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Modality switching underwater robot and control method thereof

An underwater robot, modal technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of complex power system and control system, unable to adapt to load adsorption force, unable to perform floating tasks, etc., to achieve easy disassembly and The effect of expanding functions, high degree of automation, and strong practicability

Active Publication Date: 2013-08-21
JIANGSU UNIV OF SCI & TECH
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Problems solved by technology

[0004] To sum up, the underwater wall-climbing robot still has the following disadvantages: 1. It cannot perform floating tasks and its range of activities is limited; 2. There are many motors but low utilization rate, and the power system and control system are complex; 3. It cannot be adaptively loaded and adsorbed force, affecting flexibility and causing waste of resources

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  • Modality switching underwater robot and control method thereof
  • Modality switching underwater robot and control method thereof
  • Modality switching underwater robot and control method thereof

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Embodiment Construction

[0027] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings.

[0028] The present invention is a mode switching underwater robot, such as figure 1 As shown in the figure, the robot system is divided into two parts: the surface part and the underwater part. The two parts are connected by umbilical cables to realize the transmission of signals and energy between the surface and underwater. The surface control system of the above water part transmits control signals and energy to the underwater part, receives underwater video and electrical signals of various sensors and displays them on the operation interface in real time, so as to ensure that the operators can monitor the working status of the underwater robot in real time.

[0029] The underwater control system of the underwater part includes underwater controllers, underwater sensing equipment and underwater robots. The underwater controller can u...

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Abstract

The invention relates to a modality switching underwater robot and a control method thereof. The modality switching underwater robot comprises a water surface control system and an underwater control system, wherein the underwater control system comprises an underwater sensing device, an underwater controller and an underwater robot, and the underwater robot comprises a carrier module, a switching module, a trolley module and a video collecting module. According to the control method of the modality switching underwater robot, the underwater controller is adopted to enable video information collected by the video collecting module and sensing information sensed by the underwater sensing device to be uploaded to the water surface control system through umbilical cables and receive control signals sent out by the water surface control system at the same time so as to achieve control over the swimming movement and wall climbing cleaning of the underwater robot. According to the modality switching underwater robot and the control method of the modality switching underwater robot, the self-weight, the size, the manufacturing cost, the processing difficulty, the energy consumption of a power supply system and the like are reduced to the maximum degree, and the modality switching underwater robot has various functions of swimming, sorption, crawling, cleaning and underwater monitoring and is high in practicability and wide in application range.

Description

technical field [0001] The invention relates to a novel underwater robot in the technical field of marine engineering and a control method thereof, in particular to a floating mode switching underwater robot and a control method thereof. Background technique [0002] Underwater robots are widely used, especially they can replace divers to complete high-strength and heavy-load monitoring and cleaning operations on underwater structures such as dams and hulls. The modes (navigation states) of underwater robots mainly include floating, adsorption, and crawling, and underwater wall-climbing robots need to have these two modes: adsorption and crawling. The adsorption methods of existing underwater wall-climbing robots mainly include negative pressure adsorption, magnetic adsorption, and thrust adsorption: when working on uneven walls, the adsorption capacity of negative pressure adsorption will be reduced; magnetic adsorption is only suitable for magnetically conductive walls; th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/00
Inventor 王志东窦京凌宏杰刘家欢陈剑文吕红玲
Owner JIANGSU UNIV OF SCI & TECH
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