Universal unmanned submersible and simulation software platform thereof

Abstract

The invention relates to a universal unmanned submersible and a simulation software platform thereof. The unmanned submersible comprises a bottom plate, two sealed cabins are arranged above the bottomplate, a lithium battery is placed in the first sealed cabin, a camera holder and IMU module and a communication control system are placed in the second sealed cabin, and the front portion, the rearportion and the upper portion of the unmanned submersible are each provided with two propellers; a DVL and a sounding sonar sensor are arranged below the bottom plate, and a buoyancy frame and a buoyancy block are arranged between the supporting baffles on the two sides; the simulation software platform comprises the steps: creating an unmanned submersible three-dimensional model; creating a seabed three-dimensional model of the simulation environment; and creating two visual windows used for observing the motion state of the unmanned submersible and the surrounding water area environment of the unmanned submersible in real time, camera pan-tilt videos, robot motion trails and sounding sonar images. The unmanned submersible is reasonable in design and high in universality, the simulation software platform can conduct three-dimensional dynamic simulation on the motion state of the unmanned submersible, and track tracking, submarine topography surveying and mapping and real-time acquisition and whole-course visualization of surrounding scenes are achieved.

Description

technical field [0001] The invention belongs to the field of underwater robots, and in particular relates to a general unmanned submersible and a simulation software platform thereof. Background technique [0002] With the development of underwater robot technology, more and more underwater robots have emerged as the times require. Due to the different tasks and communication methods of underwater robots, there are many kinds of underwater robots, and underwater operations are different from land and air environments and can be directly seen by the naked eye. Certainly affected. In the underwater environment, radio waves and GPS signals attenuate quickly underwater, and it is impossible to obtain real-time position and orientation information of underwater robots through the positioning system; moreover, underwater robots are vulnerable to uncontrollable factors such as undercurrents and ocean currents during underwater navigation. It is easily affected by various uncertai...

AI Technical Summary

Problems solved by technology

Due to the different tasks and communication methods of underwater robots, there are many kinds of underwater robots, and underwater operations are different from land and air environments and can be directly seen by the naked eye. certain influence

In the underwater environment, radio waves and GPS signals attenuate quickly underwater, and it is impossible to obtain real-time position and orientation information of underwater robots through the positioning system; moreover, underwater robots are vulnerable to uncontrollable factors such as undercurrents and ocean currents during underwater navigation. Influenced by various uncertain factors, the operator cannot directly see the state of the robot and whether it has reached the target point, which hinders the analysis of the correctness of the underwater robot's operation plan

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