Remote control robot for underwater precise measurement

Abstract

The invention provides a remote control robot for underwater precise measurement. Motion of four or more degrees of freedom of the underwater robot is achieved, the underwater robot has the capabilityof depth keeping hover, direct movement, rotation and lateral movement, and can maintain good communication with land control equipment, electronic components are all subjected to watertight pressure-resisting protection, and the remote control robot is suitable for passing through an underwater narrow area to conduct underwater detection and underwater measurement operation; the precise measurement underwater robot specially plans a path to improve the cruise and measurement efficiency; a multi-beam depth finder and a binocular precision measuring instrument are utilized to synergistically carry out underwater measurement, high-precision and high-density measurement of underwater detection targets is achieved through a multi-beam depth measuring technology, binocular precision measurement helps the underwater robot to execute certain complex underwater operation tasks, and two measurement methods synergistically complete high-quality underwater precision measurement; and the relativeerror of underwater measurement is small, and the operating requirements of the underwater robot for underwater target grabbing and the like are met.

Description

Technical field [0001] The invention relates to a remote control robot, in particular to a remote control robot used for underwater accurate measurement, and belongs to the technical field of remote control underwater accurate measurement. Background technique [0002] Remote control robot technology is an emerging intelligent manufacturing technology, which has received widespread attention and application. An underwater remote control robot is a robot capable of remotely navigating at a depth of several meters or even tens of meters below the surface of the water. It has the ability to navigate automatically, remotely navigate, and perform underwater tasks autonomously. Compared with unmanned aerial vehicles, unmanned vehicles and unmanned ships, its mission environment is more complicated. Any non-watertight electronic parts, mechanical parts and propulsion parts such as electronic components must be protected against watertight and pressure. Water seepage or water leakage ha...

AI Technical Summary

Problems solved by technology

[0004] The underwater survey work of the prior art mainly has the following problems: First, the underwater survey is generally completed by a survey ship, and the survey ship generally only sails on the water surface, and the movement is not flexible enough to realize free underwater movement. Capable of going straight, rotating, and moving sideways, unable to move directly in the vertical direction, unable to maintain its own stability during arbitrary movements, unable to complete many accurate underwater measurement tasks, unable to pass through narrow underwater areas, not suitable for underwater detection and underwater measurement Operation

The second is that even if a robot is used for measurement, the robot used is heavy, has a short navigation time, and a small cruise measurement range. Generally, it cannot complete the task, or requires frequent replenishment. It is difficult to achieve accurate underwater measurement, the measurement efficiency is very low, and the operation is cumbersome. It is very difficult, the underwater measurement effect is not satisfactory, the hardware and software carried by the robot are relatively backward, the underwater robot shakes seriously during the navigation process, and the clear picture of the collected image is poor, which reduces the accuracy and reliability of the measurement

The third is that the remote control robot does not specifically carry out path planning, and does not combine the underwater robot system with the geographic information system, which leads to the blindness of the robot's underwater accurate measurement path planning, and does not make full use of the geological features and geographic information data of the underwater area. The path design is not scientific and systematic, and cannot give full play to the advantages of remote control robots

The fourth is that the advantages of robots are not fully utilized, and the application of automation and intelligent technology is insufficient. It is impossible to obtain underwater terrain data, and it is impossible to form a land control system to realize remote control of underwater robots, automatic recording of underwater terrain data, and underwater terrain data. Measurement accuracy and parameter settings, underwater terrain data processing and mapping, etc., did not adopt the concept of system integration, and it was impossible to realize the automation from underwater measurement to data processing

Fifth, the underwater measurement tools and methods are relatively backward. Without the use of multi-beam depth sounders and binocular precision measuring instruments for underwater measurement, it is impossible to achieve high-precision and high-density measurement of underwater detection targets. Underwater robots cannot To perform some complex underwater operation tasks, such as underwater docking, underwater welding, underwater target capture, etc., the relative error of underwater measurement is large

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