The invention relates to the technical field of robot communication control, in particular to a recoverable buoy system for a modular underwater robot and a control method.The buoy comprises a shell, a communication module and an acquisition module, and an adjusting module comprises a buoyancy adjusting mechanism and a gravity center adjusting mechanism; the buoyancy adjusting mechanism adjusts the action of an electromagnetic valve according to the buoy depth to realize buoyancy adjustment, and the gravity center adjusting mechanism adjusts the gravity center position according to a preset gravity center position and a gravity center adjusting curve; the power module comprises a first power set and a second power set. The control module is used for determining the adjusting mode of the buoyancy adjusting mechanism, the adjusting mode of the gravity center adjusting mechanism and the adjusting mode of the power module. And the power supply module realizes effective positioning and flexible release and recovery of the buoy, and promotes the same-speed cooperative movement and real-time communication of the buoy and the underwater robot.
本发明涉及机器人通信控制技术领域,尤其涉及一种用于模块化水下机器人的可回收浮标系统及控制方法,浮标包括:壳体,通信模块,采集模块,调节模块包括浮力调节机构和重心调节机构,浮力调节机构根据浮标深度调整电磁阀动作实现浮力调节,重心调节机构根据预设重心位置和重心调节曲线实现重心位置调节;动力模块包括第一动力组、第二动力组;控制模块用以确定对浮力调节机构的调整方式、确定对重心调节机构的调整方式确定对动力模块的调整方式;电源模块,实现浮标有效定位、灵活释放与回收,促进浮标与水下机器人的同速协同运动和实时通信。
Recyclable buoy system for modular underwater robot and control method
一种用于模块化水下机器人的可回收浮标系统及控制方法
2025-03-07
Patent
Electronic Resource
Chinese
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