Non-line-of-sight control system for underwater robot

Abstract

The invention relates to a non-line-of-sight control system for an underwater robot. The non-line-of-sight control system comprises a control upper computer, a communication link and a nonlinear PID (Proportion Integration Differentiation) control system, wherein the control upper computer is positioned at the upper layer and is used for displaying differential motion of orientation of a site user and the underwater robot; the communication link is positioned at the middle layer and is used for controlling communication between the upper computer and the underwater robot; the nonlinear PID control system is positioned at the lower layer and is used for controlling the direction of the underwater robot. The non-line-of-sight control system has the advantages that the purpose that the user controls the direction of the underwater robot with extremely small error by the control upper computer is realized, and the orientation of the underwater robot is fed back to the user by a human-computer interface; and by the non-line-of-sight control system, the operation of the underwater robot is simple, the control accuracy is improved, the steady-state error is reduced, and the underwater robot can be correspondingly adjusted according to the specific condition of water environment, so that the operating requirements of the user can be met, and the non-line-of-sight operation is realized.

Description

technical field [0001] The invention relates to the technical field of underwater robot control systems, in particular to a non-line-of-sight control system for underwater robots. Background technique [0002] In recent years, underwater robots have developed rapidly. Underwater robots are widely used in both military and human production and life. Good operation methods and motion control are important prerequisites and guarantees for underwater robots to successfully complete their tasks. [0003] Existing underwater robots mainly focus on the mechanical part, and can only perform simple mechanical movements, and cannot successfully complete tasks under non-line-of-sight conditions. The so-called non-line-of-sight means that the sight of two points that need to communicate is blocked. They cannot see each other, and greater than 50% of the Fresnel zone (the circular area surrounding the line of sight) is blocked. [0004] The research on non-line-of-sight robots in my cou...

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And there is no report about the non-line-of-sight control system of this underwater robot.

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