An unmanned remote-controlled underwater robot and its control method

Abstract

The invention relates to an unmanned remote-controlled underwater robot and a control method thereof. The underwater robot is provided with a floating body structure, a shell, and a sealing device; the outer surface of the shell is equipped with a fixing frame; body; the connecting body is connected to the counterweight structure; the other end of the counterweight structure is connected to the screw propeller; the sealing device is fixed on one end of the housing by a tight fit, and the space where the sealing device and the housing are combined is durable Ballast cabin; the pressure-resistant cabin is provided with a main control board, an accelerometer of gravity, a geomagnetic sensor, a gyroscope sensor, a pressure sensor, a sonar sensor, an attitude sensor, a humidity sensor, and a multi-degree-of-freedom platform; the multi-degree-of-freedom Two cameras are installed on the cloud platform; a controller is also arranged on the multi-degree-of-freedom platform, and a main control chip is arranged in the controller. Its advantages are as follows: simple structure, flexible control, easy realization of multi-degree-of-freedom control, small size and easy portability, and strong propulsion power under various postures.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to an unmanned remote-controlled underwater robot and a control method thereof. Background technique [0002] As the country intensifies the development of marine resources, the original underwater operations mainly rely on people and simple diving equipment. The complex and dangerous seabed environment poses a considerable threat to human life and safety. Divers diving below 50 meters It is difficult to complete this kind of underwater operation task, which must rely on a new intelligent machine equipment to replace people to perform submarine operation tasks, and underwater robots have emerged as the times require. Undertake underwater engineering, underwater search and rescue, archaeological research, municipal pipeline fire pipeline investigation, water conservancy, public security, aquaculture, marine biological observation, marine gasoline pipeline investigation, ene...

AI Technical Summary

Problems solved by technology

[0004] First of all, the condition for the static balance and stability of the existing underwater robot is that there is a height difference between the center of buoyancy and the center of gravity, and the height difference must be at least greater than 70mm to keep the underwater robot stable. Therefore, the volume of the underwater robot designed according to this standard is relatively small. Large and complex in structure;

[0005] Secondly, in order to make the underwater robot have six degrees of freedom in space, that is, the underwater robot moves to the X axis, Y axis, Z axis, X axis rotation, Y axis rotation, and Z axis rotation in the three-dimensional space. The thrusters on the robot are installed in the direction of the three-dimensional coordinate axes, that is, the X-axis, Y-axis, and Z-axis. When the underwater robot needs to move in the X-axis direction, the corresponding propellers are controlled to rotate in this direction to provide Power, while the propeller on the Y-axis or Z-axis stops working, the driving force is relatively single, the driving force is small, and the underwater robot is not easy to control when the attitude is changed;

[0006] In addition, when the attitude of the existing underwater robot changes, it will cause changes in the pitch angle θ, roll angle φ, and yaw angle ψ, and there is no control method that can correct the angle deviation, making the camera unstable and affecting the camera transmission. image

[0007] Furthermore, the existing small unmanned remote-controlled underwater robots have the disadvantages of slow movement speed, especially the slow ascent and settlement speed of underwater robots, and the underwater movement is not flexible and efficient.

Moreover, if multiple motors realize multi-degree-of-freedom control, only a small number of motors provide the main power during operation, and the utilization rate is not high.

[0008] In summary, there is an urgent need for an unmanned remote-controlled underwater robot and control method with small body, strong driving force, flexible and efficient underwater operation, stable camera, and fast movement speed. Not yet reported

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