CN113335481A - Underwater operation attitude control method for robot - Google Patents
Underwater operation attitude control method for robot Download PDFInfo
- Publication number
- CN113335481A CN113335481A CN202110723448.6A CN202110723448A CN113335481A CN 113335481 A CN113335481 A CN 113335481A CN 202110723448 A CN202110723448 A CN 202110723448A CN 113335481 A CN113335481 A CN 113335481A
- Authority
- CN
- China
- Prior art keywords
- robot
- inner cavity
- control method
- attitude control
- underwater operation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 29
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 43
- 238000001514 detection method Methods 0.000 claims abstract description 26
- 238000005096 rolling process Methods 0.000 claims abstract description 8
- 239000000725 suspension Substances 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000009189 diving Effects 0.000 abstract description 3
- 230000036544 posture Effects 0.000 description 11
- 238000009434 installation Methods 0.000 description 10
- 238000004140 cleaning Methods 0.000 description 3
- 230000009193 crawling Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- 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
-
- 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
- B63G8/26—Trimming equipment
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a method for controlling underwater operation attitude of a robot, which comprises the following steps: the method comprises the following steps that firstly, a robot is placed under water to be detected, a water depth detector at the bottom of the robot detects the water depth at the moment, and a detection result is transmitted to a display screen to be displayed; the pressure sensor is used for detecting the pressure data of the inner cavity, whether the running condition of the robot is normal or not is judged through the change of the observation data, so that the diving condition is achieved, the motor arranged in the inner cavity of the robot drives the balancing weight to rotate, the robot integrally rolls along with the change of the position of the balancing weight, the inner cavity of the robot is provided with the frequency converter, the frequency converter can control the rotating speed of the motor, the robot can rapidly and accurately adjust the running posture, the robot runs and detects at a special position, the bubble level measuring instrument arranged in the inner cavity of the robot measures the rolling posture of the robot, and the functionality of controlling the underwater running posture of the robot is greatly improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method for controlling underwater operation postures of a robot.
Background
An underwater robot is also called an unmanned remote control submersible vehicle and is a limit operation robot working underwater. The underwater environment is in severe danger, and the diving depth of people is limited, so the underwater robot becomes an important tool for developing the ocean, and the unmanned remote control submersible mainly comprises: the cable remote-control submersible is divided into an underwater self-propelled type, a towed type and a crawling type on a seabed structure, when the existing underwater robot performs operation attitude control underwater, a propeller is arranged on a shell of the underwater robot, and the underwater robot is controlled to submerge underwater through the propeller for detection, however, the following problems exist:
when the existing robot carries out underwater operation attitude control, the robot cannot be rolled and adjusted, the robot is easy to collide when receiving water buoyancy or being used at a special position, and the functionality of the robot for controlling the underwater operation attitude is greatly reduced.
Disclosure of Invention
In view of the above, embodiments of the present invention are intended to provide a method for controlling an underwater operation posture of a robot, so as to solve or alleviate technical problems in the prior art, and to provide at least one useful choice.
The technical scheme of the embodiment of the invention is realized as follows: an underwater operation attitude control method for a robot comprises the following steps:
the method comprises the following steps that firstly, a robot is placed under water to be detected, a water depth detector at the bottom of the robot detects the water depth at the moment, the detection result is transmitted to a display screen to be displayed, the robot is pushed to submerge to a position 0.5-1m below the water through propellers at two sides of the robot, and the robot is suspended for 2-5 min;
in the suspension process, detecting the temperature, the water leakage condition and the pressure data of the power supply of the inner cavity at the moment through a temperature and humidity sensor and a pressure sensor which are arranged in the inner cavity of the robot, transmitting the detection result to a display screen for displaying, and judging whether the running condition of the robot is normal or not by a worker through the change of observation data so as to reach the submerging condition;
step three, after the result to be detected is normal, the propeller pushes the robot to dive again, the surrounding conditions are monitored and checked through a camera arranged at the front end of the robot, a motor arranged in an inner cavity of the robot drives a balancing weight to rotate, the robot rolls integrally along with the change of the position of the balancing weight, and the robot runs at a special position to detect;
and step four, measuring the rolling posture of the robot by using a bubble level measuring instrument arranged in the inner cavity of the robot, pushing the robot to float to the water surface by using a propeller, and recovering the robot by using a worker.
