Multi-degree-of-freedom mechanical arm operation system of underwater robot

Abstract

According to the underwater robot multi-degree-of-freedom mechanical arm operation system fused with the virtual reality principle, in the system, a pair of VR glasses presents a three-dimensional image collected by a binocular camera of an underwater robot, and an operator operates a mechanical arm to conduct grabbing operation according to the three-dimensional image. Different from a traditional mechanical arm control mode in the market, the data glove somatosensory device is used for collecting arm data of an operator to control the underwater robot mechanical arm, control over the multi-degree-of-freedom mechanical arm is achieved, and the high man-machine interaction characteristic of underwater robot operation is achieved. The binocular camera collects image data of an underwater real working condition, and the Raspberry Pi in the robot cabin is connected with the binocular camera to process the image data, send the image data to the ashore receiving end computer in a power line carrier mode and then transmit the image data to the VR glasses.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater robots, especially the multi-degree-of-freedom robotic arm operation system for underwater robots. Background Art

[0002] To solve underwater engineering problems, researchers increasingly use underwater robots to replace humans in underwater operations. With the improvement of task requirements, robotic arms with low degrees of freedom are difficult to handle overly complex operation tasks. Robotic arms with high degrees of freedom can complete complex operations, but their characteristics of high control difficulty and high operation difficulty make them less popular in the market.

[0003] Virtual reality technology (abbreviated as VR), also known as virtual environment, virtual reality or artificial environment, refers to the technology of using a computer to generate a virtual world that can directly impose visual, auditory and tactile sensations on participants and allow them to interactively observe and operate. Summary of the Invention

[0004] The present invention provides a multi-degree-of-freedom robotic arm operation system for underwater robots. By collecting and mapping the angles of the upper and lower arms and the hand through a data glove device, the robotic arm fits the movements of the human hand, and has a good control effect and low control difficulty for the high-degree-of-freedom robotic arm structure. An optical glasses provides the operator with a clear stereoscopic underwater operation vision. The degree of human-computer interaction is improved, and the control difficulty of the operator is greatly reduced.

[0005] Based on the application principles of the stereoscopic virtual imaging of VR and the interaction between the somatosensory device and the virtual environment, the present invention designs the control system from two aspects: imaging and robotic arm control. For virtual imaging, a VR glasses is selected to present the real-time images collected by the binocular cameras of the underwater robot. For control interaction, a data glove device is selected to collect the arm posture data of the operator.

[0006] The present invention is positioned to control the robotic arm carried by a lightweight ROV (tethered underwater robot) platform, with a maximum diving depth of up to 200 m, and the working environment is a water area with relatively good visibility. Determined by the structure of the ROV, the transmission of visual and control information between the onshore computer and the underwater ROV is completed through a cable. This method has a very small delay and can ensure the real-time transmission of images. The robot is equipped with a flexible multi-degree-of-freedom robotic arm, and different end effectors are installed according to different engineering needs. The main working conditions are grasping sampling and salvage, so the end effector is designed as an opening and closing mechanical claw, which can grasp objects such as nets and cylinders. The multi-degree-of-freedom robotic arm operation system for underwater robots includes:

[0007] An arm movement acquisition module, which includes,

[0008] An upper arm data acquisition unit, which is a data glove device arranged on the upper arm to collect upper arm movement data. The upper arm movement data includes the Euler angles of the upper arm rotation.

[0009] The forearm data acquisition unit is a data glove device provided on the forearm to collect forearm motion data, and the forearm motion data includes the Euler angles of forearm rotation.

[0010] The hand data acquisition unit is a data glove device provided on the hand to collect hand motion data, and the hand motion data includes the Euler angles of arm rotation and the quantization values of the bending degrees of five fingers.

[0011] The shore-based equipment includes

[0012] The underwater robot motion platform is a cabled underwater robot equipped with eight thrusters. The cabled underwater robot has an open-frame structure with a cylindrical pressure-resistant chamber placed in the middle. It includes a vision module and a control module inside. The cabled underwater robot has horizontal translation and rotation and vertical floating and diving. A multi-degree-of-freedom robotic arm is carried on the lower part of the cabled underwater robot.

