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首页> 外文会议>IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems >Underwater robot with a buoyancy control system based on the spermaceti oil hypothesis development of the depth control system
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Underwater robot with a buoyancy control system based on the spermaceti oil hypothesis development of the depth control system

机译：带有浮力控制系统的水下机器人基于精油假设的深度控制系统开发

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The goal of this paper is to develop a robot control system using a microcomputer for an underwater robot with a buoyancy control system based on the spermaceti oil hypothesis. Sperm whales have a spermaceti organ in their head that is filled with spermaceti oil. It is said that sperm whales control their buoyancy by melting or coagulating spermaceti oil. In the previous papers proposed an underwater robot with a buoyancy control device using its theory. The robot was radio controlled and it had no sensor. Therefore, the robot could not detect water depth. Also, it was not able to control its own depth. In addition, the robot could not dive because it had no cooling system. In this paper, we built a depth control circuit using a microcomputer and pressure sensor. The pressure sensor detected the robot's depth, and the microcomputer controlled the robot's position. And, we made a new buoyancy control device using a peltier element. A peltier element was used for heating and cooling systems of the paraffin wax. Then, we experimented with the robot control. As a result, we confirmed that when we ordered a target water depth, the robot dived, floated and maintained the depth itself by detecting its own position. In addition, we confirmed that when a disturbance occurs, the robot returned to the former depth.
机译：本文的目的是开发一种基于微型计算机的水下机器人的机器人控制系统，该机器人具有基于精子油假设的浮力控制系统。抹香鲸的头上有一个鲸蜡器官，里面充满了鲸蜡油。据说，抹香鲸通过熔化或凝结鲸蜡油来控制浮力。在先前的论文中，根据其理论提出了一种具有浮力控制装置的水下机器人。该机器人是无线电控制的，没有传感器。因此，机器人无法检测到水深。而且，它无法控制自己的深度。此外，由于没有冷却系统，该机器人无法潜水。在本文中，我们使用微计算机和压力传感器构建了深度控制电路。压力传感器检测到机器人的深度，然后由微型计算机控制机器人的位置。并且，我们使用珀尔帖（Peltier）元件制造了一种新的浮力控制设备。珀尔帖元件用于石蜡的加热和冷却系统。然后，我们尝试了机器人控制。结果，我们确认，当我们订购目标水深时，机器人会通过检测自身位置来跳水，漂浮并保持水深。另外，我们确认，当发生干扰时，机器人会返回到以前的深度。

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