The invention relates to an autonomous bottom-sitting control method for an underwater robot, and the method comprises the steps: carrying out a downward bottom-sitting control step when the underwater robot needs to be stopped to execute an underwater navigation detection task; in the bottom sitting process, the step of recognizing the bottom sitting terrain gradient and whether the bottom sitting terrain gradient is covered by sediment and other sediments or not is executed; if the slope of the bottom terrain needs to be adjusted or is covered by sediments such as silt, executing the bottom floating stroke step; and through repeated iteration of the steps 1-3, the autonomous iteration bottom sitting process of the underwater robot on the seabed is completed, so that the underwater robot stably sits on the bottom and is prevented from being buried. According to the autonomous bottom-sitting control method for the underwater robot, the requirement for bottom-sitting residence silence is met through the bottom-sitting control process and the sediment burial prevention process, and the purposes that the underwater robot saves energy consumption and prolongs the detection operation time are achieved.
本发明涉及一种水下机器人自主坐底控制方法,步骤包括:当水下机器人执行水下航行探测任务需要驻底时,执行向下坐底控制步骤;在坐底过程中,执行识别坐底地形坡度和是否被泥沙等沉积物覆盖的步骤;若坐底地形坡度需要调整或被泥沙等沉积物覆盖,执行坐底上浮程步骤;通过上述步骤1‑3重复迭代,完成水下机器人在海底的自主迭代坐底过程,使得水下机器人达到稳固坐底、防止被掩埋。本发明的水下机器人自主坐底控制方法,通过坐底控制过程和防沉积物埋没过程达到坐底驻留静默的要求,实现水下机器人节省能耗、延长探测作业时间的目的。
Autonomous bottom-sitting control method for underwater robot
一种水下机器人自主坐底控制方法
2022-05-27
Patent
Electronic Resource
Chinese
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
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