The invention discloses a motion control method and system for an all-attitude underwater robot, the system comprises a driving module, a movement adjusting module and a floating module, a propeller is arranged in the driving module, the all-attitude underwater robot can be driven and corrected in the descending process through the propeller, the all-attitude underwater robot is prevented from deviating from a to-be-detected point, and the detection accuracy is improved. The robot can accurately fall to a target location; through the movement adjusting module, the underwater movement process of the all-attitude underwater robot can be adjusted, the all-attitude underwater robot can cross obstacles to continue probing, and in the recovery process, buoyancy can be provided for the all-attitude underwater robot through the floating module, so that the all-attitude underwater robot automatically floats on the liquid level in the recovery process, and the all-attitude underwater robot is more intelligent.

    本发明公开了一种全姿态水下机器人的运动控制方法和系统,该系统包括驱动模块、移动调整模块和漂浮模块,驱动模块中设置有推进器,通过推进器能够对全姿态水下机器人在下降过程中进行驱动和修正,防止其偏移待探查点,使得机器人可以精确的落到目标地点;通过移动调整模块,能够调整全姿态水下机器人在水下的移动过程,而且能够越过障碍物继续探查,在回收过程中,通过漂浮模块能够为全姿态水下机器人提供浮力,使全姿态水下机器人回收过程中自动漂浮在液面上,更加智能。


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    Title :

    Motion control method and system of all-attitude underwater robot


    Additional title:

    一种全姿态水下机器人的运动控制方法和系统


    Contributors:
    TONG BO (author) / LUO HAIGUANG (author) / NIU CHENHUI (author) / ZHAO YONG (author) / AN SHAOSHUAI (author) / YAO ZHONGYUAN (author) / YANG LIHUA (author) / ZHANG YU (author) / SUN JIE (author) / RUAN KEJIAN (author)

    Publication date :

    2022-08-05


    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 / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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