The invention provides an autonomous underwater robot and a motion control method thereof.The autonomous underwater robot is used for collecting training data of swimmers, the autonomous underwater robot comprises a supporting frame, a watertight compartment is installed in the middle of the supporting frame, and propellers distributed in the circumferential direction of the watertight compartment at intervals are installed in the four corners of the supporting frame; wherein a core control unit is mounted in the watertight compartment, the core control unit comprises a core controller, the core controller is connected with an upper computer through a communication module, a PID (Proportion Integration Differentiation) controller is arranged in the core controller, and a color identification module is arranged in the upper computer; the autonomous underwater robot has the advantages that two tracking modes of manual control and automatic control are provided, in the automatic control mode, the PID controller is combined with the OpenCV color recognition technology, the autonomous underwater robot can track swimming athletes in real time, a more continuous and complete underwater visual angle is provided for coaches, and the swimming athletes can be tracked in real time. And the skill actions of the athletes can be analyzed more deeply.
本发明提供一种自主水下机器人及其运动控制方法,用于采集游泳运动员的训练数据,包括支撑架,所述支撑架的中间位置处安装有水密舱,所述支撑架的四角内均安装有沿着所述水密舱的周向间隔分布的推进器;其中,所述水密舱内安装有核心控制单元,所述核心控制单元包括核心控制器,所述核心控制器通过通讯模块与上位机连接,所述核心控制器内设有PID控制器,所述上位机内设有颜色识别模块;本发明的有益效果为:本发明提供手动控制和自动控制两种跟踪模式,在自动控制模式下,通过使用PID控制器结合OpenCV的颜色识别技术,自主水下机器人能够对游泳运动员进行实时追踪,这为教练提供了更加连续和完整的水下视角,有助于更深入地分析运动员的技术动作。
Autonomous underwater robot and motion control method thereof
一种自主水下机器人及其运动控制方法
08.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / A63B Geräte für Körperübungen, Turngeräte, Gymnastik, zum Schwimmen, Klettern oder Fechten , APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
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