CN108357656A - Oil sac mixes control ROV hovering and Depth control device under water with propeller - Google Patents
Oil sac mixes control ROV hovering and Depth control device under water with propeller Download PDFInfo
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- CN108357656A CN108357656A CN201810112445.7A CN201810112445A CN108357656A CN 108357656 A CN108357656 A CN 108357656A CN 201810112445 A CN201810112445 A CN 201810112445A CN 108357656 A CN108357656 A CN 108357656A
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- rov
- buoyancy
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- depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Earth Drilling (AREA)
Abstract
The invention belongs to remotely pilotless submersible technical fields, to propose that one kind can flexibly control buoyancy to adapt to varying environment and task, and the underwater control device of the mixing control of energy consumption can be reduced during the work time, the present invention, oil sac mixes control ROV hovering and Depth control device under water with propeller, by control cabinet, umbilical cables, ROV control system, ROV sealings, pressure hull, larboard vertical pusher, starboard vertical pusher, fore body oil-pocket buoyancy regulation device, stern oil-pocket buoyancy regulation device composition；Control cabinet connects ROV control system by umbilical cables；The gesture stability module that ROV control system in ROV sealings, pressure hull is made of system control module, depth transducer, 3-axis acceleration sensor, three-axis gyroscope and three axle magnetometer, impeller driven module, buoyancy regulating device drive module composition.Present invention is mainly applied to unmanned submersibles to manufacture and design occasion.
Description
Technical field
The invention belongs to remotely pilotless submersible technical fields, mix control with propeller more particularly to a kind of oil sac
ROV hovers under water and Depth control device.It concretely relates to oil sac and mixes control ROV hovering and depthkeeping control under water with propeller
Device processed.
Background technology
Remotely pilotless submersible (Remotely Operated Vehicle, abbreviation ROV) is traction cable, by ship or
Operating personnel control the submersible of its navigation and operation on the bank, in fishery, underwater rescue, marine resources detection, Underwater Engineering etc.
Field has a wide range of applications.ROV is during being observed target and Fixed Point Operation, for the operation effectiveness ensured,
It is required that it keeps hovering, general ROV, with small positive buoyancy, to pass through the vertical thrust of ROV in static state at certain depth
The thrust that device generates changes its stressing conditions, to realizing the function of depthkeeping and hovering.However such design has two sides
The defect in face：(1) for ROV when different waters work, density of sea water changes the variation for leading to the preset buoyancy of ROV, and under water
Gravity changer caused by loading product is picked or thrown when operation, its whole stress can be made to change, to influence its navigating power
Parameter can lead to its depthkeeping and hovering disabler, the generally self-contained batteries of (2) small-sized observation type ROV, tradition when serious
Micro- positive buoyancy offset by vertical pusher realize depthkeeping and the control device of hovering, need propeller continue working, energy consumption
Height, the cruise duration of meeting serious curtailment ROV.
Oil-pocket buoyancy regulation device is the flexibility using oil sac, is changed by throwing or extracting out hydraulic oil into oil sac
The volume of oil sac, and then change buoyancy in the case where not changing submersible weight, to change the stressing conditions of submersible.
Compared with propeller, oil-pocket buoyancy regulation device has many advantages, such as that low in energy consumption, at low cost, buoyancy adjustment precision is high.For drop
Low diving under water device energy consumption reduces system cost, improves diving under water device operability and is of great significance, however and propeller
It compares, oil-pocket buoyancy regulation device has dynamic response slow, the shortcomings that cannot achieve fast reaction under complicated sea situation, because
And propeller can not be substituted completely in ROV.
Invention content
In order to overcome the deficiencies of the prior art, existing ROV underwater fixed depths and Hovering control device gravity are solved and buoyancy becomes
Change bad adaptability and energy-intensive problem, the present invention is directed to propose one kind can flexibly control ROV buoyancy to adapt to
The variation of its gravity and buoyancy under varying environment and task, and the oil of energy consumption can be reduced during the work time
Capsule mixes the underwater hoverings of ROV and the Depth control device of control with propeller.For this purpose, the technical solution adopted by the present invention is, oil
Capsule mixes control ROV hovering and Depth control device under water with propeller, by control cabinet, umbilical cables, ROV control system, ROV
Sealing, pressure hull, larboard vertical pusher, starboard vertical pusher, fore body oil-pocket buoyancy regulation device, stern oil sac
Formula buoyancy regulating device forms；Control cabinet connects ROV control system by umbilical cables；In ROV sealings, pressure hull
ROV control system is by system control module, depth transducer, 3-axis acceleration sensor, three-axis gyroscope and three axle magnetometer
The gesture stability module of composition, impeller driven module, buoyancy regulating device drive module composition.