In some embodiments, the speed of the robot when submerging and surfacing is 0.2m/s to 0.3m/s, and the speed of the robot when operating is 0.3m/s to 0.4 m/s; the speed of the robot during submergence and floating is controlled, so that the condition that the robot is too fast to cause collision when submergence or floating is avoided, the speed of the robot during operation is controlled, and the robot is prevented from being too fast to cause collision when advancing.
In some embodiments, in the third step, LED lamps are uniformly installed around the camera; the LED illuminating lamps are uniformly arranged on the periphery of the camera, so that an area irradiated by the camera is illuminated, and the robot can conveniently detect an underwater environment.
In some embodiments, a storage battery is installed in the inner cavity of the robot, and an electrical output end of the storage battery is electrically connected with electrical input ends of the motor and the propeller; through at the installation battery of robot inner chamber for can switch main power supply and stand-by power supply to the power supply of robot, avoid power supply circuit to damage the condition that causes the unable normal work of robot.
In some embodiments, an electric quantity detection module is installed in the inner cavity of the robot, and the electric quantity of the storage battery is detected and an alarm is given; the electric quantity detection module can detect the electric quantity of the storage battery in real time, and the condition that the storage battery cannot supply power to the robot to cause the power supply to be switched is avoided.
In some embodiments, the front end of the robot shell is provided with a wiping structure, the wiping structure comprises an electric push rod and a scraper, and the scraper scrapes on the surface of the camera; electric putter drives the scraper blade and scrapes on the camera surface, avoids debris to cause the jam and shelter from to the camera surface under water, leads to the camera can't carry out the condition of shooing to the surrounding environment.
In some embodiments, the front end of the robot housing is provided with an ultrasonic detector for detecting a running front shelter; the ultrasonic detector can detect the sheltering object in front of the robot, so that the robot can change the operation posture in time, and the collision between the robot and the sheltering object is avoided.
In some embodiments, the inner cavity of the robot is provided with a frequency converter, and the rotating speed of a motor is controlled to 2-3 r/min; the frequency converter can control the rotating speed of the motor, so that the robot can adjust the operation posture quickly and accurately.
Due to the adoption of the technical scheme, the embodiment of the invention has the following advantages:
the pressure sensor is used for detecting the pressure data of the inner cavity, whether the running condition of the robot is normal or not is judged through the change of the observation data, so that the diving condition is achieved, the motor arranged in the inner cavity of the robot drives the balancing weight to rotate, the robot integrally rolls along with the change of the position of the balancing weight, the inner cavity of the robot is provided with the frequency converter, the frequency converter can control the rotating speed of the motor, the robot can rapidly and accurately adjust the running posture, the robot runs and detects at a special position, the bubble level measuring instrument arranged in the inner cavity of the robot measures the rolling posture of the robot, and the functionality of controlling the underwater running posture of the robot is greatly improved.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will be readily apparent by reference to the drawings and following detailed description.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments or technical descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of the present invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Example one
As shown in fig. 1, an embodiment of the present invention provides a method for controlling an underwater operation attitude of a robot, including the following steps:
the method comprises the following steps that firstly, a robot is placed under water to be detected, a water depth detector at the bottom of the robot detects the water depth at the moment, the detection result is transmitted to a display screen to be displayed, the robot is pushed to submerge to a position 0.5m below the water through propellers on two sides of the robot, and the robot is suspended for 2 min;
in the suspension process, detecting the temperature, the water leakage condition and the pressure data of the power supply of the inner cavity at the moment through a temperature and humidity sensor and a pressure sensor which are arranged in the inner cavity of the robot, transmitting the detection result to a display screen for displaying, and judging whether the running condition of the robot is normal or not by a worker through the change of observation data so as to reach the submerging condition;
step three, after the result to be detected is normal, the propeller pushes the robot to dive again, the surrounding conditions are monitored and checked through a camera arranged at the front end of the robot, a motor arranged in an inner cavity of the robot drives a balancing weight to rotate, the robot rolls integrally along with the change of the position of the balancing weight, and the robot runs at a special position to detect;
and step four, measuring the rolling posture of the robot by using a bubble level measuring instrument arranged in the inner cavity of the robot, pushing the robot to float to the water surface by using a propeller, and recovering the robot by using a worker.
