The invention provides an underwater robot motion control system and an underwater robot. A problem that in the prior art, a utilization rate of a propeller of the underwater robot is not high is solved. A first propeller, a second propeller and a third propeller in the underwater robot motion control system are all configured to output a thrust towards a first direction of a robot body of the underwater robot. The fourth propeller and the fifth propeller are both configured to output the thrust towards a third direction of the robot body, the sixth propeller is configured to output the thrusttowards the second direction of the robot body, every two of the first direction, the second direction and the fourth direction are perpendicular to each other, and a preset angle is formed between the third direction and the fourth direction; and the motion control system further comprises a motion control device used for controlling output of the thrusts of the first propeller, the second propeller, the third propeller, the fourth propeller, the fifth propeller and the sixth propeller.
本发明提供一种水下机器人运动控制系统及水下机器人,以解决现有技术中的水下机器人的推进器利用率不高的问题,其中,水下机器人运动控制系统中的第一推进器、第二推进器、第三推进器均配置成输出朝向水下机器人的机身的第一方向的推力,第四推进器和第五推进器均配置成输出朝向所述机身的第三方向的推力,第六推进器配置成输出朝向所述机身的第二方向的推力,其中,第一方向、第二方向和第四方向均两两相互垂直,并且第三方向与第四方向之间具有预设角度;该运动控制系统还包括运动控制装置,用于控制第一推进器、第二推进器、第三推进器、第四推进器、第五推进器和第六推进器各自的推力的输出。
Underwater robot motion control system and underwater robot
水下机器人运动控制系统及水下机器人
2020-10-30
Patent
Electronic Resource
Chinese
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