[0013] The vision module includes

[0014] The binocular camera, which collects the image data detected by the underwater robot motion platform in real time.

[0015] The processor is connected to the binocular camera with a Raspberry Pi to process the image data and send it to the VR glasses by power line carrier. The multi-degree-of-freedom robotic arm is the execution mechanism for underwater operations on the shore. The multi-degree-of-freedom robotic arm includes

[0016] The first robotic arm is driven by two first servos. The first servos drive the first robotic arm based on the upper arm motion data. Among them, one first servo obtains the pitch angle for driving based on the upper arm motion data, and the other first servo obtains the yaw angle for driving based on the upper arm motion data.

[0017] The second robotic arm is connected to the first robotic arm and is driven by a second servo. The second servo drives the second robotic arm based on the forearm motion data.

[0018] The mechanical claw is connected to the second robotic arm and is driven by two third servos that respectively drive the turning and opening / closing of the mechanical claw. The third servos drive the mechanical claw based on the hand motion data.

[0019] The shore equipment includes

[0020] The stereoscopic vision module includes

[0021] The VR glasses, which present the stereoscopic images collected by the binocular camera of the underwater robot. The operator manipulates the robotic arm to perform grasping operations according to the stereoscopic images.

[0022] In the underwater robot multi-degree-of-freedom robotic arm operation system described above, the multi-degree-of-freedom robotic arm control system further includes a robotic arm motion controller that generates the motion data of the first robotic arm, the second robotic arm, and the robotic claw based on the motion data of the upper arm, the lower arm, and the hand. The controller includes an STM32F103C8T6 single-chip microcomputer, which outputs a PWM wave control signal to drive the multi-degree-of-freedom robotic arm carried on the underwater robot.

[0023] In the underwater robot multi-degree-of-freedom robotic arm operation system described above, the multi-degree-of-freedom robotic arm control system includes motion data acquisition units respectively installed on the upper arm, the lower arm, and the hand of the operator.

[0024] Among them, the data acquisition modules installed on the upper arm and the lower arm are based on the magic tape tied to the arm as a fixed base, and a square data acquisition module is placed. It includes a gyroscope. The square data acquisition module wirelessly transmits the acquired data back to the computer host through Bluetooth.

[0025] The data acquisition module installed on the hand is worn on the operator's hand in the form of a glove, with a built-in gyroscope to collect the Euler angle data of the hand movement. Five fingers are provided with flexible sensors for detecting the quantization value of the bending degree, and the acquired data is wirelessly transmitted back to the computer host through Bluetooth.

[0026] In the underwater robot multi-degree-of-freedom robotic arm operation system described above, the data glove device is a wearable device made of flexible materials, which includes flexible electrodes for capturing the movements of the joints of the upper arm, the lower arm, and the hand, and motion sensors for measuring the motion parameters of the joints of the upper arm, the lower arm, and the hand.

[0027] In the underwater robot multi-degree-of-freedom robotic arm operation system described above, the motion sensors include a gyroscope inside the data glove device and an on-board gyroscope for monitoring the motion state inside the underwater robot cabin.

[0028] In the underwater robot multi-degree-of-freedom robotic arm operation system described above, the first servo, the second servo, and the third servo are all waterproof servos.

