Master-slave underwater two-arm robot convenient to move

Abstract

The invention is applicable to the technical field of remote operation of underwater robots, and provides a master-slave underwater two-arm robot convenient to move. The master-slave underwater two-arm robot convenient to move comprises an underwater robot used for underwater moving, operation and collection of video information, a display used for displaying the video information acquired by the underwater robot, a pair of teleoperation gloves, a position and posture visual detection module and a control end, wherein an operator controls the underwater robot to work by changing the position and posture of the teleoperation gloves; the position and posture visual detection module is used for acquiring position and posture data of both hands of the operator; the control end is used for establishing a three-dimensional model virtual scene and processing the position and posture data of the two hands of the operator; the underwater robot comprises an operation type unmanned submersible and mechanical arms; the operation type unmanned submersible is used for underwater movement and forms a mounting main body; and the mechanical arms are oppositely arranged on the operation type unmanned submersible, the ends of the mechanical arms are connected with an operation component, and the mechanical arms are used for forming a driving bending structure.

Description

technical field [0001] The invention belongs to the technical field of remote operation of underwater robots, in particular to a master-slave underwater dual-arm robot that is easy to move. Background technique [0002] In recent years, human beings have increased the exploration and development of marine resources. Due to the complex and changeable ocean environment, human beings cannot directly explore underwater, and can only explore the ocean with the help of robots. The current underwater robot usually adopts the method of carrying the mechanical arm on the underwater robot platform. Due to the imperfect control method of the underwater robot, the current underwater robot can only perform some simple and repetitive tasks underwater. For complex underwater operations, the operation can only be carried out with manual assistance. Most of the existing teleoperation modes allow the operator to understand the working conditions of the underwater operating environment throug...

AI Technical Summary

Problems solved by technology

It is difficult for untrained operators, and the operation is extremely difficult. For operators who have been operating for a long time, it is also a great physical and mental challenge.

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