CN114852296A - Motion control method and system of full-attitude underwater robot - Google Patents
Motion control method and system of full-attitude underwater robot Download PDFInfo
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- CN114852296A CN114852296A CN202210571010.5A CN202210571010A CN114852296A CN 114852296 A CN114852296 A CN 114852296A CN 202210571010 A CN202210571010 A CN 202210571010A CN 114852296 A CN114852296 A CN 114852296A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000007667 floating Methods 0.000 claims abstract description 17
- 239000007788 liquid Substances 0.000 claims abstract description 16
- 238000004804 winding Methods 0.000 claims description 21
- 238000004891 communication Methods 0.000 claims description 9
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 claims description 8
- 229910052739 hydrogen Inorganic materials 0.000 claims description 8
- 239000001257 hydrogen Substances 0.000 claims description 8
- 239000002184 metal Substances 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 12
- 238000011084 recovery Methods 0.000 abstract description 7
- 230000004888 barrier function Effects 0.000 abstract description 3
- 238000011160 research Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 239000013535 sea water Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
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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
- B63G8/08—Propulsion
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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
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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
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2205/00—Tethers
- B63B2205/02—Tether payout means
- B63B2205/04—Tether payout means comprising means for controlling payout
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/727—Offshore wind turbines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a motion control method and a system of a full-attitude underwater robot, wherein the system comprises a driving module, a movement adjusting module and a floating module, wherein a propeller is arranged in the driving module, and the full-attitude underwater robot can be driven and corrected in the descending process through the propeller to prevent the full-attitude underwater robot from deviating from a point to be investigated, so that the robot can accurately fall to a target site; through removing the adjustment module, can adjust the removal process of full gesture underwater robot under water, can cross the barrier moreover and continue to explore, at the recovery in-process, can provide buoyancy for full gesture underwater robot through floating the module, make full gesture underwater robot retrieve in-process automatic showy on the liquid level, it is more intelligent.
Description
Technical Field
The invention belongs to the technical field of underwater detection of offshore wind power engineering, and particularly relates to a motion control method and system of a full-attitude underwater robot.
Background
Autonomous underwater robots are effective tools for conducting marine scientific research. The method is widely applied to the fields of deep sea resource investigation, marine science research, marine engineering and the like. The existing autonomous underwater robot is generally designed to sail nearly horizontally or glide underwater, so that the autonomous underwater robot can be applied to a relatively flat sea bottom or can sail in seawater at a certain depth, and a fruitful experimental result is obtained. However, with continuous research, innovation and application of the autonomous underwater robot, the complexity of tasks undertaken by the autonomous underwater robot is higher and higher, and the requirements of the autonomous underwater robot are also higher and higher. At present, offshore wind power is mostly located in offshore places, the seabed environment is complex, the existing autonomous underwater robot sails horizontally and glides underwater, the application of complex terrains cannot be met, and the application scene of underwater exploration and detection of offshore wind power cannot be dealt with.
When the existing full-posture underwater robot in the market enters water, the robot is placed in the water after being fixed by winding a winding and unwinding rope, and the following defects exist due to the flowing condition of the water;
firstly, the full-attitude underwater robot cannot fall to a target place quickly and accurately, and needs a ship to lift the full-attitude underwater robot to a target point, so that the full-attitude underwater robot is more labor-consuming;
secondly, the full-attitude underwater robot cannot be automatically recovered, if the full-attitude underwater robot is directly dragged by winding and unwinding the rope, the ship needs to move right above the full-attitude underwater robot, and the full-attitude underwater robot is easily damaged due to collision during recovery;
and thirdly, when the full-attitude underwater robot moves, resistance is generated due to the winding and unwinding of the rope, so that the movement of the full-attitude underwater robot is influenced, and the energy consumption is increased.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a motion control method and a motion control system of a full-attitude underwater robot. The underwater robot solves the problems that an existing full-posture underwater robot is difficult to accurately fall to a target place, has resistance in a moving process and is difficult to recover.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a motion control system for a full-pose underwater robot, comprising:
the driving module is used for throwing the full-attitude underwater robot into an area to be probed; controlling the throwing place of the full-attitude underwater robot through a propeller in the throwing process;
the movement adjusting module is used for moving the full-attitude underwater robot to explore in an exploration area; when an obstacle is encountered, the direction is distinguished through a radar, the moving direction of the full-posture underwater robot is adjusted, the full-posture underwater robot crosses the obstacle, and the exploration is continued;
and the floating module is used for providing buoyancy for the full-posture underwater robot, so that the full-posture underwater robot floats to the liquid level and is withdrawn.