In one embodiment, the speed of the robot during submergence and surfacing is 0.2m/s, and the speed of the robot during operation is 0.3 m/s; the speed of the robot during submergence and floating is controlled, so that the condition that the robot is too fast to cause collision when submergence or floating is avoided, the speed of the robot during operation is controlled, and the robot is prevented from being too fast to cause collision when advancing.
In one embodiment, in step three, the LED lamps are uniformly installed around the camera; the LED illuminating lamps are uniformly arranged on the periphery of the camera, so that an area irradiated by the camera is illuminated, and the robot can conveniently detect an underwater environment.
In one embodiment, a storage battery is arranged in the inner cavity of the robot, and the electrical output end of the storage battery is electrically connected with the electrical input ends of the motor and the propeller; through at the installation battery of robot inner chamber for can switch main power supply and stand-by power supply to the power supply of robot, avoid power supply circuit to damage the condition that causes the unable normal work of robot.
In one embodiment, an electric quantity detection module is installed in the inner cavity of the robot, and the electric quantity of the storage battery is detected and an alarm is given; through the setting of electric quantity detection module, electric quantity detection module can detect the electric quantity of battery in real time, avoids the battery can't lead to the unable condition of switching of power to the robot power supply.
In one embodiment, the front end of the robot shell is provided with a wiping structure, the wiping structure comprises an electric push rod and a scraper, and the scraper scrapes on the surface of the camera; through the setting of cleaning the structure, electric putter drives the scraper blade and scrapes on the camera surface, avoids debris to cause the jam and shelter from to the camera surface under water, leads to the camera can't carry out the condition of shooing to the surrounding environment.
In one embodiment, the front end of the robot shell is provided with an ultrasonic detector for detecting the front barrier in operation; through ultrasonic detector's setting, ultrasonic detector can survey the shelter thing in robot the place ahead for the change operation gesture that the robot can be timely, thereby avoid the robot and shelter from the condition that the thing bumps.
In one embodiment, a frequency converter is arranged in the inner cavity of the robot, and the rotating speed of a motor is controlled to 2 revolutions per minute; through the installation of converter, the converter can control the rotational speed of motor to make the adjustment operation gesture that the robot can be quick accurate.
Example two
As shown in fig. 1, an embodiment of the present invention provides a method for controlling an underwater operation attitude of a robot, including the following steps:
the method comprises the following steps that firstly, a robot is placed under water to be detected, a water depth detector at the bottom of the robot detects the water depth at the moment, the detection result is transmitted to a display screen to be displayed, the robot is pushed to submerge to a position 0.8m below the water through propellers at two sides of the robot, and the robot is suspended for 3.5 min;
in the suspension process, detecting the temperature, the water leakage condition and the pressure data of the power supply of the inner cavity at the moment through a temperature and humidity sensor and a pressure sensor which are arranged in the inner cavity of the robot, transmitting the detection result to a display screen for displaying, and judging whether the running condition of the robot is normal or not by a worker through the change of observation data so as to reach the submerging condition;
step three, after the result to be detected is normal, the propeller pushes the robot to dive again, the surrounding conditions are monitored and checked through a camera arranged at the front end of the robot, a motor arranged in an inner cavity of the robot drives a balancing weight to rotate, the robot rolls integrally along with the change of the position of the balancing weight, and the robot runs at a special position to detect;
and step four, measuring the rolling posture of the robot by using a bubble level measuring instrument arranged in the inner cavity of the robot, pushing the robot to float to the water surface by using a propeller, and recovering the robot by using a worker.
