The invention discloses an underwater robot system, a control method and a storage medium, and relates to the technical field of underwater robots. The underwater robot system comprises a robot main body, a water storage bin, a lock component, a power supply module, a control component and a counterweight mounting structure; the counterweight mounting structure for placing the counterweight is arranged on the robot main body; the power supply module supplies power to the lock component through the robot body, the lock component locks the gate of the water storage bin when the robot body is powered on, and the lock component unlocks the gate of the water storage bin when the robot body is powered off. The control part is used for determining the number N of counterweights placed in the counterweight mounting structure according to the value range of the driving speed under the test depth and determining a first driving speed; the propelling device of the robot body is controlled to conduct thrust compensation at the first driving speed so that the robot body can be in the suspension state, and therefore operation safety and efficiency can be both considered.

    本发明公开了一种水下机器人系统、控制方法及存储介质,涉及水下机器人技术领域。水下机器人系统包括机器人主体、蓄水仓、锁部件、供电模块、控制部件及配重安装结构;用于放置配重的配重安装结构设置在机器人主体上;供电模块通过机器人主体给锁部件供电,锁部件在机器人主体通电时锁紧蓄水仓的闸门,锁部件在机器人主体断电时解锁蓄水仓的闸门;控制部件用于在测试深度下根据驱动速度取值范围确定配重安装结构内放置的配重数量为N以及确定第一驱动速度并在机器人主体下沉至第一作业深度后,控制机器人主体的推进装置以第一驱动速度进行推力补偿使得机器人主体处于悬浮状态,从而可以兼顾作业的安全性和效率。


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    Title :

    Underwater robot system, control method and storage medium


    Additional title:

    水下机器人系统、控制方法及存储介质


    Contributors:
    ZOU GUANG (author) / LI LINSHENG (author) / LI NA (author) / WANG JUNHAO (author)

    Publication date :

    2023-09-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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