The invention provides a pitch attitude adjusting device for an underwater operation robot. The pitch attitude adjusting device comprises a core control module, an attitude sensing module and a pitch attitude stabilizing module. Wherein the pitching attitude stabilizing module is composed of an executing mechanism and a control surface; the attitude sensing module consists of an inertial sensor and an inertial sensor control circuit; the core control module is a circuit board equipped with a microcontroller. As an auxiliary device, the pitching attitude stabilizing device is independently mounted on the ROV, when the ROV sails along the horizontal plane, the core control module controls an executing mechanism of the pitching attitude stabilizing module according to actual pitching attitude sensing data output by the attitude sensing module, and the included angle between a control surface and the water flow direction is adjusted; therefore, the component force generated in the vertical direction when the ROV sails is balanced, the offset buoyancy center of the ROV is compensated, the ROV is assisted to keep the stability of the pitch attitude, the change of the pitch attitude angle of the ROV which does not conform to expectation is avoided, and the working efficiency of the ROV during sailing is improved.
本发明提供一种用于水下作业机器人的俯仰姿态调节装置,该装置包括:核心控制模块、姿态感知模块和俯仰姿态稳定模块。其中,俯仰姿态稳定模块由执行机构和舵面组成;姿态感知模块由惯性传感器和惯性传感器控制电路组成;核心控制模块是搭载了微控制器的电路板。本发明作为辅助装置独立安装于无人遥控潜水器上,ROV沿水平面航行时,核心控制模块根据姿态感知模块输出的实际俯仰姿态感知数据,控制俯仰姿态稳定模块的执行机构,调节舵面与水流方向的夹角,从而平衡ROV航行时竖直方向上产生的分力,补偿ROV偏移的浮心,辅助ROV保持俯仰姿态的稳定,避免ROV俯仰姿态角度发生不符合预期的变化,提高ROV在航行时的工作效率。
Pitch attitude adjusting device for underwater operation robot
一种用于水下作业机器人的俯仰姿态调节装置
2024-10-22
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
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