The invention discloses an intelligent underwater robot and a motion control method thereof.The intelligent underwater robot comprises a bottom plate, a control system, a floating plate, a protection column, a driving part, an obstacle sensing part, a mounting base, a walking part and a multifunctional assembly, the control system is arranged between the floating plate and the bottom plate, and the protection column is arranged on the periphery of the control system; the driving part and the obstacle sensing part are arranged on the bottom plate, the mounting seats are arranged at the front end and the rear end of the bottom plate, the walking parts are arranged on the mounting seats, the multifunctional assemblies are arranged on the mounting seats, the control system is connected with the multifunctional assemblies, and the multifunctional assemblies are controlled by the control system to be started and conduct obstacle clearing, obstacle crossing or bypassing. According to the underwater obstacle avoidance robot, by arranging the multifunctional assembly, the robot can effectively avoid obstacles underwater in multiple obstacle avoidance modes, walking smoothness, stability, intelligence and accuracy are guaranteed, the robot can more stably move on the seabed in the laying direction of the submarine cable and complete detection, and the underwater obstacle avoidance robot is suitable for being used in the complex underwater environment.

    本发明公开了一种智能水下机器人及其运动控制方法,该智能水下机器人包括底板、控制系统、浮板、防护柱、驱动件、障碍物感应件、安装座、行走件和多功能组件,控制系统设于浮板和底板之间,防护柱设于控制系统的外周,驱动件和障碍物感应件设于底板上,安装座设于底板的前后端上,安装座设有若干组,行走件设于安装座上,多功能组件设于安装座上,控制系统与多功能组件相连,通过控制系统控制多功能组件启动并进行清障、跨障或绕行。本发明中,通过设置多功能组件实现了机器人在水下以多种避障方式有效避障,保证了行走的顺畅性、稳定性、智能性和精准性,能更稳定地沿海缆敷设方向在海床上移动并完成检测,适合在复杂的水下环境中使用。


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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:
    YAO ZHONGYUAN (author) / TONG BO (author) / NIU CHENHUI (author) / ZHANG YU (author) / WANG XIN (author) / PENG YONGJIANG (author) / ZHANG BAOFENG (author) / BAI LIANG (author) / SUN JIE (author) / SHI JUNJIAO (author)

    Publication date :

    2023-04-07


    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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