The invention provides a self-driven underwater robot obstacle avoidance device and method. The device is installed on an underwater robot and comprises an underwater collision detector and a collision signal processor, and the underwater collision detector comprises tentacles, a limiting stopper, a fisheye bearing, a bearing seat, a flange, a spring, a lantern ring, a contact electrode, an orientation electrode, a reference electrode, a shell and a water inlet; the collision signal processor comprises a whisker controller, an upper computer, an underwater collision detector and a steering engine; the whisker controller controls the whisker to swing by controlling the steering engine, the whisker controller communicates with the underwater robot main controller, and a related instruction is transmitted to the underwater robot main controller according to a collision signal to control the robot to move, so that obstacle avoidance is realized; and the upper computer displays the collision signal and the angle of the whisker. According to the invention, collision detection is realized by using an off-current signal generated by the contact of the contact electrode and the azimuth electrode, the detector is communicated with seawater and does not need to be electrified, and the defects of water sealing and hydrostatic pressure resistance of traditional electronic detection are overcome.
本发明提供一种自驱动式水下机器人避障装置及方法。本发明装置安装在水下机器人上,包括:水下碰撞检测器和碰撞信号处理器,水下碰撞检测器包括触须、限位器、鱼眼轴承、轴承座、法兰、弹簧、套环、接触电极、方位电极、参考电极、外壳和进水口;碰撞信号处理器包括触须控制器、上位机、水下碰撞检测器及舵机;触须控制器通过控制舵机来控制触须摆动,触须控制器和水下机器人主控器进行通信,根据碰撞信号将相关指令传递至水下机器人主控器控制机器人运动,实现避障;上位机显示碰撞信号和触须的角度。本发明利用接触电极与方位电极接触产生的离电信号实现碰撞检测,检测器与海水相通且无需通电,避免传统电子式检测需水密封和耐静水压力的不足。
Self-driven underwater robot obstacle avoidance device and method
一种自驱动式水下机器人避障装置及方法
2024-11-15
Patent
Electronic Resource
Chinese
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