The invention provides an underwater robot and a lens decontamination method thereof. The underwater robot comprises a robot body, a camera and a dynamic positioning system, wherein the camera is arranged on the robot body; the dynamic positioning system comprises at least one decontamination propeller which is adjacently arranged on the camera, and the water outlet direction of the at least one decontamination propeller faces a lens of the camera; a motion propeller is arranged on the robot body; a pose measurement subsystem is used for collecting pose information of the underwater robot and collecting thruster state information of each decontamination thruster and the motion thruster; and the pose controller is connected with each decontamination propeller and the motion propeller. According to the underwater robot, the lens can be decontaminated through the propeller under the condition that underwater acoustic equipment of the underwater robot is not interfered. Furthermore, the underwater robot can realize automatic decontamination of the lens under the conditions that the underwater robot does not interfere with underwater acoustic equipment of the underwater robot and the position and posture of the underwater robot are kept stable.
本申请提供一种水下机器人及其镜头去污方法。一种水下机器人包括机器人本体、相机和动力定位系统,所述相机设置于所述机器人本体;所述动力定位系统包括:至少一个去污推进器,相邻设置于所述相机,所述至少一个去污推进器的出水方向朝向所述相机的镜头;运动推进器,设置于所述机器人本体;位姿测量分系统,收集所述水下机器人的位姿信息,并收集每个去污推进器和所述运动推进器的推进器状态信息;位姿控制器,连接每个去污推进器和所述运动推进器。本申请的水下机器人能够在不干扰自身的水声设备的条件下实现镜头利用推进器去污。进一步地,本申请的水下机器人能够在不干扰自身的水声设备、保持位置和姿态稳定的条件下实现镜头自动去污。
Underwater robot and lens decontamination method thereof
水下机器人及其镜头去污方法
2021-08-13
Patent
Elektronische Ressource
Chinesisch
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
Underwater robot and lens decontamination method thereof
Europäisches Patentamt | 2022
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