The invention is further improved in that:
preferably, the driving module comprises four propellers, each propeller is respectively arranged on four different side faces of the full-attitude underwater robot, and the side faces are perpendicular to the ground.
Preferably, the movement adjustment module comprises a crawler wheel drive module and a direction identification module;
the crawler wheel driving module is used for driving the full-attitude underwater robot to move forwards, backwards and turn;
and the direction identification module is used for sensing and detecting topographic data around the full-attitude underwater robot through a radar when an obstacle is encountered, and controlling the moving direction of the crawler wheel driving module.
Preferably, the track wheel drive module comprises two tracks.
Preferably, the direction identification module comprises a sensing module and an adjusting module;
the sensing module is used for detecting topographic data around the robot through a radar and transmitting the topographic data to the main control module;
and the adjusting module is used for receiving the moving route returned by the main control module and adjusting the advancing, retreating and steering of the crawler wheel driving module according to the moving route.
Preferably, the floating module comprises a liquid hydrogen tank and an inflatable bag, the inflatable bag is connected with the full-attitude underwater robot, and the liquid hydrogen tank is communicated with the inflatable bag.
Preferably, the system also comprises a positioning module and a transmission module;
the positioning module is used for positioning the underwater robot in full posture in real time;
and the wireless communication module is used for transmitting the positioning information, the movement information and the detection information of the full-attitude underwater robot to the main control module and transmitting the instruction of the main control module to the full-attitude underwater robot.
A motion control method of a full-attitude underwater robot comprises the following steps:
step 1, putting a full-attitude underwater robot into an area to be probed; controlling the throwing place of the full-attitude underwater robot through a propeller in the throwing process;
step 2, moving the full-attitude underwater robot to explore in an exploration area; when an obstacle is encountered, the direction is distinguished through a radar, the moving direction of the full-posture underwater robot is adjusted, the full-posture underwater robot crosses the obstacle, and the exploration is continued;
and 3, providing buoyancy for the full-attitude underwater robot, floating the full-attitude underwater robot to the liquid level, and withdrawing the full-attitude underwater robot.
Preferably, in step 1, the full-attitude underwater robot is launched by winding the rope winding and releasing assembly.
Preferably, the winding and unwinding assembly comprises a metal disc arranged on the ship and an electromagnetic disc arranged on the full-attitude underwater robot, the winding and unwinding rope is wound on the metal disc and the electromagnetic disc, and after the full-attitude underwater robot is thrown into the area to be probed, the electromagnetic disc is powered off.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses a motion control system of a full-attitude underwater robot, which comprises a driving module, a movement adjusting module and a floating module, wherein a propeller is arranged in the driving module, and the full-attitude underwater robot can be driven and corrected in the descending process through the propeller to prevent the full-attitude underwater robot from deviating from a point to be investigated, so that the robot can accurately fall to a target site; through removing the adjustment module, can adjust the removal process of full gesture underwater robot under water, can cross the barrier moreover and continue to explore, at the recovery in-process, can provide buoyancy for full gesture underwater robot through floating the module, make full gesture underwater robot retrieve in-process automatic showy on the liquid level, it is more intelligent.
Further, the liquid hydrogen tank is used for inflating the inflatable bag, so that the inflatable bag is expanded, and buoyancy is generated to lift the underwater robot in the full posture.
