Underwater robot control system and dynamic positioning method

An underwater robot and control system technology, applied in the field of robots, can solve the problems of less data transmission, slow approach of the ship to the target point, and inconvenience to observe the robot operation.

Active Publication Date: 2018-04-24
江苏舾普泰克自动化科技有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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
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  • Underwater robot control system and dynamic positioning method
  • Underwater robot control system and dynamic positioning method
  • Underwater robot control system and dynamic positioning method

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Embodiment Construction

[0094] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0095] Such as figure 1 As shown, the underwater robot control system includes a surface control system and an underwater control system. The surface control system is placed on the shore or on the mother ship, and the underwater control system is installed on the underwater detection and operation robot; the surface control system It includes a surface console 1, a surface communication transceiver 2, and VR glasses 5. The surface console 1 is connected to the surface communication transceiver 2, and the surface communication transceiver 2 is connected to the umbilical cable 3; the underwater system includes an underwater Lower communication transceiver 4, ARM9 master controller 6, ARM-M0 slave controller 7, underwater power supply module 8, power supply detection module 9, water leakage detection module 10, No. 1 low-voltage power supply 11, ...

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Abstract

The invention discloses an underwater robot control system and a dynamic positioning method, and provides a modular control system which can achieve both floating and crawling functions and an underwater robot dynamic positioning method based on an adaptive unscented Kalman filtering state observer and a multivariable and multi-modal fast nonsingular terminal sliding mode controller which can improve the stability of underwater robots. An adaptive unscented Kalman filtering algorithm adopted has a better tracking filtering effect under the influence of factors such as external interference, physical characteristics of acceleration and artificial manipulation, has better robustness for uncertain models, and has high state estimation precision. An underwater robot can arrive at a specified place more quickly and steadily within the thrust range of a propeller, and the thrust compensation can be properly reduced in the area near a target location, so that the underwater robot can make small adjustments to ensure the positioning accuracy.

Description

technical field [0001] The invention relates to a detection and operation underwater robot, in particular to an underwater robot control system and a dynamic positioning method, belonging 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 un...

Claims

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 曾庆军梁凇张光义戴晓强赵强朱春磊徐鹏程
Owner 江苏舾普泰克自动化科技有限公司
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