A control method for a four-rotor spherical underwater robot

A technology of an underwater robot and a control method, which is applied in the directions of underwater ships, underwater operation equipment, motor vehicles, etc., can solve the problem that it is difficult for operators and underwater robots to maintain communication contact, and the communication speed and capacity cannot be compared with radio waves. , unable to navigate normally underwater, etc., to achieve the effect of clear purpose and use value, easy promotion and light weight

Active Publication Date: 2020-06-19
ZHEJIANG UNIV
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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

Method used

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  • A control method for a four-rotor spherical underwater robot
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  • A control method for a four-rotor spherical underwater robot

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Embodiment Construction

[0040] First of all, it should be stated that the present invention relates to robotics. During the implementation of the present invention, the application of multiple software function modules may be involved. The applicant believes that, after carefully reading the application documents and accurately understanding the realization principle and purpose of the present invention, combined with existing known technologies, those skilled in the art can fully implement the present invention by using their software programming skills. Everything mentioned in the application documents of the present invention belongs to this category, and the applicant does not list them one by one. In addition, the realization of the present invention depends on the application of various electronic components, and these electronic components are all existing technologies, and there are mature products available for purchase in the market, such as the basic control module mentioned below, the mot...

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Abstract

The invention relates to underwater robot technology and aims to provide a control method for a four-rotor spherical underwater robot. During the operation of the underwater robot, the motor drive module is connected to the battery, the control board and the motor of the thruster through wires to drive the propeller. heading, and transmit the signal to realize PID control to the motor drive module. Based on the control method of the underwater robot described in the present invention, the corresponding control algorithm can be used to realize the thrust distribution of the propeller, and then realize the motion of the underwater robot with no less than four degrees of freedom, including hovering at a fixed depth, going straight, rotating, and moving sideways ability.

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...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63G8/08B63G8/16B63G8/38B63B3/13
CPCB63B3/13B63G8/08B63G8/16B63G8/38B63G2008/002
Inventor 冀大雄黎海超任杰孙明哲王景涛
Owner ZHEJIANG UNIV
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