In one embodiment, the speed of the robot during submergence and surfacing is 0.25m/s, and the speed of the robot during operation is 0.35 m/s; the speed of the robot during submergence and floating is controlled, so that the condition that the robot is too fast to cause collision when submergence or floating is avoided, the speed of the robot during operation is controlled, and the robot is prevented from being too fast to cause collision when advancing.
In one embodiment, in step three, the LED lamps are uniformly installed around the camera; the LED illuminating lamps are uniformly arranged on the periphery of the camera, so that an area irradiated by the camera is illuminated, and the robot can conveniently detect an underwater environment.
In one embodiment, a storage battery is arranged in the inner cavity of the robot, and the electrical output end of the storage battery is electrically connected with the electrical input ends of the motor and the propeller; through at the installation battery of robot inner chamber for can switch main power supply and stand-by power supply to the power supply of robot, avoid power supply circuit to damage the condition that causes the unable normal work of robot.
In one embodiment, an electric quantity detection module is installed in the inner cavity of the robot, and the electric quantity of the storage battery is detected and an alarm is given; through the setting of electric quantity detection module, electric quantity detection module can detect the electric quantity of battery in real time, avoids the battery can't lead to the unable condition of switching of power to the robot power supply.
In one embodiment, the front end of the robot shell is provided with a wiping structure, the wiping structure comprises an electric push rod and a scraper, and the scraper scrapes on the surface of the camera; through the setting of cleaning the structure, electric putter drives the scraper blade and scrapes on the camera surface, avoids debris to cause the jam and shelter from to the camera surface under water, leads to the camera can't carry out the condition of shooing to the surrounding environment.
In one embodiment, the front end of the robot shell is provided with an ultrasonic detector for detecting the front barrier in operation; through ultrasonic detector's setting, ultrasonic detector can survey the shelter thing in robot the place ahead for the change operation gesture that the robot can be timely, thereby avoid the robot and shelter from the condition that the thing bumps.
In one embodiment, a frequency converter is arranged in the inner cavity of the robot, and the rotating speed of a motor is controlled to be 2.5 revolutions per minute; through the installation of converter, the converter can control the rotational speed of motor to make the adjustment operation gesture that the robot can be quick accurate.
EXAMPLE III
As shown in fig. 1, an embodiment of the present invention provides a method for controlling an underwater operation attitude of a robot, including the following steps:
the method comprises the following steps that firstly, a robot is placed under water to be detected, a water depth detector at the bottom of the robot detects the water depth at the moment, the detection result is transmitted to a display screen to be displayed, the robot is pushed to submerge to a position 1m below the water through propellers at two sides of the robot, and the robot is suspended for 5 min;
in the suspension process, detecting the temperature, the water leakage condition and the pressure data of the power supply of the inner cavity at the moment through a temperature and humidity sensor and a pressure sensor which are arranged in the inner cavity of the robot, transmitting the detection result to a display screen for displaying, and judging whether the running condition of the robot is normal or not by a worker through the change of observation data so as to reach the submerging condition;
step three, after the result to be detected is normal, the propeller pushes the robot to dive again, the surrounding conditions are monitored and checked through a camera arranged at the front end of the robot, a motor arranged in an inner cavity of the robot drives a balancing weight to rotate, the robot rolls integrally along with the change of the position of the balancing weight, and the robot runs at a special position to detect;
and step four, measuring the rolling posture of the robot by using a bubble level measuring instrument arranged in the inner cavity of the robot, pushing the robot to float to the water surface by using a propeller, and recovering the robot by using a worker.
In one embodiment, the speed of the robot during submergence and surfacing is 0.3m/s, and the speed of the robot during operation is 0.4 m/s; the speed of the robot during submergence and floating is controlled, so that the condition that the robot is too fast to cause collision when submergence or floating is avoided, the speed of the robot during operation is controlled, and the robot is prevented from being too fast to cause collision when advancing.
In one embodiment, in step three, the LED lamps are uniformly installed around the camera; the LED illuminating lamps are uniformly arranged on the periphery of the camera, so that an area irradiated by the camera is illuminated, and the robot can conveniently detect an underwater environment.
