Fixed-depth directional control method for climbing of hybrid drive underwater robot on curved surface

An underwater robot, directional control technology, applied in non-electric variable control, height or depth control, control/adjustment system, etc., can solve the problem of difficult to coordinate control of underwater robot walking mechanism to stably climb and to climb the working surface Problems such as the inability to obtain contour information a priori

Active Publication Date: 2021-12-28
RES & DEV INST OF NORTHWESTERN POLYTECHNICAL UNIV IN SHENZHEN +1
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AI Technical Summary

Problems solved by technology

However, due to the different working requirements of underwater robots, the contour information of the working face to be climbed is usually not available a priori, which will make it difficult to coordinate and control the walking mechanism of underwater robots to achieve stable climbing.

Method used

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  • Fixed-depth directional control method for climbing of hybrid drive underwater robot on curved surface
  • Fixed-depth directional control method for climbing of hybrid drive underwater robot on curved surface
  • Fixed-depth directional control method for climbing of hybrid drive underwater robot on curved surface

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Embodiment Construction

[0049] figure 1 Schematic diagram of the crawler and thruster mixed-drive underwater robot climbing on a curved surface with fixed depth and orientation. Facing the high-efficiency operation requirements of the underwater robot climbing on the curved surface, considering the problem that the contour information of the curved surface to be climbed cannot be obtained a priori, the present invention proposes to use the attitude sensor installed at the center of buoyancy of the underwater robot and the The attitude sensor at the center of the moving left and right track can obtain the surface contour information required by the underwater robot for controller design in real time. On this basis, the reference heading angle of the underwater robot facing the fixed depth and directional climbing on the curved wall is constructed, and the sliding surface is designed by using the attitude angle and track speed information of the underwater robot, and the sliding mode control method is...

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Abstract

The invention relates to the technical field of underwater robot control, in particular to a fixed-depth directional control method for climbing of an underwater robot on a curved surface under the hybrid drive of a crawler belt and a propeller. The fixed-depth directional control control method comprises the following steps: acquiring curved surface contour information required when the underwater robot is used for designing a controller in real time by utilizing an attitude sensor mounted at the buoyancy center of the underwater robot and attitude sensors mounted at the centers of left and right tracks following the curved surface; on the basis, constructing the motion reference quantity of the underwater robot for fixed-depth and directional climbing on the curved wall surface; designing a sliding mode surface by using attitude angle and track speed information of the underwater robot, and designing a fixed-depth directional control law of the hybrid-driven underwater robot for a curved surface climbing task by using a sliding mode control method. According to the invention, the hybrid-driven underwater robot can realize stable fixed-depth directional control on the curved surface.

Description

technical field [0001] The invention relates to the technical field of underwater robot control, in particular to a depth-fixed and directional control method for an underwater robot driven by a crawler track and a propeller to climb on a curved surface. Background technique [0002] Underwater robot is one of the important equipment for marine resource development, marine monitoring and marine ecological protection. By carrying different types of sensors and actuators, underwater robots can effectively achieve multiple tasks such as ocean exploration, development, monitoring, and reconnaissance. [0003] For exploration and development in complex marine environments, especially when it is necessary to perform tasks such as landing, climbing, or walking on complex working surfaces such as ship sides, dams, and bridge piers, it is necessary to conduct in-depth research and development with local walking and Climbing-capable underwater robots. [0004] Limited by the detecti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 崔荣鑫陈乐鹏严卫生许晖张守旭
Owner RES & DEV INST OF NORTHWESTERN POLYTECHNICAL UNIV IN SHENZHEN
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