Underwater robot control system for detection and operation

Abstract

The invention discloses an underwater robot control system for detection and operation. The underwater robot control system comprises a water surface control system and an underwater control system, the water surface control system is placed on a bank side or a mother ship, and the underwater control system is installed on an underwater detection and operation robot; the water surface control system includes a water surface control panel, a water surface communication transceiver, an umbilical cable, and VR glasses; and the underwater control system includes an underwater communication transceiver, an ARM9 main controller, an ARM-M0 alternate controller, an underwater power supply module, a power supply security detection module, a water leakage detection module, a first low voltage powersupply, a communication module, a second low voltage power supply, a download port, a pan-tilt camera, a sensor module, an underwater lamp, a mechanical hand, and a propeller control module. The underwater robot control system for detection and operation has the advantages of multi-function and modularization, and is convenient to install or disassemble; and the water surface control panel has anemergency stop function and is provided with a wirelessly connected tablet computer for mobile monitoring and positioning.

Description

technical field [0001] The invention relates to a robot, in particular to an underwater robot control system for detection and operation, and belongs to the technical field of robots. Background technique [0002] With the depletion of land resources, the development and utilization of marine resources has played a huge role in promoting human development and social progress. As one of the means of developing the ocean, underwater robots have been widely concerned and researched. In recent years, most underwater robots at home and abroad only have the capability of floating or crawling, and underwater robots that can realize the two modes of floating and climbing walls are relatively rare. The underwater detection and operation robot is a novel modular, multi-functional, remote-controlled underwater robot with cables, which can freely switch between floating and crawling modes, and perform underwater operations, and is widely used in underwater observation , Floating surve...

AI Technical Summary

Problems solved by technology

The application number is 200310105200, and the name is "a distributed underwater robot control system". It only uses one RS-485 network communication, which has low reliability and less data transmission volume; the application number is 201310357116.6, and the name is "a shallow water robot Use the control device of the small underwater robot deck, there is no emergency stop button, it is inconvenient to deal with special situations, and it is not equipped with a tablet computer, it cannot realize mobile monitoring of the robot, and it is inconvenient for other personnel to observe the operation of the robot

The patent document with the application number "201410090281.4" discloses a "control method and control system for ship dynamic positioning system", but the PID control algorithm adopted has poor convergence, which makes the ship approach the target point slowly and is prone to Oscillation; the patent document with the application number "201510016643.X" discloses "a ship dynamic positioning method based on an improved strong tracking filter state observer", the robustness of the improved strong tracking filter state observer is relatively Poor, the accuracy of state estimation is not high, and problems such as divergence are prone to occur

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