In one embodiment, a storage battery is arranged in the inner cavity of the robot, and the electrical output end of the storage battery is electrically connected with the electrical input ends of the motor and the propeller; through at the installation battery of robot inner chamber for can switch main power supply and stand-by power supply to the power supply of robot, avoid power supply circuit to damage the condition that causes the unable normal work of robot.
In one embodiment, an electric quantity detection module is installed in the inner cavity of the robot, and the electric quantity of the storage battery is detected and an alarm is given; through the setting of electric quantity detection module, electric quantity detection module can detect the electric quantity of battery in real time, avoids the battery can't lead to the unable condition of switching of power to the robot power supply.
In one embodiment, the front end of the robot shell is provided with a wiping structure, the wiping structure comprises an electric push rod and a scraper, and the scraper scrapes on the surface of the camera; through the setting of cleaning the structure, electric putter drives the scraper blade and scrapes on the camera surface, avoids debris to cause the jam and shelter from to the camera surface under water, leads to the camera can't carry out the condition of shooing to the surrounding environment.
In one embodiment, the front end of the robot shell is provided with an ultrasonic detector for detecting the front barrier in operation; through ultrasonic detector's setting, ultrasonic detector can survey the shelter thing in robot the place ahead for the change operation gesture that the robot can be timely, thereby avoid the robot and shelter from the condition that the thing bumps.
In one embodiment, a frequency converter is arranged in the inner cavity of the robot, and the rotating speed of a motor is controlled to 3 revolutions per minute; through the installation of converter, the converter can control the rotational speed of motor to make the adjustment operation gesture that the robot can be quick accurate.
The invention is in operation: the robot is placed under water to be detected by a worker, the water depth detector at the bottom of the robot detects the water depth at the moment, a detection result is transmitted to a display screen to be displayed, the robot is pushed to submerge and suspend by propellers at two sides of the robot, the temperature, water leakage and pressure data of a power supply of an inner cavity at the moment are detected by a temperature and humidity sensor and a pressure sensor which are arranged in the inner cavity of the robot during the suspending process of the robot, the detection result is transmitted to the display screen to be displayed, the worker judges whether the running condition of the robot is normal or not by observing the change of the data so as to reach the submerging condition, the propeller pushes the robot to submerge again after the detected result is normal, the surrounding condition is monitored and checked by a camera arranged at the front end of the robot, an electric push rod drives a scraper to scrape on the surface of the camera, and the blockage and shielding of the camera surface caused by underwater sundries are avoided, the condition that leads to the camera can't carry out the shooting to the surrounding environment, ultrasonic detector can survey the shelter from the thing in robot the place ahead, make the change operation gesture that the robot can be timely, thereby avoid the robot and the condition that shelter from the thing and bump, robot inner chamber installation converter, the converter can be controlled the rotational speed of motor, thereby make the adjustment operation gesture that the robot can be quick accurate, the motor of robot inner chamber installation drives the balancing weight and rotates, along with the balancing weight position changes, the robot wholly rolls, move at special position and survey, the bubble level survey appearance of robot inner chamber installation surveys the gesture of rolling of robot, the propeller promotes to float to the surface of water on the robot, the staff retrieves the robot.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present invention, and these should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (8)
1. An underwater operation attitude control method for a robot is characterized by comprising the following steps:
the method comprises the following steps that firstly, a robot is placed under water to be detected, a water depth detector at the bottom of the robot detects the water depth at the moment, the detection result is transmitted to a display screen to be displayed, the robot is pushed to submerge to a position 0.5-1m below the water through propellers at two sides of the robot, and the robot is suspended for 2-5 min;
in the suspension process, detecting the temperature, the water leakage condition and the pressure data of the power supply of the inner cavity at the moment through a temperature and humidity sensor and a pressure sensor which are arranged in the inner cavity of the robot, transmitting the detection result to a display screen for displaying, and judging whether the running condition of the robot is normal or not by a worker through the change of observation data so as to reach the submerging condition;
step three, after the result to be detected is normal, the propeller pushes the robot to dive again, the surrounding conditions are monitored and checked through a camera arranged at the front end of the robot, a motor arranged in an inner cavity of the robot drives a balancing weight to rotate, the robot rolls integrally along with the change of the position of the balancing weight, and the robot runs at a special position to detect;
and step four, measuring the rolling posture of the robot by using a bubble level measuring instrument arranged in the inner cavity of the robot, pushing the robot to float to the water surface by using a propeller, and recovering the robot by using a worker.
