The invention relates to a structural design and a control algorithm of an omni-directional dish-shaped underwater robot, and belongs to the field of underwater vehicles and the field of robot control. The mechanical part comprises a structural frame bidirectional underwater propeller, a watertight compartment, an undercarriage and the like. The control part uses a gyroscope, a water pressure gauge and other sensors to calculate the posture of the robot. The embedded controller is used for adjusting the thrust of the underwater propeller so as to control the posture and the speed of the underwater robot. According to the robot, independent control of all six degrees of freedom can be achieved only through the six propellers, and the robot has the advantages of being flexible, high in maneuverability, low in cost and the like. The device can be used for underwater inspection, aquatic product fishing, water quality sampling and the like.
本发明涉及一种全向碟形水下机器人结构设计及其控制算法,属于水下潜航器领域与机器人控制领域。机械部分包含结构架双向水下推进器、水密舱、起落架等。控制部分使用陀螺仪,水压计等传感器计算机器人姿态。使用嵌入式控制器调节水下推进器推力实现对水下机器人姿态和速度的控制。本发明中机器人仅使用六个推进器即可实现全部六个自由度的独立控制,具有灵活,机动性高,成本低等优点。可用于水下巡检,水产捕捞,水质采样等多种用途。
Omnidirectional dish-shaped underwater robot
一种全向碟形水下机器人
2021-08-20
Patent
Elektronische Ressource
Chinesisch
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