The invention relates to the technical field of underwater robot motion control, in particular to an underwater omnidirectional motion system of a pier detection robot. Comprising a power management sub-module which provides secondary power for a system control sub-module and a data acquisition sub-module; the system control submodule comprises a motion control processor embedded in a UCOSIII operating system and a coprocessor performing information interaction with the motion control processor through a serial port; and the data acquisition sub-module comprises a four-path network high-definition underwater camera, an electronic compass, an attitude sensor, a depth sensor, an altimeter, a three-dimensional sonar and the like. The robot is further provided with a control module, the control module comprises a power management sub-module, a system control sub-module, a data collection sub-module and the like, a worker determines the state of the robot body through data information collected by the data collection sub-module, and then the robot body is precisely controlled through the system control sub-module; and the six-direction movement or hovering is completed.

    本发明涉及水下机器人运动控制技术领域,具体涉及一种桥墩检测机器人水下全向运动系统。包括电源管理子模块,分别为下述系统控制子模块及数据采集子模块提供二次电源;系统控制子模块,包括嵌入UCOSIII操作系统的运动控制处理器和通过串口与所述运动控制处理器进行信息交互的协处理器;数据采集子模块,包括四路网络高清水下摄像机、电子罗盘、姿态传感器、深度传感器、高度计以及三维声呐等。本发明还设置有控制模块,所述控制模块包括电源管理、系统控制和数据采集等子模块,工作人员通过数据采集子模块采集到的数据信息,确定机器人本体状态,进而通过系统控制子模块对机器人本体进行精准控制,使其完成六向运动或悬停。


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    Titel :

    Underwater omni-directional movement system of pier detection robot


    Weitere Titelangaben:

    一种桥墩检测机器人水下全向运动系统


    Beteiligte:
    ZHANG XINGQI (Autor:in) / WANG LEI (Autor:in) / FU GUOXIN (Autor:in) / ZHANG HAIPENG (Autor:in) / ZHUANG MEIXIA (Autor:in) / SI XINJUN (Autor:in) / WANG HAN (Autor:in) / DING MINGWEN (Autor:in) / SUN YUNLI (Autor:in) / LYU JIANLONG (Autor:in)

    Erscheinungsdatum :

    2023-08-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES



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