2. The underwater operation attitude control method for the robot as claimed in claim 1, wherein: the speed of the robot during submergence and surfacing is 0.2-0.3 m/s, and the speed of the robot during operation is 0.3-0.4 m/s.
3. The underwater operation attitude control method for the robot as claimed in claim 1, wherein: and in the third step, the LED irradiation lamps are uniformly arranged around the camera.
4. The underwater operation attitude control method for the robot as claimed in claim 1, wherein: the inner cavity of the robot is provided with a storage battery, and the electrical output end of the storage battery is electrically connected with the electrical input ends of the motor and the propeller.
5. The underwater operation attitude control method for the robot as claimed in claim 5, wherein: and an electric quantity detection module is arranged in the inner cavity of the robot, and is used for detecting the electric quantity of the storage battery and giving an alarm.
6. The underwater operation attitude control method for the robot as claimed in claim 1, wherein: the front end of the robot shell is provided with a wiping structure, the wiping structure comprises an electric push rod and a scraper, and the scraper scrapes on the surface of the camera.
7. The underwater operation attitude control method for the robot as claimed in claim 1, wherein: and the front end of the robot shell is provided with an ultrasonic detector for detecting a barrier in front of operation.
8. The underwater operation attitude control method for the robot as claimed in claim 1, wherein: and a frequency converter is arranged in the inner cavity of the robot, and the rotating speed of a motor is controlled to 2-3 revolutions per minute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110723448.6A CN113335481A (en) | 2021-06-29 | 2021-06-29 | Underwater operation attitude control method for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110723448.6A CN113335481A (en) | 2021-06-29 | 2021-06-29 | Underwater operation attitude control method for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113335481A true CN113335481A (en) | 2021-09-03 |
Family
ID=77481163
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110723448.6A Pending CN113335481A (en) | 2021-06-29 | 2021-06-29 | Underwater operation attitude control method for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113335481A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080300742A1 (en) * | 2007-05-30 | 2008-12-04 | Oceaneering International, Inc. | Hybrid remotely/autonomously operated underwater vehicle |
| US20120152560A1 (en) * | 2010-06-15 | 2012-06-21 | O'malley Matthew Carl | System and method for channeling fluids underwater to the surface |
| CN104118549A (en) * | 2014-08-11 | 2014-10-29 | 博瑞智（天津）信息科技有限公司 | Single-joint robot fish and underwater propulsion platform |
| CN105667745A (en) * | 2016-01-21 | 2016-06-15 | 王昕� | Autonomous underwater vehicle and control method thereof |
| CN205540126U (en) * | 2016-03-29 | 2016-08-31 | 安徽工程大学 | Robot of environmental monitoring under water |
| CN206654177U (en) * | 2017-03-20 | 2017-11-21 | 青岛汇通达模具有限公司 | A kind of mini underwater robot observation system |
| CN107878712A (en) * | 2017-09-26 | 2018-04-06 | 杭州电子科技大学 | Under-ce exploration robot |
| CN108082424A (en) * | 2018-01-25 | 2018-05-29 | 杭州爱易特智能技术有限公司 | A kind of underwater detecting robot for low visibility waters |
| CN210235290U (en) * | 2019-07-24 | 2020-04-03 | 沈阳海人科技有限公司 | Underwater robot for seabed photographing |
| CN111874193A (en) * | 2020-08-26 | 2020-11-03 | 沈阳工业大学 | Small multifunctional underwater robot and working method thereof |
| CN112722220A (en) * | 2021-01-21 | 2021-04-30 | 青岛黄海学院 | Detection system of underwater robot and operation method thereof |