[0029] Compared with the prior art, the present invention has the following advantages:

[0030] The multi - degree - of - freedom robotic arm operation system for underwater robots uses a data glove somatosensory device to collect the angle data of the human arm, which is mapped onto the robotic arm to achieve synchronous motion control. This product uses a binocular camera to collect images and an optical glasses imaging method to feedback the underwater working scene to the operator in a stereoscopic picture. Compared with the handle and host computer control on the existing market, the human - machine interaction performance of this invention is stronger, better reflecting the subjective will of the operator and reducing the difficulty of control operations. Compared with the finger control of existing somatosensory interaction devices, this invention also collects the movements of the operator's arm, which is more in line with human movements, reducing the operation difficulty. The angle data of the fingers can be used for the motion control of the robot. The collection of multiple raw data reduces the accuracy of the control algorithm and is more suitable for controlling robotic arms with complex multi - degree - of - freedom structures. Compared with the existing method of observing the underwater scene on a screen, stereoscopic imaging improves the degree of human - machine interaction, enabling the operator to make better judgments on the working conditions, thereby reducing the operation difficulty and increasing the accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings illustrate exemplary embodiments of the present invention and, together with the description thereof, are used to explain the principles of the present invention. These drawings are included to provide a further understanding of the present invention and are included in this specification and form a part of this specification.

[0032] Figure 1 It is a schematic diagram of the working principle of an embodiment of the present invention;

[0033] Figure 2 It is a schematic diagram of the angle mapping between the arm and the robotic arm of the present invention;

[0034] Figure 3 It is the underwater robot working platform carried by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] The following further elaborates on the present invention in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the relevant content and do not limit the present invention. Additionally, it should be noted that for the sake of description, only parts related to the present invention are shown in the drawings.

[0036] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The following will elaborate on the technical solutions of the present invention in detail with reference to the drawings and embodiments.

[0037] Unless otherwise specified, the illustrated exemplary embodiments / examples will be understood to provide exemplary features of various details of some ways that can implement the technical concept of the present invention in practice. Therefore, unless otherwise specified, without departing from the technical concept of the present invention, the features of various embodiments / examples can be additionally combined, separated, interchanged, and / or rearranged.

[0038] In the drawings, cross-hatching and / or shading may be used generally to clarify the boundaries between adjacent components. Thus, unless stated otherwise, the presence or absence of cross-hatching or shading does not convey or imply any preference or requirement for the specific materials, material properties, dimensions, proportions, commonality between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. Additionally, in the drawings, for clarity and / or descriptive purposes, the sizes and relative sizes of components may be exaggerated. When exemplary embodiments may be implemented differently, the specific process orders may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in an order opposite to that described. Further, the same reference numerals denote the same components.

[0039] When a component is referred to as being "on" or "above" another component, "connected to" or "coupled to" another component, the component may be directly on the other component, directly connected to or directly coupled to the other component, or there may be intervening components. However, when a component is referred to as being "directly on" another component, "directly connected to" or "directly coupled to" another component, there are no intervening components. To this end, the term "connected" may refer to physical connection, electrical connection, etc., and with or without intervening components.

[0040] For descriptive purposes, the present invention may use spatial relative terms such as "under", "below", "beneath", "down", "above", "on", "over", "upper", and "side (e.g., as in "sidewall")" to describe the relationship of one component to another (other) component as shown in the drawings. In addition to the orientations depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacturing. For example, if the device in the drawings is flipped, a component described as being "under" or "beneath" another component or feature will then be positioned "above" the other component or feature. Thus, the exemplary term "under" may encompass both "above" and "below" orientations. Additionally, the device may be otherwise positioned (e.g., rotated 90 degrees or at other orientations), and accordingly, the spatial relative descriptors used herein are to be interpreted.

[0041] The terms used herein are for the purpose of describing particular embodiments and are not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are also intended to include the plural forms. In addition, when the terms "comprising" and / or "including" and their variants are used in this specification, it is stated that there are the stated features, integers, steps, operations, components, assemblies, and / or groups thereof, but does not exclude the presence or addition of one or more other features, integers, steps, operations, components, assemblies, and / or groups thereof. It should also be noted that, as used herein, the terms "substantially", "about", and other similar terms are used as approximate terms and not as terms of degree, so they are used to explain the inherent deviations of measured values, calculated values, and / or provided values that would be recognized by those of ordinary skill in the art.