Furthermore, positioning and data transmission are carried out through a positioning module and a wireless communication module; the precise recovery is conveniently carried out under the assistance of the propeller driving module when the full-posture underwater robot ascends, and the energy is saved and the environment is protected;
the invention also discloses a motion control method of the full-attitude underwater robot, which comprises the steps of accurately throwing the full-attitude underwater robot into the area to be probed, carrying out moving probing on the full-attitude underwater robot and the full-attitude underwater robot in the area to be probed, crossing the obstacle to continue probing when encountering the obstacle, and floating to the liquid level until the probing is finished.
Furthermore, the electromagnetic disc on the full-attitude underwater robot is powered off to be separated from the winding rope and the unwinding rope, so that the moving resistance is reduced, and the motion control method of the full-attitude underwater robot is more intelligent, energy-saving and environment-friendly.
Furthermore, the underwater robot in the full posture is prevented from overturning by winding and releasing the rope, so that the underwater robot is ensured to land on the ground by the crawler wheels; the electromagnetic disc on the full-attitude underwater robot is powered off, so that the metal disc on the winding and unwinding rope is separated from the electromagnetic disc, and the resistance of the full-attitude underwater robot during moving is reduced.
Drawings
FIG. 1 is a flow chart of a motion control method of a full-attitude underwater robot;
fig. 2 is a signal transfer diagram between the respective modules.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly and encompass, for example, both fixed and removable connections; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
As shown in fig. 1-2, the motion control system of a full-attitude underwater robot provided by the invention comprises a driving module, a movement adjusting module and a floating module;
the driving module is specifically a propeller driving module and comprises four propellers which are respectively arranged on the all-attitude underwater robot, the propellers are positioned on four sides of the all-attitude underwater robot, which are vertical to the ground, when the all-attitude underwater robot descends in water, the propellers positioned on the four sides work and push the all-attitude underwater robot when the all-attitude underwater robot deviates from a target point due to water flow, so that the all-attitude underwater robot is prevented from deviating to a point to be detected, and the robot can accurately fall to a target place.
The moving adjustment module comprises a crawler wheel driving module and a direction identification module, wherein the crawler wheel driving module is specifically two crawler wheels arranged at the lower part of the full-attitude underwater robot, and the crawler wheels are used for driving the full-attitude underwater robot to move forwards, backwards and turn through forward rotation, backward rotation and turning; the direction identification module comprises an induction module and an adjustment module; the induction module is used for inducing topographic data near the robot through a radar, and then transmitting the topographic data to the main control module for calculation and planning a moving route; and the adjusting module is used for receiving the moving route transmitted by the main control module and adjusting the moving direction of the crawler wheels so as to automatically avoid the barrier.
The floating module is used for providing buoyancy for the full-posture underwater robot so that the full-posture underwater robot can automatically float to the liquid level; the floating module comprises a liquid hydrogen tank and an inflatable bag; when the main control module starts the recovery step, the liquid hydrogen tank inflates the inflatable bag, and the inflatable bag expands and generates buoyancy to pull the full-posture underwater robot.
The method is realized by the system and comprises the following steps;
s1, putting the full-attitude underwater robot into a water area to be detected, and moving the full-attitude underwater robot to the area to be detected through the driving module;
s2, probing work is carried out through a probing module on the full-attitude underwater robot, and meanwhile, the underwater robot moves through a driving module; when the full-posture underwater robot moves,
s3, when encountering an obstacle, distinguishing the direction through the direction recognition module, and adjusting the movement of the crawler wheel driving module to further adjust the movement direction of the full-attitude underwater robot so as to cross the obstacle to continue probing;
and S4, when the exploration is finished, the full-posture underwater robot is retracted through the floating module, and the exploration is finished.
In the embodiment, the driving and the correction are carried out through a propeller driving module in the driving module; the four propellers are respectively arranged on the full-attitude underwater robot, the propellers are positioned on four side surfaces of the full-attitude underwater robot, which are vertical to the ground, when the full-attitude underwater robot descends in water and deviates from a target point due to water flow, the propellers positioned on the four side surfaces work and push the full-attitude underwater robot to prevent the full-attitude underwater robot from deviating from a point to be detected, so that the robot can accurately fall to a target site; the driving module is driven by a crawler wheel driving module in the driving module, and particularly two crawler wheels are arranged to drive the full-attitude underwater robot to move forwards, backwards and turn; is more convenient; the direction is distinguished through a direction identification module, and the moving direction of the underwater robot in the full posture is adjusted at the same time, so that the underwater robot can cross an obstacle to continue probing; through floating the module, the full gesture underwater robot of being convenient for withdraws automatically, and is more intelligent.