System control module controls larboard vertical pusher and starboard vertical pusher by impeller driven module, makes
ROV dynamics at target depth are hovered；
It is vertical to extrapolate larboard using the PWM pulsewidths rotating speed and thrust relationship of propeller input respectively for system control module
The thrust Thrust_L of the propeller and thrust Thrust_R of starboard vertical pusher, Thrust_L is added with Thrust_R,
The vertical remaining static force F_static for obtaining out ROV, then gradually reduce the thrust of two propellers of propeller thrust until
It becomes zero, while reducing propeller thrust, using buoyancy regulating device drive module, controls fore body oil-pocket buoyancy tune
Regulating device and stern oil-pocket buoyancy regulation device are pumped or are bought oil, its oil sac volume is changed, to ROV entirety institute
It is finely adjusted, makes its suffered buoyancy=gravity and is hovered at target depth by buoyancy.
When system control module received control cabinet transmission static dive order, then to buoyancy regulating device drive mould
Block sends order, and the oil-pocket buoyancy regulation device for controlling fore body and stern is pumped from oil sac, reduces oil sac volume, makes ROV
Suffered buoyancy<Gravity, ROV dives；
Further, when reaching designated depth, to ROV into Mobile state hovering buoyancy fine tuning, realize static dive hovering and
Depthkeeping；
Further, it orders, is then filled to buoyancy adjustment when system control module has received static float that control cabinet is sent
It sets drive module and sends order, the oil-pocket buoyancy regulation device for controlling fore body and stern is bought oil into oil sac, increases its body
Product, makes buoyancy suffered by ROV>Gravity, ROV float；
Further, when reaching designated depth, to ROV into Mobile state hovering buoyancy fine tuning, realize static dive hovering and
Depthkeeping.
Left and right side of a ship vertical pusher thrust output is calculated using increment type PID algorithm when dynamic hovering and depthkeeping：
Δu1=KP·(ek-ek-1)+KI·ek+KD·(ek-2ek-1+ek-2)
K is constant, k=2 ..., n, Δ u in formula1Increment, K are inputted for impeller driven moduleP、KIAnd KDRespectively PID
Ratio, integral and the differential coefficient of algorithm, ekThe reality measured for target depth value Depth_target and depth transducer kth time
Border depth value Depth_real is poor therewith；
Further, this system control module is according to the PWM pulsewidths PWM_width_L that is output to larboard vertical pusher and defeated
Go out the PWM pulsewidth PWM_width_R to starboard vertical pusher, passes through the letter between pulsewidth PWM_width and thrust Thrust
Number relationship：
PWM_width_L and PWM_width_R are brought into Thtust calculation formula, when respectively obtaining dynamic hovering and depthkeeping
The left and right side of a ship vertical pusher thrust output Thrust_L and Thrust_R.
The features of the present invention and advantageous effect are：
The present invention can effectively overcome existing ROV underwater fixed depths and Hovering control device gravity and buoyancy to change adaptability
Difference and energy-intensive defect, when working environment and load-carrying change to when its whole stress being caused to change,
Can quickly adjust makes the whole stress of ROV restore balance state, and the characteristics of using oil-pocket buoyancy regulation device, energy
Static suspension and the depthkeeping work for enough realizing low-power consumption, extend the cruise duration of ROV.
Description of the drawings：
The other purposes and aspect of the present invention become apparent refer to the attached drawing from detailed description below, in attached drawing：
Fig. 1 shows the aggregate project structure figure of the underwater hoverings of the ROV of the present invention and Depth control system.
Fig. 2 shows the ROV control system block diagrams of the present invention.
In Fig. 1：1 case 1 in order to control；2 be umbilical cables；3 be ROV control system；4 be ROV sealings, pressure hull；5 be a left side
Side of a ship vertical pusher；6 be starboard vertical pusher；7 be fore body oil-pocket buoyancy regulation device；8 be stern oil-pocket buoyancy tune
Regulating device.
