The invention discloses a multi-navigation-state composite drive underwater robot control system and method, and the system comprises a lower computer main control module which is used for receiving the data of an airborne communication module and an underwater sensor information obtaining module, and transmitting the data to an execution module; the upper computer main control module, namely a shore PC, issues an instruction to the lower computer main control module; the navigation module is used for submarine flatness detection and self-positioning after floating out of the water surface; the underwater sensor information acquisition module is used for acquiring picture information, depth information, speed information, nitrogen gas information, gas flow information, water leakage detection information and distance measurement information; the airborne communication module is used for carrying out communication between the lower computer main control module and the upper computer monitoring module; and the execution module comprises a propeller, an electromagnetic valve, a rodless cylinder and a wing cylinder, and corresponding devices act after the execution module receives the motion instruction of the lower computer main control module, so that the motion control of the multi-flight-state composite drive underwater robot is achieved.
本发明公开了一种多航态复合驱动水下机器人控制系统及其控制方法,包括下位机主控模块,用于接收机载通信模块和水下传感器信息获取模块的数据,并下发到执行模块;上位机主控模块,即岸上PC,下发指令至下位机主控模块;导航模块,用于海底平整度检测以及浮出水面后的自身定位;水下传感器信息获取模块,用于采集画面信息、深度信息、速度信息、氮气气体信息、气体流量信息、漏水检测信息和测距信息;机载通信模块,用于进行下位机主控模块与上位机监控模块的通信;执行模块,包含推进器、电磁阀、无杆气缸以及机翼气缸,接收到下位机主控模块的运动指令后对应器件动作,从而达到对多航态复合驱动水下机器人的运动控制。
Multi-navigation-state composite drive underwater robot control system and control method thereof
一种多航态复合驱动水下机器人控制系统及其控制方法
2023-04-07
Patent
Electronic Resource
Chinese
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