Underwater structure detection robot control system and motion control method

Abstract

The invention discloses an underwater structure detection robot control system and a motion control method. A water surface system comprises a water surface console, a water surface communication transceiver and an umbilical cable, and an underwater system comprises an underwater communication transceiver, a power supply unit, an embedded microcontroller, a power-propelled unit, a vision illumination unit, a motion switching unit, a safety protection unit and a sensor unit. Each function module is in a modular design, mounting and dismounting are convenient, the water surface console has an emergent stopping function, a wireless connection tablet personal computer is configured, movable monitoring can be achieved, communication modes are various, the data volume is large, the motion switching unit supports switching of two motion modes such as swimming and crawling, and reliable safety protection such as data storage and voltage and current detection can be achieved. By means of the underwater structure detection robot control system and the motion control method, the motion control method is based on a generalized prediction proportion integration differentiation (PID) control algorithm, system energy consumption can be effectively reduced, loads of components and parts are decreased, and a robot can be conveniently and stably controlled.

Description

technical field [0001] The invention relates to an underwater structure detection robot, in particular to a control system and a motion control method of an underwater structure detection robot, belonging to the technical field of robots. Background technique [0002] The research on underwater structure detection robot has been started very early in foreign countries, and certain research results have been obtained. For example, the large-scale underwater robots produced in the United States, such as SUPER SCORPIO, SUPER PHANTOM, and TRITON, have been successfully used in the installation, detection, assistance and maintenance of offshore oil drilling platform equipment for underwater production and routine operations. The French National Center for the Development of the Ocean has partnered with a company to build the "Elite" acoustic ROV. It is used for complex operations such as underwater drilling rig inspection, subsea oil rig equipment installation, tubing laying, an...

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Problems solved by technology

The application number is 201110373831.X, the name is "a composite adsorption hull cleaning robot", which can only realize the underwater walking function, and the function is single; the application number is 200310105200, the name is "a distributed underwater robot control system" , it only uses one way of RS-485 network communication, which has low reliability and less data transmission volume; the application number is 201310357116.6 and the name is "a control device for a small underwater robot deck for shallow water", and there is no emergency stop button. It is inconvenient to deal with special situations, and there is no tablet computer, so it is impossible to realize mobile monitoring of the robot, and it is inconvenient for other personnel to observe the operation of the robot

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