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Underwater robot control method and device

A technology of an underwater robot and a control method, which is applied to underwater operation equipment, program-controlled manipulators, manipulators, etc., and can solve problems such as interruption of the work process.

Inactive Publication Date: 2020-10-09
泰华智业(天津)科技有限责任公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a control method for an underwater robot, so as to solve the technical problem that when the underwater robot gets out of trouble through the airbags after falling into the mud, it is necessary to open all the airbags to drag the body out of the mud and cause the interruption of the working process.

Method used

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  • Underwater robot control method and device

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Embodiment 1

[0030] In order to solve the problem of interruption of the work process caused by the underwater robot directly surfacing to the level after getting out of trouble, this embodiment provides a control method for the underwater robot, such as figure 1 shown, including the following steps:

[0031] S110: Obtain the position information of the underwater robot, where the position information includes coordinate parameters and engine operating parameters of the underwater robot;

[0032] In the control method, the server of the monitoring ship control center on the water surface obtains the position information of the underwater robot, and the method for obtaining the position information includes: a positioning device provided on the underwater robot sends the position information to the server in real time;

[0033] S120: Judging the operating state of the underwater robot according to the coordinate parameters of the underwater robot and the engine operating parameters, the ope...

Embodiment 2

[0040] The present embodiment provides the control method of preferred underwater robot, comprises the steps:

[0041] Obtaining position information of the underwater robot, the position information including coordinate parameters and engine operating parameters of the underwater robot;

[0042]Judging the operating state of the underwater robot according to the coordinate parameters of the underwater robot and the engine operating parameters, the operating state includes the trapped state and the escaped state. When the coordinate parameters of the underwater robot remain unchanged and the engine operating parameters are normal, the underwater The robot is in a trapped state; when the coordinate parameters of the underwater robot change and the engine operating parameters are normal, it is judged that the underwater robot is in a state of escape; the coordinate parameters of the underwater robot include: the three-dimensional coordinates of the underwater robot; The paramete...

Embodiment 3

[0047] The underwater robot control method that the present embodiment provides, comprises the steps:

[0048] Obtaining position information of the underwater robot, the position information including coordinate parameters and engine operating parameters of the underwater robot;

[0049] Judging the operating state of the underwater robot according to the coordinate parameters of the underwater robot and the engine operating parameters, the operating state includes a trapped state and an escaped state;

[0050] When it is judged that the underwater robot is in a trapped state, an inflation signal is sent to the inflatable electromagnetic valve of the escape airbag; the escape airbag includes a first airbag and a second airbag, the first airbag is connected with the first inflation electromagnetic valve, and The second airbag is connected to the second inflation solenoid valve; when it is determined that the underwater robot is in a trapped state, the first branch inflation si...

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Abstract

The invention provides an underwater robot control method and device. The underwater robot control method comprises the following steps that the position information of an underwater robot is obtained, wherein the position information comprises the coordinate parameters of the underwater robot and the operation parameters of an engine. The operation state of the underwater robot is judged according to the coordinate parameters of the underwater robot and the operation parameters of the engine, wherein the operation state comprises a trapped state and an escaping state. When it is judged that the underwater robot is in the trapped state, an inflation signal is sent to an inflation electromagnetic valve of an escape air bag.When it is judged that the underwater robot enters the escaping state from the trapped state, a deflating signal is sent to a deflating electromagnetic valve of the escaping air bag, and the deflating electromagnetic valve recycles air to an air storage tank through acompressor. According to the method, the buoyancy of the air bag can be eliminated immediately after the underwater robot gets out of trap, so that the underwater robot does not need to interrupt theworking process.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to an underwater robot control method and device. Background technique [0002] Existing underwater robots often get stuck in the silt and cannot get out of trouble during underwater work. The existing way for underwater robots to get out of trouble is usually to increase the buoyancy of the underwater robot to get out of trouble by setting airbags to inflate. The defect in the existing underwater robot escape method is that the underwater robot will surface when it escapes, so that the working process of the underwater robot is interrupted. Contents of the invention [0003] The object of the present invention is to provide a control method for an underwater robot to solve the technical problem that when the underwater robot is trapped in mud and escapes through the airbags, all the airbags need to be opened to drag the body out of the mud and cause the interruption of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/06B63C11/52
CPCB25J9/16B25J9/1679B25J19/06B63C11/52
Inventor 苑光明武丙雷桑建兵张超李佳贾丽敏
Owner 泰华智业(天津)科技有限责任公司
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