The invention relates to an intelligent underwater robot and a motion control method thereof. The intelligent underwater robot comprises a robot body and a power device, and the power device comprises a first propeller set used for controlling front-back motion, a second propeller set used for controlling floating, sinking and the pitch angle and a third propeller set used for controlling the yaw angle; the first propeller set is arranged in the front-back direction of the robot body, the second propeller set is arranged in the up-down direction of the robot body, and the third propeller set is arranged in the left-right direction of the robot body. A novel power device arrangement mode is provided, three sets of propellers used for controlling front-back movement, up-down movement and left-right yawing are arranged, high-precision movement control and posture adjustment can be achieved, and control is more flexible and efficient; the intelligent degree is high, and the underwater operation effect can be improved; underwater wireless charging can be realized, the cruising ability is greatly improved, the activity range is expanded, the flexibility is improved, and underwater residence is realized; extension and development are facilitated, and operation efficiency is high.

    本发明涉及一种智能水下机器人及其运动控制方法,智能水下机器人包括机器人本体及动力装置,动力装置包括用于控制前后运动的第一推进器组、用于控制上浮下沉及俯仰角的第二推进器组及用于控制偏航角的第三推进器组,第一推进器组沿机器人本体前后方向设置,第二推进器组沿机器人本体上下方向设置,第三推进器组沿机器人本体左右方向设置。本发明提出一种新型动力装置布置方式,设置分别用于控制前后、上下运动及左右偏航的三组推进器,可实现高精度的运动控制及姿态调节,控制更灵活、高效;智能化程度高,可提升水下作业效果;可实现水下无线充电,大幅度提升续航能力,拓展活动范围,提高灵活度,实现水下常驻;便于扩展及开发,运行效率高。


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    Title :

    Intelligent underwater robot and motion control method thereof


    Additional title:

    一种智能水下机器人及其运动控制方法


    Contributors:
    SONG JIANJUN (author) / LIU YUEJIN (author) / LI QIHANG (author) / LI SHUAI (author)

    Publication date :

    2022-01-04


    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 / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / H02J CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER , Schaltungsanordnungen oder Systeme für die Abgabe oder Verteilung elektrischer Leistung



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