The invention relates to the technical field of underwater robots, in particular to a method for an underwater robot to sail along the center line of a tunnel, which comprises the following steps of: S1, establishing a layout model of a propeller of the underwater robot; s2, measuring differences between the current underwater robot and the heading angle, the pitch angle, the vertical center and the horizontal center of the tunnel through a distance measuring component; s3, the inertial navigation sensor measures the roll angle of the current underwater robot and the speed vx in the x-axis direction. A vector arrangement model of eight propellers of the underwater robot is established, a mechanical vector model and a thrust distribution algorithm of a propelling system of the underwater robot are deduced, an arrangement scheme of nine ranging sonars is designed, and the ranging sonars are combined to measure data in real time; and calculating error values of the underwater robot in the tunnel relative to the left-right position of the center line, the up-down position of the center line, the heading angle of the tunnel, the pitching angle of the tunnel and the 0 rolling angle, solving the force of the underwater robot on each degree of freedom by utilizing a PID ring, and setting the thrust of each propeller, so that the aim of sailing the underwater robot along the center line is fulfilled.

    本发明涉及水下机器人技术领域,具体而言涉及水下机器人沿隧洞中线航行的方法,包括以下步骤:步骤S1、建立水下机器人推进器的布局模型;步骤S2、通过测距部件测量当前水下机器人与隧洞航向角、俯仰角、垂直中心、水平中心的差值;步骤S3、惯导传感器测量当前水下机器人的横滚角和x轴方向的速度vx。本发明通过建立水下机器人的8推进器的矢量布置模型,推导水下机器人推进系统力学矢量模型和推力分配算法,设计9测距声呐的排布方案,利用测距声呐组合实时测量数据,计算水下机器人在隧洞中与中线左右位置、中线上下位置、隧洞航向角度,隧洞俯仰角度、以及0滚转角度的误差值,利用PID环求解水下机器人各自由度上的力,并设定各推进器推力,从而实现水下机器人沿中线航行的目的。


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    Titel :

    Method for underwater robot to sail along center line of tunnel


    Weitere Titelangaben:

    水下机器人沿隧洞中线航行的方法


    Beteiligte:
    WANG WENHUI (Autor:in) / CHEN MAN (Autor:in) / LI YIKAI (Autor:in) / HE RUFEI (Autor:in) / LI YONGQI (Autor:in) / ZHANG HAO (Autor:in) / MA YIMING (Autor:in) / ZHAO ZENGTAO (Autor:in) / HUANG FANQI (Autor:in)

    Erscheinungsdatum :

    2023-12-29


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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