Control method for four-rotor spherical underwater robot

A technology of underwater robots and control methods, which is applied to underwater ships, underwater operating equipment, motor vehicles, etc., and can solve the problem that it is difficult for operators to maintain communication with underwater robots, and the communication rate and capacity cannot be compared with radio waves , unable to sail normally underwater and other problems, to achieve the effect of clear use and use value, easy promotion, and light weight
CN108639286AActive Publication Date: 2018-10-12ZHEJIANG UNIV
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
ZHEJIANG UNIV
Publication Date
2018-10-12

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Abstract

The invention relates to an underwater robot technique, and aims to provide a control method for a four-rotor spherical underwater robot. According to the control method, in the operation process of the underwater robot, a motor driving module is connected with a battery, a control panel and a motor of a thruster through wires so as to drive propellers to operate, and in the propeller operating process, a basic control module calculates the course of the underwater robot according to information obtained by all sensors and transmits a signal controlled by a PID to the motor driving module. Onthe basis of the control method for the underwater robot, thrust distribution of the thruster can be achieved through a corresponding control algorithm, thus the motion with four or more degrees of freedom of the underwater robot is achieved, and the underwater robot has the abilities of depth-keeping suspending, straight travelling, rotating and lateral moving.
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Description

technical field

[0001] The invention relates to the technical field of underwater robots, in particular to a control method for a cable-free autonomous underwater robot. The underwater robot is a small-scale, intelligent, small spherical underwater vehicle capable of autonomous navigation underwater. Background technique

[0002] Robot technology is an emerging intelligent manufacturing technology, which is widely used at home and abroad. The rise of DJI drones and Yunzhou smart unmanned ships illustrates this point. An autonomous underwater robot is a robot that can navigate autonomously at a depth of several meters or even thousands of meters or tens of thousands of meters below the water surface. It has the capabilities of autonomous navigation, autonomous navigation, and autonomous execution of underwater tasks. Compared with drones, unmanned vehicles and unmanned ships, the mission environment it is in is more complex, and the sensors and propulsion systems used are a...

Claims

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