Motion control method of ROV underwater robot

An underwater robot and motion control technology, applied in non-electric variable control, motor vehicles, underwater ships, etc., can solve the problems of stability, rapidity and accuracy of the underwater robot control system, and achieve Complete functions, high utilization efficiency and space saving effect

Inactive Publication Date: 2016-03-16
HOHAI UNIV CHANGZHOU
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, there are few multifunctional and multiplexed ROV underwater robots that can realize both bottom detection and wall-attachment detection, and there is still a lot of room for development in this area. It is difficult to maintain good stability, speed and accuracy

Method used

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  • Motion control method of ROV underwater robot
  • Motion control method of ROV underwater robot
  • Motion control method of ROV underwater robot

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Embodiment Construction

[0024] In order to better understand the technical features, technical content and technical effects of the present invention, the accompanying drawings of the present invention will now be described in more detail in conjunction with the embodiments.

[0025] Below in conjunction with accompanying drawing and embodiment the patent of the present invention is further described.

[0026] Such as figure 1 As shown, the present invention provides a kind of motion control method of ROV underwater robot, comprises the following steps:

[0027] Step 1, the host PC program is initialized, and the underwater robot is started;

[0028] Step 2, the underwater robot uses the attitude sensor, water depth sensor, ultra-short baseline and underwater camera to collect underwater information, and sends the information to the upper PC;

[0029] Step 3: The upper PC selects the working mode of the underwater robot, and then uses the PID algorithm of the limit weakening integral to control the...

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Abstract

The invention provides a motion control method of an ROV underwater robot. The motion control method comprises following steps that 1: the program of an upper PC machine is initialized and an underwater robot is started; 2: the underwater robot uses a posture sensor, a water depth sensor, an ultra-short base line and an underwater camera head to acquire underwater information and sends the underwater information to the upper PC machine; 3: the an upper PC machine selects working modes of the underwater robot, carries out control operation on the prospective position and posture information by adopting the PID algorithm according to the received underwater information and then sends the operation results to a control bin of the underwater robot; and the control bin controls 8 propellers on the robot according to the operation results. The working modes of the underwater modes comprise the working mode and the adherence working mode. The propellers are distributed on a machine body framework in two layers.

Description

technical field [0001] The invention relates to a motion control method of an ROV underwater robot, belonging to the technical field of underwater robot control. Background technique [0002] As people gradually turn their attention to the ocean rich in resources, the detection of underwater environment and seabed resources has become the primary problem that people need to solve, and underwater robots have gradually developed from this. Of course, in addition to being used in the marine field, underwater detection in small-scale underwater areas also requires the application of underwater robots, such as the detection of the underwater environment of rivers and lakes, the detection of cracks in large ship hulls and reservoir dams, etc. If divers Diving underwater for detection not only requires expensive professional divers for each detection, but also is time-consuming, laborious, inefficient, and fails to achieve the expected detection results; and underwater robots can c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692B63G8/16B63G2008/002
Inventor 周军蔡艺超黄聪郭云翔瞿喜锋张珧傅昱平马霰韩雪
Owner HOHAI UNIV CHANGZHOU
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