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Control method based on underwater obstacle avoidance device

A control method and obstacle avoidance technology, applied in two-dimensional position/channel control, vehicle position/route/altitude control, non-electric variable control and other directions, which can solve the problems of low reliability, affecting the normal transmission and reception of signals, and easy attenuation. , to achieve the effect of fast response, good obstacle avoidance, and prevention of inability to work

Inactive Publication Date: 2017-01-11
HANGZHOU CHANG DONG INTELLIGENT TECH CO LTD
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Problems solved by technology

Although infrared and ultrasonic distance measuring methods are non-contact methods, they can also detect obstacles in advance, but infrared and ultrasonic waves are easily attenuated in water when they are emitted, affecting the normal sending and receiving of signals, and the reliability of detection is low

Method used

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  • Control method based on underwater obstacle avoidance device
  • Control method based on underwater obstacle avoidance device
  • Control method based on underwater obstacle avoidance device

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Embodiment Construction

[0032] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0033] refer to Figure 1-7 As shown, a control method based on an underwater obstacle avoidance device includes an obstacle avoidance controller, a distance detector, and a steering device, wherein the obstacle avoidance controller is connected to the distance detector and the steering device; The distance detector detects the distance value in the horizontal plane and feeds it back to the obstacle avoidance controller, and the obstacle avoidance controller judges and controls the steering of the steering device according to the distance value.

[0034] Such as figure 1 As shown, the bionic machine 1 is provided with a head 2, a tail 3, and a skeleton 5; the head 2 is provided with a lower jaw 21; it also includes an auxiliary steering device, which includes a bionic fin 4, and the bionic fin 4 are 4 in number, and the 4 bionic fi...

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Abstract

The invention provides a control method based on an underwater obstacle avoidance device. The control method based on the underwater obstacle avoidance device comprises the steps of distance detection initialization, distance value setting, distance value detection, two-side distance comparison, distance value comparison, and steering engine steering. A distance detector is used for detecting the distance value in the horizontal plane and feeding back to an obstacle avoidance controller. The obstacle avoidance controller is used for, according to the distance value, judging and controlling a steering gear to be steered. The control method based on the underwater obstacle avoidance device has the advantages of fast response speed, good flexibility and good obstacle avoidance effect. The pressure detection is executed to effectively prevent the situation that the obstacle avoidance device cannot be operated because of the twisting of the obstacle. The failure rate is effectively reduced.

Description

technical field [0001] The invention relates to an underwater obstacle avoidance device, in particular to a control method based on the underwater obstacle avoidance device. Background technique [0002] Bionic machines are at the forefront of robot research, and avoiding obstacles reasonably is an important indicator of robot intelligence, especially in the field of underwater robots. In previous designs, obstacle detection was mostly achieved by means of a collision switch, or by infrared ranging or ultrasonic ranging, but these methods were not ideal. The collision switch detection is a contact detection. Only after the head or the middle of the body of the bionic machine collides with an obstacle, the collision switch contacts, and the collision signal is detected before the obstacle avoidance action is started. Judge obstacles in advance and make corresponding actions to avoid obstacles in advance. Although infrared and ultrasonic distance measuring methods are non-co...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 陈辉何仁渊于赛赛洪定安
Owner HANGZHOU CHANG DONG INTELLIGENT TECH CO LTD
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