[0042] See Figures 1 to 3 , in one embodiment, the underwater robot multi-degree-of-freedom robotic arm operation system described in the present invention includes:

[0043] shore equipment, which includes,

[0044] a stereo vision module, which includes,

[0045] a VR glasses, which optically projects an adult eye-directly observable stereo image based on image data, and the arm moves based on the stereo image; the original image data projected is from a binocular camera inside the underwater robot, which transmits the collected image data to a Raspberry Pi for processing. The Raspberry Pi is connected to a power line carrier module through a network cable port, and the image signal is converted into a power line carrier signal here, and is connected to the corresponding power line carrier module on the shore through the power supply line in the cable, and is transmitted to the computer host through the network cable port. The binocular vision image on the computer is transmitted to the mobile phone inside the VR glasses. The specific solution is that the corresponding mobile phone installs JuiceSSH and androidVNC, the computer Raspberry Pi terminal installs VNCserver, the Raspberry Pi is connected to the mobile phone hotspot, opens juiceSSH to connect the mobile phone and the Raspberry Pi, adjusts to the window where the binocular vision image is displayed on the terminal, and opens androidVNC to connect the Raspberry Pi, then the mobile phone can display the images collected by the binocular camera. The mobile phone is embedded in the VR glasses, and due to the existence of parallax, the wearer can observe the stereo imaging after adjusting the focus.

[0046] an arm motion acquisition module, which includes,

[0047] a large arm data acquisition unit, which is a data glove device provided on the large arm to acquire large arm motion data,

[0048] a small arm data acquisition unit, which is a data glove device provided on the small arm to acquire small arm motion data,

[0049] The hand data collection unit is a data glove device installed on the hand to collect hand movement data.

[0050] The data gloves are equipped with a host computer, which is an information collection program on the computer. It wirelessly receives the data information of the data gloves worn by the operator through the Bluetooth module connected to the USB port of the computer. According to the established communication protocol, it is summarized into a 47-bit array, connected to the signal line of the cable through the computer serial port, and transmitted to the STM32F103C8T6 microcontroller in the shore robot that is responsible for outputting motion signals.

[0051] The shore device is wirelessly connected to the shore device, and the shore device includes:

[0052] A vision module, which includes,

[0053] Binocular camera, which collects image data from the shore,

[0054] The processor is connected to the binocular camera inside the underwater robot to process the image data, and the VR glasses are sent through cables in the form of power carrier. The image information collected underwater is transmitted to the host computer on the shore through cables. Stereo correction is first performed to eliminate distortion, and then image processing is performed through bilateral filtering technology and SIFT algorithm to obtain better quality images. The computer screen presents the processed underwater images in real time. The VR glasses are wirelessly connected to the computer end, and the images processed by the host computer on the computer end are obtained in real time. The parallax of the images on both sides forms a three-dimensional perception of the wearer.

[0055] The multi-degree-of-freedom manipulator is an actuator for underwater operations under the shore. The multi-degree-of-freedom manipulator includes:

[0056] a first mechanical arm, which is driven by two first steering gears, wherein the first steering gears drive the first mechanical arm based on the arm motion data, wherein one first steering gear obtains a pitch angle for driving based on the arm motion data, and the other first steering gear obtains a yaw angle for driving based on the arm motion data,

[0057] A second mechanical arm is connected to the first mechanical arm and driven by a second steering gear, wherein the second steering gear drives the second mechanical arm based on the forearm motion data.

[0058] A mechanical claw is connected to the second mechanical arm and driven by two third servos that respectively drive the mechanical claw to turn and open and close, wherein the third servos drive the mechanical claw based on hand motion data.

[0059] The robotic arm motion controller has the STM32F103C8T6 single-chip microcomputer as its core control module. It receives the data glove data transmitted by the cable signal line through a serial port, performs inverse kinematic calculation according to the established communication protocol, converts the corresponding angle data into output signals, and uses five PWM waves to control the movement of all servos. Among them, for joint rotation control, the obtained angle data is discretized and differentiated to obtain the angular velocity for control. The opening and closing of the end effector is achieved by linearly mapping the values fed back by the flexible sensors on the fingers according to the maximum and minimum values that can be obtained, and corresponding PWM waves are output accordingly.

