Control method for miniature underwater robot

A technology of underwater robot and control method, applied in three-dimensional position/channel control and other directions

Inactive Publication Date: 2015-07-29
XIAMEN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of combining control and automation of underwater robots, and provide a control method for miniature underwater robots

Method used

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  • Control method for miniature underwater robot
  • Control method for miniature underwater robot
  • Control method for miniature underwater robot

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Embodiment Construction

[0053] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0054] figure 1 It shows the flow of the method for controlling the miniature underwater robot provided by the present invention. For ease of illustration, only the parts relevant to the present invention are shown.

[0055] A method for controlling a miniature underwater robot, the method for controlling a miniature underwater robot includes the following steps:

[0056] (1) Each module program is initialized, and CAN communication is opened;

[0057] (2) start sending test information for the first time, send control signal afterwards, receive signal completion flag setting, if not receive signal then repeat step (2), ...

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Abstract

The invention discloses a control method for a miniature underwater robot, relating to an underwater robot. The control method comprises the following steps: establishing a communication mode model, establishing a control mode model, controlling rotation and switching of a camera, controlling an underwater illuminating lamp and the brightness thereof, controlling postures and actions in water and designing a leveling device. According to the control method disclosed by the invention, the communication between the underwater robot and a upper computer is carried out by adopting a CAN (Controller Area Network) bus, so that a command sent by the upper computer can be correctly received and accurately executed, and various real-time parameters can be sent back to the upper computer in time for a user to observe. The underwater environment can be clearly observed by the loaded underwater illumination and the camera, and various posture behaviors, such as moving up and down or advancing and retracting are controlled by an operator. The control method sufficiently considers the demands of the operator and provides multiple functions.

Description

technical field [0001] The invention relates to an underwater robot, in particular to a control method for a miniature underwater robot. Background technique [0002] The ocean accounts for 70% of the earth, and it is rich in resources, such as a large amount of solid mineral resources and oil and gas resources inside it. However, as the largest provider of resources for human survival and development, the people get less from the ocean There are more resources on land, because people have not explored the ocean much. Due to the complexity of the ocean environment, and the current human technology is not enough to fully explore the ocean, so there is still a lot of ocean knowledge that we need to discover. [0003] Because underwater robots can work in complex environments, have high labor intensity, strong adaptability, and low cost and high efficiency, they have become the most important underwater operations while more and more replacing humans. Its application involves...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
Inventor 孙海信丁思达齐洁程恩林娜蒯晓燕
Owner XIAMEN UNIV
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