Control method for four-rotor spherical underwater robot

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.

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...

AI Technical Summary

Problems solved by technology

The specific manifestations are as follows: 1) High-frequency radio waves cannot be used at a depth of more than ten meters underwater, which will make it difficult for the operator to maintain a good communication link with the underwater robot; and the use of underwater acoustic communicators is not only costly, but also has a high communication rate. 2) Any non-watertight electronic components, mechanical components, and propulsion components such as electronic components must be watertight and pressure-resistant, otherwise water seepage and water leakage will occur and normal underwater navigation will not be possible

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