In Fig. 2：9 be system control module；10 be depth transducer；11 be 3-axis acceleration sensor；12 be three axis tops
Spiral shell instrument；13 be three axle magnetometer；14 be gesture stability module；15 be impeller driven module；16 drive for buoyancy regulating device
Module；17 be larboard vertical pusher；18 be starboard vertical pusher；19 be fore body oil-pocket buoyancy regulation device；20 be stern
Portion's oil-pocket buoyancy regulation device.
Specific implementation mode
The purpose of the present invention is overcome existing ROV underwater fixed depths and Hovering control device gravity and buoyancy to change adaptability
Difference and energy-intensive defect provide a kind of ROV that can flexibly control ROV buoyancy and reduce the energy consumption energy
Underwater fixed depth and Hovering control device.
To reach above-mentioned target, the technical solution adopted by the present invention is that, a kind of oil sac mixes the ROV water of control with propeller
Lower hovering and Depth control device, including：
The ROV overall plans of hovering and Depth control system under water are determined first, and ROV hovers under water and Depth control system
Overall plan as shown in Figure 1, he mainly by control cabinet 1, umbilical cables 2, ROV control system 3, ROV sealings, pressure hull 4,
Larboard vertical pusher 5, starboard vertical pusher 6, fore body oil-pocket buoyancy regulation device 7, stern oil-pocket buoyancy adjust dress
Set 8 compositions；
Set on ROV sealings, the ROV control system 3 in pressure hull 4 as shown in Fig. 2, it mainly by system control module 9,
Depth transducer 10, the gesture stability module that 3-axis acceleration sensor 11, three-axis gyroscope 12 and three axle magnetometer 13 form
14, impeller driven module 15, buoyancy regulating device drive module 16 forms；
Further, when ROV reaches submarine target depth, suffered buoyancy and gravity unbalance in vertical direction are
Control module 9 of uniting controls larboard vertical pusher 5 and starboard vertical pusher 6 by impeller driven module 15 first, makes
ROV dynamics at target depth are hovered；
Further, using the PWM pulsewidths rotating speed and thrust relationship of propeller input, larboard vertical pusher is extrapolated respectively
The 5 thrust Thrust_L and thrust Thrust_R of starboard vertical pusher 6, Thrust_L is added with Thrust_R, is obtained
The vertical remaining static force F_static for going out ROV, then gradually reduces the thrust of two propellers of propeller thrust until becoming
Zero, while reducing propeller thrust, using buoyancy regulating device drive module 16, control fore body oil-pocket buoyancy is adjusted
Device 7 and stern oil-pocket buoyancy regulation device 8 are pumped or are bought oil, its oil sac volume is changed, to ROV entirety institute
It is finely adjusted, makes its suffered buoyancy=gravity and is hovered at target depth by buoyancy；
Further, when system control module 9 received control cabinet 1 transmission static dive order, then to buoyancy adjustment
Device driving module 16 sends order, and the oil-pocket buoyancy regulation device for controlling fore body and stern is pumped from oil sac, reduces oil
Capsule volume makes buoyancy suffered by ROV<Gravity, ROV dives；
Further, when reaching designated depth, to ROV into Mobile state hovering buoyancy fine tuning, realize static dive hovering and
Depthkeeping；
Further, it is ordered when system control module 9 has received static float that control cabinet 1 is sent, then to buoyancy adjustment
Device driving module 16 sends order, and the oil-pocket buoyancy regulation device for controlling fore body and stern is bought oil into oil sac, increases it
Volume makes buoyancy suffered by ROV>Gravity, ROV float；
Further, when reaching designated depth, to ROV into Mobile state hovering buoyancy fine tuning, realize static dive hovering and
Depthkeeping.
Further, devise ROV under water dynamically hovering and Depth control device, when system control module 9 has received control
The dynamic dive or dynamic that case 1 processed is sent, which are floated, orders, then first to ROV into Mobile state hovering buoyancy fine tuning, then control is left
Side of a ship vertical pusher 5 and starboard vertical pusher 6 realize ROV dynamically hovering and depthkeeping under water.
The present invention will be further described with reference to the accompanying drawings and examples.
