Method for controlling shallow water observation-level mini underwater robot

A kind of underwater robot, mini technology, applied in the program control of sequence/logic controller, electrical program control, etc.

Active Publication Date: 2013-12-04
QINGDAO YUANCHUANG ROBOT AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] The purpose of the embodiment of the present invention is to provide a method for controlling a shallow-water observation-level miniature underwater robot, aiming to solve the problem of combining the control algorithm and the control system of the underwater robot

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  • Method for controlling shallow water observation-level mini underwater robot
  • Method for controlling shallow water observation-level mini underwater robot
  • Method for controlling shallow water observation-level mini underwater robot

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Embodiment Construction

[0104] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0105] figure 1 It shows the flow of the method for controlling the shallow water observation level mini underwater robot provided by the present invention. For ease of illustration, only the parts relevant to the present invention are shown.

[0106] The method for controlling the shallow water observation level mini underwater robot of the present invention, the method for controlling the shallow water observation level mini underwater robot comprises the following steps:

[0107] Step 1, the program is initialized, and the 485 communication module receives and opens;

[0108] Step 2, judge whether the reception of the...

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Abstract

The invention discloses a method for controlling a shallow water observation-level mini underwater robot. The method includes control construction and communication frame; by means of the method, a lower computer main control panel controls three underwater propellers to rotate, controls cameras to switch, controls a switch of an underwater light-emitting diode (LED) lamp and brightness of the LED lamp, and achieves various underwater automation functions (such as automatic depth keeping, automatic come-up and submergence and automatic advance); both-way communication between a deck unit and the underwater robot is achieved, so is communication between a main control chip of the underwater robot and a co-processor ATmega 8, a communication protocol relevant to communication between the underwater robot and the deck unit is formulated, the underwater robot can receive control instructions of the deck unit, and the deck unit can receive state information sent by the underwater robot. Besides, according to the method, feasibility of achieving automatic depth keeping on the basis of an incremental PID algorithm is discussed, and accuracy of automatic depth keeping is analyzed and proved through experimental verification machine data.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and in particular relates to a method for controlling a shallow-water observation-level miniature underwater robot. Background technique [0002] With the continuous deepening of people's understanding of the ocean, the limitations of human physical conditions can no longer meet the requirements of underwater working time, work efficiency and work intensity. Aquaculture, underwater observation, and seabed operations are playing an increasingly important role. How to use underwater robots to effectively develop and utilize marine bio-energy, water resources, and metal resources has become an important issue before people. [0003] At present, there are already a series of commercial underwater robot products in foreign countries. After more than 50 years of development, they have become an important industrial chain. Canada, the United Kingdom, the United States, France, Germany, etc. ha...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/04
Inventor 牛阿丽
Owner QINGDAO YUANCHUANG ROBOT AUTOMATION
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