Control method based on underwater floating and sinking device

A control method and water bladder technology, which are applied in the directions of underwater ships, underwater operation equipment, transportation and packaging, etc., can solve the problems of inability to achieve suspension motion, inaccurate depth control, etc., and achieve stable depth, good flexibility, Responsive effect

Inactive Publication Date: 2017-01-25
HANGZHOU CHANG DONG INTELLIGENT TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of this method is that the depth control is inaccurate, and a high forward swimming speed must be used, and it is impossible to achieve low or zero speed suspension movement

Method used

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  • Control method based on underwater floating and sinking device
  • Control method based on underwater floating and sinking device
  • Control method based on underwater floating and sinking device

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Embodiment Construction

[0033] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0034] refer to Figure 1-6 As shown, a control method based on underwater floating and sinking devices, such as figure 1 As shown, it includes a sinking controller, a water pump box 2, and a pressure tank 3. The water pump box 2 is provided with a water pump 21 and a valve body 23; Gas 32 is sealed between the water bag 31 and the pressure tank 3; the water pump 21, the valve body 23 are connected with the ups and downs controller; the water pump 21 and the water bag 31 are connected by pipelines; There is a valve body 23; as figure 2 As shown, the ups and downs controller is installed in the water pump box 2; the ups and downs controller controls the water intake of the water pump 21 and the switch of the valve body 23.

[0035] Preferably, the valve body 23 is an electromagnetic check valve.

[0036] Preferably, the number of...

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Abstract

The invention provides a control method based on an underwater floating and sinking device. The method comprises the steps of depth value initializing: defining the depth value range and defining the absolute depth 0 value; depth value setting: setting the preset depth value; speed value setting: setting the preset floating speed, the preset sinking speed and the preset suspending speed; depth detection: detecting the current position depth value of the underwater floating and sinking device; depth comparison: comparing the current position depth with the preset depth value; speed detection: detecting the current floating or sinking or suspending speed of the underwater floating and sinking device; speed comparison: comparing the current speed with the preset floating speed, the preset sinking speed and the preset suspending speed. The control method has the advantages that the fast floating, the fast diving and the suspending at the set speed of a bionic robot in water are realized; the response speed of the control method is high; the flexibility is good; the depth is kept stable.

Description

technical field [0001] The invention relates to an underwater floating device, in particular to a control method based on the underwater floating device. Background technique [0002] The original bionic machine's free-floating system in water adopts the method of changing the position of the center of gravity and the method of pectoral fins. Center of gravity position method: the principle of changing the center of gravity position method is to equip a movable counterweight in the bionic machine body, by adjusting the position of the counterweight, change the position of the center of gravity of the bionic machine, thereby changing the inclination direction of the entire body of the bionic machine, Furthermore, the direction of the propulsion force is improved to obtain the component force perpendicular to the water surface, and control the up-floating and sinking motion of the bionic machine. When the weight moves forward, the center of gravity of the bionic machine moves...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63G8/22
CPCB63G8/22
Inventor 陈辉何仁渊于赛赛洪定安
Owner HANGZHOU CHANG DONG INTELLIGENT TECH CO LTD
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