Development of the movable Quadcopter in water
Tomoki HONTA, Masafumi MIWA · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2016
In recent years, the number of the aging dams are increasing. In Japan, more than 3,000 dams are existing and cracks are generated in some of these dams. So, we present an underwater multirotor helicopter as the underwater investigation tool. In this study, we developed the underwater multirotor helicopter that prevents accidents due to water, and investigated the performance of diving maneuver. We used the rotor which is able to do positive rotation and negative rotation. The underwater multirotor helicopter moves in air by spinning rotor to provide the ascending thrust. On the other hand, the underwater multirotor helicopter moves in water by spinning rotor to provide the descending thrust.