Example two
Compared with the first embodiment, the motion control method of the full-attitude underwater robot provided by the invention is characterized by further comprising a positioning module and a wireless communication module;
in the whole process, the position of the full-attitude underwater robot is locked in real time through the positioning module, the position of the full-attitude underwater robot can be monitored in real time in the whole process, the full-attitude underwater robot is controlled to move in an area to be detected and according to a set path; in the whole releasing, detecting and recovering process, data are exchanged with a main control module on the ship through a wireless communication module, so that the ship is convenient to position, and the main control module simultaneously monitors various information of the full-attitude underwater robot, so that the full-attitude underwater robot can automatically move to the position of the ship; while being lifted
Specifically, the method comprises the following steps:
s1, putting the full-attitude underwater robot into a water area to be detected, and moving the full-attitude underwater robot to the area to be detected through the driving module; in the process, the positioning module needs to determine that the putting place of the full-posture underwater robot is in the target place, otherwise, the full-posture underwater robot is moved until the full-posture underwater robot moves to the target place, the information of the positioning module is transmitted to the main control module through the wireless communication module in real time, and the main control module transmits the instruction to the driving module to move the underwater robot.
S2, probing work is carried out through a probing module on the full-attitude underwater robot, and meanwhile, the underwater robot moves through a driving module; when the full-attitude underwater robot moves, the positioning module monitors the position information of the full-attitude underwater robot in real time and moves according to the instruction transmitted by the main control module through the wireless communication module; when an obstacle is encountered, the terrain data around the obstacle is distinguished through the direction identification module, the direction identification module transmits the terrain data to the main control module through the wireless communication module, the main control module calculates a moving path and transmits the moving path to the adjusting module, the adjusting module adjusts the movement of the crawler wheel driving module, and then the moving direction of the full-attitude underwater robot is adjusted, so that the obstacle is crossed to continue to be probed;
s4, in the recovery process, the positions of the full-attitude underwater robot and the ship are locked through the positioning module, data are transmitted to the main control module through the wireless communication module, and finally the main control module plans a route and transmits the route to the full-attitude underwater robot again; when the full-attitude underwater robot ascends, the robot moves to a ship under the assistance of a propeller driving module in a driving module, and is accurately recovered through a floating module.
EXAMPLE III
As shown in fig. 1-2, compared with the first embodiment or the second embodiment, the motion control method of the full-attitude underwater robot provided by the present invention is different in that when the full-attitude underwater robot is launched, the full-attitude underwater robot is launched by winding the rope winding and releasing assembly; the full-posture underwater robot is provided with an electromagnetic disc, and a metal disc is arranged on the winding and unwinding rope; when the full-attitude underwater robot is thrown to a designated area, the electromagnetic disc on the full-attitude underwater robot is powered off, so that the electromagnetic disc is separated from the metal disc on the winding and unwinding rope.
In the embodiment, when the full-attitude underwater robot descends in water, the full-attitude underwater robot is prevented from overturning by winding and unwinding the rope, so that the full-attitude underwater robot is ensured to land on the ground by using the crawler wheels; when the full-attitude underwater robot reaches a destination, the electromagnetic disc on the full-attitude underwater robot is powered off, so that the metal disc on the winding and unwinding rope is separated from the electromagnetic disc, and the resistance of the full-attitude underwater robot during moving is reduced.
