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Differential attitude control system for unmanned autonomous underwater vehicles

An underwater robot and attitude control technology, applied in the directions of underwater operation equipment, transportation and packaging, ships, etc., can solve the problems of operation failure, difficulty, and difficulty in real-time, fast and stable.

Inactive Publication Date: 2012-07-04
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the underwater robot encounters the interference of the surge, it will cause problems such as sway, heave, roll, and pitch instability. If the operator on the patrol boat completely relies on the manual remote control of the surface and underwater monitoring devices It is difficult to achieve real-time, fast and stable control, and it also depends on the proficiency and response speed of the operator, especially when the underwater robot dives into the water with relatively turbid water quality, the operator cannot see the posture of the underwater robot, and can only rely on It is very difficult to manipulate underwater images or sonar information, which may lead to operation failure and other situations
[0003] At present, unmanned autonomous underwater robots are generally propelled by a main propeller in the horizontal direction, and no propellers are installed in the vertical and lateral directions. Active control for effective roll attitude

Method used

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  • Differential attitude control system for unmanned autonomous underwater vehicles
  • Differential attitude control system for unmanned autonomous underwater vehicles
  • Differential attitude control system for unmanned autonomous underwater vehicles

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0020] Such as figure 1 As shown, the unmanned autonomous underwater robot attitude control system includes a main controller (101) connected to a differential attitude adjustment mechanism (102) and an attitude sensor (103), characterized in that the attitude sensor (103) It is used to sense the attitude angle of the underwater robot, and transmit the attitude angle information to the main controller (101); the differential attitude adjustment mechanism (102) is an adjustment mechanism for the blades installed on both sides of the underwater robot body. The mechanism realizes the roll attitude control of the underwater robot.

Embodiment 2

[0022] This embodiment is basically the same as Embodiment 1, especially in that:

[0023] see figure 2 , the differential adjustment mechanism (102) adopts a symmetrical differential structure, which is used to realize the differential reverse reversal of the left and right blades (24a, 24b) of the underwater robot body, and realize the force in the rolling direction of the underwater robot body, and then To achieve the purpose of adjusting the roll attitude; , 28b, 31a, 31b, 32a, 32b), first, second and third rocker arms (5, 13, 19), first and two second connecting rods (6, 23), first, second , two third and two fourth connecting sleeves (7, 10, 21a, 21b, 30a, 30b), transmission shaft (14), sealing nut (15), sleeve rod (16), two swing connecting blocks ( 29a, 29b), two short shafts (33a, 33b), two brackets (34a, 34b) and two paddles (24a, 24b); the first rocker arm (5) and the steering gear (1 ) connected to the output shaft and fixed by screws (2, 4); the screw (3) pass...

Embodiment 3

[0025] This embodiment is basically the same as Embodiment 2, and the special features are:

[0026] see image 3 , the main controller 2 is composed of a controller (201) ATmega8L, a reset circuit (202), a power supply circuit (203) and an LED indicator circuit (204).

[0027] Described controller 201 adopts ATmega8L microprocessor of U.S. Atmel Company, contains analog-to-digital converter, can realize the analog-to-digital conversion of attitude angle information, obtains attitude angle value, has PWM pulse width modulation output control function, embedded EEPROM Memory and built-in RC oscillator clock circuit, etc., the entire main control control process such as Figure 4 shown. The signal pins AD0 and AD1 of the controller (201) are connected to the signal output pins of the attitude sensor (103); the signal pin PB3 of the controller (201) is connected to the steering gear (1), and the steering gear is controlled by PWM pulse width modulation The corner of the machin...

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Abstract

The invention discloses a differential attitude control system for unmanned autonomous underwater vehicles, which comprises a differential attitude adjusting mechanism connected with an attitude sensor and a main controller; the differential attitude adjusting mechanism is a mechanism for carrying out adjustment on blades arranged on both sides of an underwater vehicle body, and the mechanism is in a symmetrical differential structure and used for realizing the differential reverse turnover of the blades on the left and right of the underwater vehicle body, realizing the rolling-direction stress of the underwater vehicle body, and then achieving the purpose of rolling attitude adjustment; the main controller is connected with the differential attitude adjusting mechanism and used for implementing an operation of controlling the differential attitude adjusting mechanism to connect so as to realize the control on the rolling attitude of an underwater vehicle; and the attitude sensor is connected with the main controller and used for realizing the reading of attitude information of the underwater vehicle. The attitude control system disclosed by the invention can be widely applicable to the attitude control of underwater vehicles.

Description

technical field [0001] The invention relates to the field of attitude control of robots, in particular to a differential attitude control system of an unmanned autonomous underwater robot. Background technique [0002] Underwater robots have achieved great practical application results in underwater environment detection, monitoring, underwater target capture, and underwater facility operations. It can quickly and efficiently complete related measurement, monitoring, monitoring and manipulator actions. When the underwater robot encounters the interference of the surge, it will cause problems such as sway, heave, roll, and pitch instability. If the operator on the patrol boat completely relies on the manual remote control of the surface and underwater monitoring devices It is difficult to achieve real-time, fast and stable control, and it also depends on the proficiency and response speed of the operator, especially when the underwater robot dives into the water with relativ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/52
Inventor 唐智杰沈佳丽汪帅何清波罗均谢少荣
Owner SHANGHAI UNIV