| CN112793741A (en) * | 2020-09-30 | 2021-05-14 | 北京机电工程研究所 | Eight-propeller underwater robot control system based on RS485 bus |
-
2021
- 2021-06-29 CN CN202110723448.6A patent/CN113335481A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080300742A1 (en) * | 2007-05-30 | 2008-12-04 | Oceaneering International, Inc. | Hybrid remotely/autonomously operated underwater vehicle |
| US20120152560A1 (en) * | 2010-06-15 | 2012-06-21 | O'malley Matthew Carl | System and method for channeling fluids underwater to the surface |
| CN104118549A (en) * | 2014-08-11 | 2014-10-29 | 博瑞智（天津）信息科技有限公司 | Single-joint robot fish and underwater propulsion platform |
| CN105667745A (en) * | 2016-01-21 | 2016-06-15 | 王昕� | Autonomous underwater vehicle and control method thereof |
| CN205540126U (en) * | 2016-03-29 | 2016-08-31 | 安徽工程大学 | Robot of environmental monitoring under water |
| CN206654177U (en) * | 2017-03-20 | 2017-11-21 | 青岛汇通达模具有限公司 | A kind of mini underwater robot observation system |
| CN107878712A (en) * | 2017-09-26 | 2018-04-06 | 杭州电子科技大学 | Under-ce exploration robot |
| CN108082424A (en) * | 2018-01-25 | 2018-05-29 | 杭州爱易特智能技术有限公司 | A kind of underwater detecting robot for low visibility waters |
| CN210235290U (en) * | 2019-07-24 | 2020-04-03 | 沈阳海人科技有限公司 | Underwater robot for seabed photographing |
| CN111874193A (en) * | 2020-08-26 | 2020-11-03 | 沈阳工业大学 | Small multifunctional underwater robot and working method thereof |
| CN112793741A (en) * | 2020-09-30 | 2021-05-14 | 北京机电工程研究所 | Eight-propeller underwater robot control system based on RS485 bus |
| CN112722220A (en) * | 2021-01-21 | 2021-04-30 | 青岛黄海学院 | Detection system of underwater robot and operation method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104267643B (en) | Underwater robot target positioning identification system | |
| CN104215988B (en) | A kind of submarine target localization method | |
| US10746154B1 (en) | Autonomous underwater beacon locator | |
| JP5223532B2 (en) | Water column observation apparatus and method | |
| CN112835049A (en) | Underwater sludge thickness detection robot and system thereof | |
| CN105526917A (en) | Underwater glider used for measuring marine microstructure | |
| CN108345313A (en) | A kind of interconnection method of submarine navigation device and connection station | |
| CN111452939A (en) | Autonomous line-inspection underwater helicopter for diversion tunnel detection | |
| CN112549045A (en) | Submarine cable fault detection robot for ocean engineering | |
| CN114088066B (en) | Sea dynamic monitoring method and equipment used by same | |
| CN215180879U (en) | Underwater sludge thickness detection robot and system thereof | |
| CN113335481A (en) | Underwater operation attitude control method for robot | |
| CN113589227A (en) | Underwater robot positioning system and method | |
| Asakawa et al. | Autonomous underwater vehicle AQUA EXPLORER 1000 for inspection of underwater cables | |
| CN217125105U (en) | Underwater robot suitable for inspection operation | |
| CN203519529U (en) | Submarine pipeline detection device | |
| CN115290956A (en) | Submarine pipeline stray current detection device and detection method thereof | |
| KR102058257B1 (en) | Pool surveillance system and associated surveillance method | |
| CN207969730U (en) | A kind of wearable underwater sonar detecting devices and system | |
| EP3059610A1 (en) | System for monitoring bottom shape near bridge supports | |
| JP2736724B2 (en) | Underwater long-term observation system | |
| CN209945418U (en) | Limited underground pipeline space simulation equipment | |
| CN216411590U (en) | Submarine cable burial depth monitoring system based on optical fiber temperature measurement technology | |
| CN108188897A (en) | Robot rust removalling equipment | |
| KR102302340B1 (en) | Buoy for offshore safety |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210903 |