During the recovery step, the liquid hydrogen tank inflates the inflatable bag, and the inflatable bag expands to generate buoyancy to pull the full-posture underwater robot.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A motion control system of a full-attitude underwater robot, characterized by comprising:
the driving module is used for throwing the full-attitude underwater robot into an area to be probed; controlling the throwing place of the full-attitude underwater robot through a propeller in the throwing process;
the movement adjusting module is used for moving the full-attitude underwater robot to explore in an exploration area; when an obstacle is encountered, the direction is distinguished through a radar, the moving direction of the full-posture underwater robot is adjusted, the full-posture underwater robot crosses the obstacle, and the exploration is continued;
and the floating module is used for providing buoyancy for the full-posture underwater robot, so that the full-posture underwater robot floats to the liquid level and is withdrawn.
2. The motion control system of claim 1, wherein the driving module comprises four thrusters, each thruster being disposed on four different sides of the full-pose underwater robot, the sides being perpendicular to the ground.
3. The motion control system of a full-attitude underwater robot as claimed in claim 1, wherein the movement adjusting module comprises a crawler wheel driving module and a direction recognizing module;
the crawler wheel driving module is used for driving the full-attitude underwater robot to move forwards, backwards and turn;
and the direction identification module is used for sensing and detecting topographic data around the full-attitude underwater robot through a radar when an obstacle is encountered, and controlling the moving direction of the crawler wheel driving module.
4. The motion control system of a full-attitude underwater robot as claimed in claim 3, wherein said crawler wheel drive module includes two crawlers.
5. The motion control system of a full-attitude underwater robot as claimed in claim 3, wherein the direction recognition module comprises a sensing module and an adjusting module;
the sensing module is used for detecting topographic data around the robot through a radar and transmitting the topographic data to the main control module;
and the adjusting module is used for receiving the moving route returned by the main control module and adjusting the advancing, retreating and steering of the crawler wheel driving module according to the moving route.
6. The motion control system of a full-attitude underwater robot of claim 1, wherein the floating module comprises a liquid hydrogen tank and an inflatable bag, the inflatable bag is connected with the full-attitude underwater robot, and the liquid hydrogen tank is communicated with the inflatable bag.
7. The motion control system of a full-attitude underwater robot of any one of claims 1 to 6, further comprising a positioning module and a transmission module;
the positioning module is used for positioning the underwater robot in full posture in real time;
and the wireless communication module is used for transmitting the positioning information, the movement information and the detection information of the full-attitude underwater robot to the main control module and transmitting the instruction of the main control module to the full-attitude underwater robot.
8. A motion control method of a full-attitude underwater robot is characterized by comprising the following steps:
step 1, putting a full-attitude underwater robot into an area to be probed; controlling the throwing place of the full-attitude underwater robot through a propeller in the throwing process;
step 2, moving the full-attitude underwater robot to explore in an exploration area; when an obstacle is encountered, the direction is distinguished through a radar, the moving direction of the full-posture underwater robot is adjusted, the full-posture underwater robot crosses the obstacle, and the exploration is continued;
and 3, providing buoyancy for the full-attitude underwater robot, floating the full-attitude underwater robot to the liquid level, and withdrawing the full-attitude underwater robot.
9. The motion control method of the full-attitude underwater robot as claimed in claim 8, wherein in the step 1, the full-attitude underwater robot is launched by winding the winding and unwinding assembly.
10. The motion control method of the full-attitude underwater robot as claimed in claim 9, wherein the winding and unwinding assembly comprises a metal disc provided on the ship and an electromagnetic disc provided on the full-attitude underwater robot, the winding and unwinding rope is wound around the metal disc and the electromagnetic disc, and the electromagnetic disc is de-energized after the full-attitude underwater robot is thrown into the area to be inspected.
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| CN112180943A (en) * | 2020-10-19 | 2021-01-05 | 山东交通学院 | Underwater robot navigation obstacle avoidance method based on visual image and laser radar |
| CN113934207A (en) * | 2021-09-03 | 2022-01-14 | 广东交通职业技术学院 | Automatic obstacle avoidance navigation system of mobile robot and navigation method thereof |
| CN216374952U (en) * | 2021-10-26 | 2022-04-26 | 蓓伟机器人科技(上海)有限公司 | Intelligent underwater robot |
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