail wing part; (50) Thruster part; (60) Leg parts part; (70) Arm part; (80) Buoyancy generating part