The invention discloses an automatic balancing and attitude adjusting type underwater robot, relates to the field of underwater robot control, and aims to solve the problem that an underwater robot is difficult to give consideration to the functions of automatic buoyancy adjustment, attitude control and rapid floating at present. The device comprises a main machine body, a power unit, a control unit, a detection unit, a buoyancy regulation and control unit and a standby power supply, according to the technical scheme, the buoyancy regulation and control unit is regulated in real time through PID control on the basis of attitude data and depth gauge information, buoyancy autonomous balancing of the underwater robot under different loads is ensured, and the tedious balancing weight adjusting process in traditional manual balancing is avoided. During high-speed movement, the automatic balancing and attitude adjusting system can finely adjust the pitch angle and the roll angle of the underwater robot, stably maintain high-speed operation and cooperate with the propeller system to achieve better dynamic response. In addition, the system further has the function of quickly floating through the standby power supply and the buoyancy regulation and control unit under the out-of-control or power-off condition, and the safety of the robot is guaranteed.

    本发明公开了一种自动配平调姿型水下机器人,涉及水下机器人控制领域,目前,水下机器人难以兼顾自动调节浮力与姿态控制以及快速上浮的功能。本发明包括主机体、动力单元、控制单元、探测单元、浮力调控单元和备用电源;技术方案基于姿态数据和深度计信息,通过PID控制实时调节浮力调控单元,确保水下机器人在不同载荷下的浮力自主配平,解决传统人工配平中繁琐的配重块调整过程。在高速运动时,自动配平调姿系统能够微调水下机器人的俯仰角和横滚角,平稳维持高速运行,配合推进器系统实现更佳的动态响应。此外,系统还具备在失控或断电情况下,通过备用电源和浮力调控单元快速上浮的功能,保障机器人安全。


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    Title :

    Automatic balancing and posture adjusting type underwater robot


    Additional title:

    一种自动配平调姿型水下机器人


    Contributors:
    XU HAINING (author) / WANG YONG (author) / JING QIANG (author) / DING TONGZHEN (author) / YU FEI (author) / ZHANG YINXIAN (author) / BU JIAN (author) / SHEN QINGYE (author) / ZHOU JIE (author)

    Publication date :

    2025-03-07


    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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