The invention discloses an underwater robot system and a balance control method, the underwater robot system comprises: at least two docking robots, the at least two docking robots being used for docking and capturing a target device at the same time; when the target equipment is captured in a butt joint mode, the parent body is located underwater, and the parent body is located below the target equipment; the at least two cables are in one-to-one correspondence with the at least two butt joint robots, and each butt joint robot is connected with the parent body through one cable; the cable collecting device is located on the parent body and used for driving the cable to be collected and driving the target equipment captured by the docking robot to be collected; and the balance control device is connected with each cable, and is used for controlling the stress of each cable through a PID control algorithm, so that the at least two docking robots are kept in posture locking, and the posture balance of the target equipment is ensured.
本发明公开了一种水下机器人系统及平衡控制方法,所述水下机器人系统包括:至少两个对接机器人,所述至少两个对接机器人用于同时对接捕获一个目标设备;一个母体,在对接捕获所述目标设备时,所述母体位于水下,且所述母体位于所述目标设备下方;至少两条缆线,所述至少两条缆线与所述至少两个对接机器人一一对应,每个所述对接机器人通过一条所述缆线与所述母体连接;收揽装置,所述收揽装置位于母体上,用于驱动所述缆线收回,带动对接机器人捕获的所述目标设备回收;平衡控制装置,所述平衡控制装置与每条所述缆线连接,用于通过PID控制算法控制每条所述缆线的受力,使得所述至少两个对接机器人保持姿态锁定,从而确保所述目标设备的姿态平衡。
Underwater robot system, balance control method and computer equipment
一种水下机器人系统及平衡控制方法、计算机设备
2025-01-03
Patent
Electronic Resource
Chinese
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