The purpose of the present invention is overcome existing ROV underwater fixed depths and Hovering control device gravity and buoyancy to change adaptability
Difference and energy-intensive defect provide a kind of ROV that can flexibly control ROV buoyancy and reduce the energy consumption energy
Underwater fixed depth and Hovering control device.
To reach above-mentioned target, the technical solution adopted by the present invention is that, a kind of oil sac mixes the ROV water of control with propeller
Lower hovering and Depth control device, including：
The ROV overall plans of hovering and Depth control system under water are determined first, and ROV hovers under water and Depth control system
Overall plan as shown in Figure 1, he mainly by control cabinet 1, umbilical cables 2, ROV control system 3, ROV sealings, pressure hull 4,
Larboard vertical pusher 5, starboard vertical pusher 6, fore body oil-pocket buoyancy regulation device 7, stern oil-pocket buoyancy adjust dress
Set 8 compositions；
Set on ROV sealings, the ROV control system 3 in pressure hull 4 as shown in Fig. 2, it mainly by system control module 9,
Depth transducer 10, the gesture stability module that 3-axis acceleration sensor 11, three-axis gyroscope 12 and three axle magnetometer 13 form
14, impeller driven module 15, buoyancy regulating device drive module 16；System control module 9 is made using STM32F407IGT6
It is communicated by direct interface or RS485 interfaces or SPI interface between main control chip, with each module and sensor, number
According to being stored in SD card；
Further, when ROV reaches submarine target depth Depth_target, suffered buoyancy and again in vertical direction
Power is uneven, and it is vertical with starboard that system control module 9 controls larboard vertical pusher 5 by impeller driven module 15 first
Propeller 6 makes ROV dynamics at target depth hover；
Propeller thrust output quantity is calculated using increment type PID algorithm when dynamic hovering and depthkeeping：
Δu1=KP·(ek-ek-1)+KI·ek+kD·(ek-2ek-1+ek-2)
K (k=2 ..., n) is constant, Δ u in formula1Increment, K are inputted for impeller driven moduleP、KIAnd KDRespectively
Ratio, integral and the differential coefficient of PID algorithms, ekIt is surveyed for target depth value Depth_target and depth transducer 10 kth time
The actual grade value Depth_real of amount is poor therewith；
Further, this system control module 9 according to be output to larboard vertical pusher 5 PWM pulsewidths PWM_width_L and
The PWM pulsewidth PWM_width_R of starboard vertical pusher 6 are output to, pulsewidth PWM_width (units are passed through：μ s) and thrust
Thrust (units：Kgf the functional relation between)：
The thrust Thrust_L of larboard vertical pusher 5 and the thrust Thrust_ of starboard vertical pusher 6 are extrapolated respectively
Thrust_L is added by R with Thrust_R, is obtained the vertical remaining static force F_static of ROV, is then gradually reduced propulsion
The thrust of two propellers of device thrust while reducing propeller thrust, is driven up to becoming zero using buoyancy regulating device
Module 16, control fore body oil-pocket buoyancy regulation device 7 and stern oil-pocket buoyancy regulation device 8 are pumped or are bought oil, changed
Become its oil sac volume, to be finely adjusted to buoyancy suffered by ROV entirety, makes its suffered buoyancy=gravity and hover over target depth
At degree, 3-axis acceleration sensor 11 measures at this time longitudinal acceleration Acceleration_z=0 and Depth_
Measurement=Depth_ target；
The amount that oil sac pumps or buys oil is calculated using increment type PID algorithm：
Δu2=KP·(ek-ek-1)+KI·ek+KD·(ek-2ek-1+ek-2)
K (k=2 ..., n) is constant, Δ u in formula2Increment, K are inputted for buoyancy regulating device drive module 16P、KIAnd KD
The respectively ratio of pid algorithm, integral and differential coefficient, ekFor target depth value Depth_target and depth transducer 10
The actual grade value Depth_real that kth time measures is poor therewith；
Further, when system control module 9 have received control cabinet 1 transmission static dive order Static_down, then
Order Oil_down is sent to buoyancy regulating device drive module 16, controls the oil-pocket buoyancy regulation device of fore body and stern
It pumps from oil sac, reduces oil sac volume, make buoyancy suffered by ROV<Gravity, what 3-axis acceleration sensor 11 measured at this time indulges
To acceleration A cceleration_z<0, ROV dive；
Further, it when reaching target depth Depth_target, to ROV into Mobile state hovering buoyancy fine tuning, realizes quiet
State dive hovering and depthkeeping；
Further, when system control module 9 has received the static order Static_up that floats of the transmission of control cabinet 1, then to
Buoyancy regulating device drive module 16 sends order Oil_up, controls the oil-pocket buoyancy regulation device of fore body and stern to oil
It buys oil in capsule, increases its volume, make buoyancy suffered by ROV>Gravity, longitudinal acceleration that 3-axis acceleration sensor 11 measures at this time
Spend Acceleration_z>0, ROV floats；
Further, it when reaching designated depth Depth_target, to ROV into Mobile state hovering buoyancy fine tuning, realizes quiet
State dive hovering and depthkeeping.
