Underwater main body device of underwater robot and autonomous obstacle avoidance method

Abstract

The invention discloses an underwater main body device of an underwater robot. The underwater main body device comprises a main control system, a rotary cradle head and a sensor system, wherein the main control system is communicated and connected with a control center of a water surface through a photoelectric composite cable, receives a remote control instruction of the water surface and uploads underwater video information and sensing data; video receiving equipment is arranged on the rotary cradle head, the input end of the rotary cradle head is communicated and connected with the main control system, and the main control system controls the rotary cradle head according to the remote control instruction to drive the video receiving equipment to rotate; the sensor system comprises a sonar component, the sonar component detects underwater environment in real time and conveys underwater environment information to the main control system, and the main control system outputs a motion control instruction to a motion mechanism of the underwater main body device according to the underwater environment information. The underwater main body device disclosed by the invention adopts an optical fiber transmission technology, can obtain a high-quality real-time high-definition video and telemetry data from a long distance, is higher in operation and control flexibility and realizes autonomous obstacle avoidance.

Description

technical field [0001] The invention relates to underwater operation equipment, in particular to an underwater body device of an underwater robot and an autonomous obstacle avoidance method. Background technique [0002] As the right-hand man for human research and development of the ocean, underwater robots are playing an increasingly important role in the field of ocean engineering, especially in the fields of submarine cable laying, submarine search and rescue, and maintenance of submarine military facilities. Underwater robots can conduct comprehensive investigation and research at depths that cannot be reached by divers, and can complete various tasks, playing an extremely important role in ocean development. [0003] However, the unknown and changeable marine environment is much more complex than the terrestrial environment, and the underwater robot itself has strong coupling, nonlinearity, under-actuation and model uncertainty, making effective control a technical dif...

AI Technical Summary

Problems solved by technology

At present, the main body devices of foreign and domestic underwater robots use twisted pair transmission for communication, and the communication quality is not high, especially for high-definition underwater videos, which often cannot achieve better results.

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