The invention discloses a motion control method and system for an underwater robot, the underwater robot comprises a platform and a power device connected with the platform, the power device comprises at least three first propellers, the propelling directions of the first propellers are in the same propelling plane, and the first propellers can change the propelling force of the first propellers by changing the magnitude of the propelling force of the first propellers. so that the resultant force of the propelling force is in the positive direction or the negative direction of any coordinate axis in the propelling plane of the preset coordinate system. The method comprises the steps that the translation direction and the translation speed, input by a user, of the underwater robot in a propelling plane are obtained; according to the translation speed, thrust needed by the underwater robot in the translation direction is calculated; according to the included angles between the propelling directions of the at least three first propellers and a preset coordinate system, vector conversion is conducted on the thrust, and propelling force corresponding to the at least three first propellers is obtained; and the at least three first propellers are controlled to push the underwater robot to move with the corresponding propulsive force. According to the motion control method, the motion of the underwater robot can be simply and conveniently controlled.

    本申请公开了一种水下机器人的运动控制方法和系统,水下机器人包括平台和与平台连接的动力装置,动力装置包括推进方向在同一推进平面内的至少三个第一推进器,第一推进器能够通过改变各自的推进力的大小,使得推进力的合力沿预设坐标系在推进平面内的任一坐标轴的正向或负向;方法包括:获取用户输入的水下机器人在推进平面内的平动方向及平动速度;根据平动速度,计算水下机器人在平动方向上所需的推力;根据至少三个第一推进器的推进方向与预设坐标系之间的夹角,将推力进行矢量转换,得到至少三个第一推进器对应的推进力;控制至少三个第一推进器以对应的推进力推动水下机器人运动。上述运动控制方法能够很简便地控制水下机器人的运动。


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    Title :

    Motion control method and control system of underwater robot


    Additional title:

    一种水下机器人的运动控制方法及控制系统


    Contributors:
    WANG ZHENG (author) / TANG KAILUAN (author) / XIAO YIN (author) / CHEN YISHAN (author) / ZHANG BINBIN (author) / LIU SICONG (author) / YI JUAN (author)

    Publication date :

    2021-07-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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