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Eight-propeller underwater robot control system based on RS485 bus

An underwater robot, RS485 technology, applied to underwater ships, underwater operating equipment, motor vehicles, etc., can solve problems such as complex conversion, complicated control process, and robot slippage

Inactive Publication Date: 2021-05-14
BEIJING RES INST OF MECHANICAL & ELECTRICAL TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in actual engineering, the underwater wall is often covered by algae, moss, etc. or attached to silt, which makes the robot slip and it is difficult to maintain the normal movement of the robot.
In addition, the mode transition of existing underwater robots is complicated, especially when changing from cruising to moving against the wall, the robot posture needs to be constantly adjusted, and the control process is relatively complicated

Method used

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  • Eight-propeller underwater robot control system based on RS485 bus
  • Eight-propeller underwater robot control system based on RS485 bus
  • Eight-propeller underwater robot control system based on RS485 bus

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Embodiment 1

[0029] The overall technical scheme of the eight propeller underwater robot control system based on the RS485 bus provided by the present invention

[0030] 4.1 Composition of the control system of the underwater robot

[0031] The control system is composed of RS485 control bus, integrated control computer, underwater thruster, sensor unit, power supply unit, lighting and image acquisition unit. Among them, the underwater thruster is controlled by the PWM signal sent by the integrated control computer, and the other unit devices are controlled by the RS485 communication bus. The integrated control computer is the core of the entire control system. The integrated control computer adopts the ARM embedded system, which is responsible for the output of the thruster PWM signal, the sending of the RS485 bus control command, the reception of the status data of the sensor unit, the output of the relay signal, and the transmission of image data. The composition of the underwater robo...

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Abstract

The invention provides an underwater robot control system with eight propellers, an underwater robot is provided with four top propellers and four vector propellers, and the eight propellers work together or partially to complete six-degree-of-freedom movement of an intelligent robot platform. The attitude stability is ensured, and directional, fixed-depth and fixed-speed sailing can be realized. A comprehensive control computer of the control system is connected with a plurality of sensor units through an RS485 bus, is used for depth temperature measurement, attitude measurement, speed measurement and water leakage monitoring of the underwater robot, and is also provided with an illumination and image transmission module to obtain real-time video information of an underwater target, brightness control of an auxiliary illumination light source is controlled by using the RS485 bus, and an operator can perform operation control on the underwater robot more conveniently.

Description

technical field [0001] The invention relates to the field of underwater robot control, in particular to an underwater robot control system using an RS485 bus as a data transmission mode. Background technique [0002] The underwater robot control system is used to complete the precise control of the underwater robot in the water, including fixed depth navigation, constant speed navigation, directional navigation, positioning hovering, etc. under the interference of complex ocean currents, which involves multi-propeller, multi-sensor Accurate control and signal acquisition and other issues. [0003] A typical application is the patent application number CN201810345904.6, which discloses a dual-mode six-degree-of-freedom underwater robot, including a power system, an acquisition system, and a control system. The power system and the acquisition system are all installed on the underwater robot body, and the underwater robot body includes a sealed cabin; the power system include...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/52B63G8/14B63G8/08
CPCB63C11/52B63G8/08B63G8/14
Inventor 董旭王飞旋罗东明李一顺胡若愚张文玉白香雪杨松柏解毅
Owner BEIJING RES INST OF MECHANICAL & ELECTRICAL TECH
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