Aquatic robot intelligent constant-speed cruising control method and system

Abstract

The invention relates to the technical field of robots and particularly relates to an aquatic robot intelligent constant-speed cruising control method and system. The method comprises the following steps: setting power parameters such as a target cruising speed; obtaining a water flow speed; judging whether constant-speed cruising requirements are met according to the water flow speed; if the constant-speed cruising requirements are met, entering a constant-speed cruising mode by one key; in the constant-speed cruising mode, periodically and dynamically calculating the accelerator power based on the parameters such as ground speed vectors of an attitude heading reference system of an aquatic robot master controller to guarantee a constant speed; in the constant-speed cruising mode, supporting the modification of the cruising speed and automatically executing power judgment and continuous operation; and if the constant-speed cruising requirements are not met, executing the nearest and fastest automatic return intelligent protection policy.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an intelligent constant-speed cruise control method and system for a water robot. Background technique [0002] Cruise control is a speed control system derived from automobiles. Its function is to automatically maintain the speed of the vehicle without stepping on the accelerator pedal after closing the switch according to the speed required by the driver, so that the vehicle can run at a fixed speed. With this technology, when driving on the highway for a long time, the driver no longer needs to control the accelerator pedal, which reduces fatigue, reduces unnecessary speed changes, and saves fuel. [0003] Compared with automobiles, the environment of aquatic robots is more complex, with more considerations for constant speed cruise and higher system complexity. For example, special service scenarios such as water quality sampling require water robots to maintain a certain spe...

AI Technical Summary

Problems solved by technology

[0004] Existing water robots only support autonomous cruising and manual control during operation. Autonomous cruising cannot control the direction and does not meet the control requirements for special operations, and it may not be possible to plan a reasonable operation route in some small waters; during manual control, the operation The pilot tentatively adjusts the throttle to achieve the expected speed subjectively and keeps the joystick on the remote control to stabilize at a certain speed. Due to factors such as water currents, there may be a large deviation between the actual sailing speed and the expected cruise speed, and the operation is inconvenient.

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