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A Method for Controlling Shallow-Water Observation-Grade Mini-UV

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

Active Publication Date: 2016-07-20
QINGDAO YUANCHUANG ROBOT AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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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Embodiment Construction

[0104] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but 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 description, only parts related to the present invention are shown.

[0106] The method for controlling a shallow observation-level mini underwater robot of the present invention includes the following steps:

[0107] Step 1, the program is initialized, and the 485 communication module is received and opened;

[0108] Step two, judge whether the reception completion flag of the control information is set, if it is set, go to step three; if it is not set, go ...

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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 mini underwater robot. Background technique [0002] As people's understanding of the ocean continues to deepen, the limitations of human body conditions can no longer meet the requirements of underwater working time, work efficiency and work intensity. The emergence of underwater robots, as an assistant for human development, exploration, and use of the ocean, is used in aquatic products. Farming, underwater observation, and seabed operations are playing an increasingly important role. How to use underwater robots to effectively develop and utilize marine biological energy, water resources, and metal resources has become an important issue facing people. [0003] At present, there have been a series of commercialized underwater robot products abroad. After more than 50 years of development, it has become a...

Claims

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Application Information

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