The invention discloses an underwater cleaning robot umbilical cable positioning control system and a control method. The system comprises an overwater part and an underwater part. The overwater part comprises a controller, an encoder, a motor and a winch, the underwater part comprises an underwater robot, and the overwater part and the underwater part are connected through an umbilical cable. According to the underwater cleaning robot umbilical cable positioning control system and the control method, signals of a depth sensor, attitude signals of an attitude sensor and signals of the encoder can be received through the controller, the controller controls the motor to rotate according to the received signals of the encoder and received depth information so as to control winding and unwinding of the umbilical cable, and positioning of the underwater robot is conducted according to the signals of the encoder, the depth information and attitude information. In conclusion, underwater positioning of the robot can be achieved only through sensor information and a basic control algorithm under the condition that a positioning device does not need to be added, the structure is simple, and compared with cleaning robots of the same type, the system has the advantages of being low in economic cost and high in practicability.
本发明公开了一种水下清洁机器人脐带缆定位控制系统及控制方法,包括水上部分和水下部分,所述水上部分包括控制器、编码器、电机和绞车,所述水下部分包括水下机器人,所述水上部分和水下部分之间通过脐带缆相连接。本发明通过控制器可以接收深度传感器信号、姿态传感器姿态信号和编码器信号,控制器根据接收到的编码器信号和深度信息控制电机转动从而控制脐带缆的收放,并且依据编码器信号、深度信息、姿态信息进行水下机器人的定位,综上所述,使得不需要增加定位装置仅通过传感器信息和基本的控制算法以实现机器人的水下定位,结构简单且相较于同类型的清洁机器人经济成本低、实用性强。
Underwater cleaning robot umbilical cable positioning control system and control method
一种水下清洁机器人脐带缆定位控制系统及控制方法
2021-09-28
Patent
Elektronische Ressource
Chinesisch
IPC: | B66D Haspeln , CAPSTANS / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
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