Further, when system control module 9 received control cabinet 1 transmission dynamic dive order Dynamic_down or
Dynamic, which floats, orders Dynamic_up, then first to ROV into Mobile state hovering buoyancy fine tuning, then controls larboard vertical thrust
Device 5 and starboard vertical pusher 6 realize ROV dynamically hovering and depthkeeping under water, and propeller thrust exports when dynamic hovering and depthkeeping
Amount is calculated using increment type PID algorithm：
△u3=KP·(ek-ek-1)+KI·ek+KD·(ek-2ek-1+ek-2),
K (k=2 ..., n) is constant, △ u in formula3Increment, K are inputted for impeller driven moduleP、KIAnd KDRespectively
Ratio, integral and the differential coefficient of PID algorithms, ekIt is surveyed for target depth value Depth_target and depth transducer 10 kth time
The actual grade value Depth_real of amount is poor therewith.
Claims (4)
1. a kind of oil sac mixes control ROV hovering and Depth control device under water with propeller, characterized in that by control cabinet, navel
Band cable, ROV control system, ROV sealings, pressure hull, larboard vertical pusher, starboard vertical pusher, fore body oil sac formula are floating
Apparatus for adjusting force, stern oil-pocket buoyancy regulation device composition；Control cabinet connects ROV control system by umbilical cables；Set on ROV
ROV control system in sealing, pressure hull is by system control module, depth transducer, 3-axis acceleration sensor, three axis tops
The gesture stability module of spiral shell instrument and three axle magnetometer composition, impeller driven module, buoyancy regulating device drive module composition.
2. oil sac as described in claim 1 mixes control ROV hovering and Depth control device under water, feature with propeller
It is that system control module controls larboard vertical pusher and starboard vertical pusher by impeller driven module, makes ROV in mesh
Depth dynamic is marked to hover；
System control module extrapolates larboard vertical thrust respectively using the PWM pulsewidths rotating speed and thrust relationship of propeller input
The thrust Thrust_L of the device and thrust Thrust_R of starboard vertical pusher, Thrust_L is added with Thrust_R, is obtained
The vertical remaining static force F_static for going out ROV, then gradually reduces the thrust of two propellers of propeller thrust until becoming
Zero, while reducing propeller thrust, using buoyancy regulating device drive module, control fore body oil-pocket buoyancy regulation device
Pumped or bought oil with stern oil-pocket buoyancy regulation device, change its oil sac volume, to buoyancy suffered by ROV entirety into
Row fine tuning, makes its suffered buoyancy=gravity and hovers at target depth.
3. oil sac as described in claim 1 mixes control ROV hovering and Depth control device under water, feature with propeller
Be, when system control module received control cabinet transmission static dive order, then to buoyancy regulating device drive module send out
It loses one's life order, the oil-pocket buoyancy regulation device for controlling fore body and stern is pumped from oil sac, is reduced oil sac volume, is made suffered by ROV
Buoyancy<Gravity, ROV dives；
Further, when reaching designated depth, to ROV into Mobile state hovering buoyancy fine tuning, static dive hovering and depthkeeping are realized；
Further, it orders, is then driven to buoyancy regulating device when system control module has received static float that control cabinet is sent
Dynamic model block sends order, and the oil-pocket buoyancy regulation device for controlling fore body and stern is bought oil into oil sac, is increased its volume, is made
Buoyancy suffered by ROV>Gravity, ROV float；
Further, when reaching designated depth, to ROV into Mobile state hovering buoyancy fine tuning, static dive hovering and depthkeeping are realized.
