Inner controlling system for gestures of underwater robot

Abstract

The invention discloses an inner system for controlling the gestures of an underwater robot, comprising a main controller connected with an adjustment mechanism, a gesture sensor, and an upper computer controller, wherein the adjustment mechanism is a balance adjustment mechanism arranged inside the underwater robot, and comprises a gravity slider, a double-shaft drive motor, a worm, a guiderail,a slide bar, a limit switch and a mechanism platform; the double-shaft drive motor is connected with the worm to drive the worm to rotate bidirectionally; the worm drives the slide bar to perform planar movement through the transmission of a lead screw; one end of the slide bar is connected with the lead screw of the worm and penetrates the gravity slider, while the other end thereof is connectedwith the guiderail by a slider and drives the gravity slider to move in a plane so as to realize the gravity adjustment of the underwater robot and control the transverse swing and longitudinal incline gestures of the underwater robot. The control system for gestures can be widely applied to the gesture control of the underwater robot.

Description

technical field [0001] The invention relates to the field of attitude control of robots, in particular to an inner attitude control system for underwater robots. Background technique [0002] Underwater robots have achieved great practical application results in underwater environment detection, monitoring, underwater target capture, and underwater facility operations. It can quickly and efficiently complete related measurement, monitoring, monitoring and manipulator actions. When the underwater robot encounters the interference of the surge, it will cause instability problems such as sway, heave, roll, and pitch. If the operator on the patrol boat completely relies on the manual control of the surface and underwater monitoring devices , it is difficult to achieve real-time fast and stable, and it also depends on the proficiency and response speed of the operator, especially when the underwater robot dives into the water with relatively turbid water quality, the operator ca...

AI Technical Summary

Problems solved by technology

When the underwater robot encounters the interference of the surge, it will cause instability problems such as sway, heave, roll, and pitch. If the operator on the patrol boat completely relies on the manual control of the surface and underwater monitoring devices , it is difficult to achieve real-time fast and stable, and it also depends on the proficiency and response speed of the operator, especially when the underwater robot dives into the water with relatively turbid water quality, the operator cannot see the posture of the underwater robot, and can only rely on the underwater robot's attitude. It is very difficult to control the image or sonar information, which may lead to job failure and other situations

[0003] At present, underwater robots are generally propelled by thrusters in three directions: horizontal, vertical, and lateral. In particular, the number of vertical and lateral thrusters is limited. Generally, only one thruster is installed, so that effective rolling and pitching cannot be achieved. tilt control

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