4. oil sac as described in claim 1 mixes control ROV hovering and Depth control device under water, feature with propeller
It is that dynamic hovering and when depthkeeping left and right side of a ship vertical pusher thrust output are calculated using increment type PID algorithm：
Δu1=KP·(ek-ek-1)+KI·ek+KD·(ek-2ek-1+ek-2)
K is constant, k=2 ..., n, Δ u in formula1Increment, K are inputted for impeller driven moduleP、KIAnd KDRespectively pid algorithm
Ratio, integral and differential coefficient, ekThe practical depth measured for target depth value Depth_target and depth transducer kth time
Angle value Depth_real is poor therewith；
Further, this system control module according to the PWM pulsewidths PWM_width_L for being output to larboard vertical pusher and is output to
The PWM pulsewidth PWM_width_R of starboard vertical pusher are closed by the function between pulsewidth PWM_width and thrust Thrust
System：
Bring PWM_width_L and PWM_width_R into Thtust calculation formula, respectively obtain dynamic hovering and when depthkeeping it is left,
Starboard vertical pusher thrust output Thrust_L and Thrust_R.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810112445.7A CN108357656B (en) | 2018-02-05 | 2018-02-05 | Oil bag and propeller hybrid control ROV (remote operated vehicle) underwater hovering and depth setting control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810112445.7A CN108357656B (en) | 2018-02-05 | 2018-02-05 | Oil bag and propeller hybrid control ROV (remote operated vehicle) underwater hovering and depth setting control device |
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| CN108357656A true CN108357656A (en) | 2018-08-03 |
| CN108357656B CN108357656B (en) | 2020-04-10 |
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ID=63004684
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| CN201810112445.7A Active CN108357656B (en) | 2018-02-05 | 2018-02-05 | Oil bag and propeller hybrid control ROV (remote operated vehicle) underwater hovering and depth setting control device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334923A (en) * | 2018-12-10 | 2019-02-15 | 美钻深海能源科技研发（上海）有限公司 | A kind of underwater crawler belt intelligent robot buoyancy regulating device |
| CN111208840A (en) * | 2020-01-17 | 2020-05-29 | 哈尔滨工程大学 | Hovering control method for deep sea underwater robot |
| CN111348160A (en) * | 2020-03-25 | 2020-06-30 | 中国科学院沈阳自动化研究所 | Buoyancy matching calculation method for large-depth underwater robot |
| CN111994236A (en) * | 2020-04-30 | 2020-11-27 | 中船第九设计研究院工程有限公司 | Balance method for keeping anti-floating and anti-tilting state of underwater walking mechanism |
| CN118500460A (en) * | 2024-07-18 | 2024-08-16 | 天津大学 | Fine tuning hover control method and control system applied to detection equipment |
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| CN105383654A (en) * | 2015-10-30 | 2016-03-09 | 哈尔滨工程大学 | Depth control device of autonomous underwater vehicle |
| CN106394835A (en) * | 2016-10-28 | 2017-02-15 | 重庆交通大学 | Underwater detection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109334923A (en) * | 2018-12-10 | 2019-02-15 | 美钻深海能源科技研发（上海）有限公司 | A kind of underwater crawler belt intelligent robot buoyancy regulating device |
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| CN111348160A (en) * | 2020-03-25 | 2020-06-30 | 中国科学院沈阳自动化研究所 | Buoyancy matching calculation method for large-depth underwater robot |
| CN111994236A (en) * | 2020-04-30 | 2020-11-27 | 中船第九设计研究院工程有限公司 | Balance method for keeping anti-floating and anti-tilting state of underwater walking mechanism |
| CN111994236B (en) * | 2020-04-30 | 2022-07-22 | 中船第九设计研究院工程有限公司 | Balance method for keeping anti-floating and anti-tilting state of underwater walking mechanism |
| CN118500460A (en) * | 2024-07-18 | 2024-08-16 | 天津大学 | Fine tuning hover control method and control system applied to detection equipment |
| CN118500460B (en) * | 2024-07-18 | 2024-10-11 | 天津大学 | Fine tuning hover control method and control system applied to detection equipment |
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| CN108357656B (en) | 2020-04-10 |
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