[0060] In the preferred embodiment of the underwater robot multi-degree-of-freedom robotic arm operation system, stereo vision is used to observe the actual underwater working conditions, with a high degree of human-computer interaction. The Raspberry Pi is connected to the binocular camera to process the image data and send it to the above VR glasses in the form of power line carrier, which is a unique visual observation method for underwater robots. In the preferred embodiment of the underwater robot multi-degree-of-freedom robotic arm operation system, the motion data of the upper arm, forearm, and hand respectively include angle change data.

[0061] In the preferred embodiment of the underwater robot multi-degree-of-freedom robotic arm operation system, the hand motion data includes the motion data of the wrist and each finger.

[0062] In the preferred embodiment of the underwater robot multi-degree-of-freedom robotic arm operation system, the multi-degree-of-freedom robotic arm further includes a motion calculation unit that generates the motion data of the first robotic arm, the second robotic arm, and the robotic claw based on the motion data of the upper arm, forearm, and hand.

[0063] In the preferred embodiment of the underwater robot multi-degree-of-freedom robotic arm operation system, the first servo is wirelessly connected to the upper arm data acquisition unit to drive the first robotic arm based on the upper arm motion data.

[0064] The second servo is wirelessly connected to the forearm data acquisition unit to drive the second robotic arm based on the forearm motion data.

[0065] The third servo is wirelessly connected to the hand data acquisition unit to drive the robotic claw based on the hand motion data.

[0066] In the preferred embodiment of the underwater robot multi-degree-of-freedom robotic arm operation system, the visual processor is a Raspberry Pi board.

[0067] In the preferred embodiment of the underwater robot multi-degree-of-freedom robotic arm operation system, the data glove device is a wearable device made of flexible materials, which includes flexible electrodes for capturing the movements of the upper arm, forearm, and hand joints and motion sensors for measuring the motion parameters of the upper arm, forearm, and hand joints.

[0068] In the preferred embodiment of the underwater robot multi-degree-of-freedom robotic arm operation system, the motion sensors include a gyroscope inside the data glove device and an on-board gyroscope inside the underwater robot cabin for monitoring the motion state. In the preferred embodiment of the underwater robot multi-degree-of-freedom robotic arm operation system, the first servo, the second servo, and the third servo are all waterproof servos.

[0069] The underwater robot multi-degree-of-freedom robotic arm operation system not only collects finger data for manipulator control, but also can use the pose data of the upper and lower arms for synchronous control of the robotic arm, fitting the human arm movements more closely. The design of this system has a good control effect on the complex robotic arm structure with high degrees of freedom. Since a large amount of original angle data is provided, the difficulty of algorithm design and implementation for controlling the complex robotic arm with high degrees of freedom is reduced, optimizing the engineering efficiency and cost. The feature also lies in that the visual interaction adopts binocular cameras and optical glasses for stereoscopic imaging, and the fixed viewing angle is the same as the front of the robot. The feature also lies in that the system aims at precise operation for engineering tasks, so pose control and adjustment are added. When the robotic arm is operating, the depth and angle of the robot can be adjusted in real time to ensure the stability and smoothness of the operation.

[0070] In one embodiment, in the environment of the onshore operator, there are an arm movement acquisition module and a stereoscopic vision module. The main body of the arm movement acquisition module is the data glove device. This device is respectively installed on the upper arm, the lower arm, and the hand, and can collect the angle changes of the upper arm, the lower arm, and the wrist. The specific positions are as Figure 2 shown, and at the same time, the bending degree of each finger can also be collected. The diverse and precise angle acquisition reduces the difficulty of the control algorithm, so the present invention is very suitable for controlling the complex robotic arm with multiple degrees of freedom. These data are transmitted to the underwater robot control module under the shore through power line carrier, and the waterproof servos in the robotic arm drive module perform actions. Through solving the forward kinematics of the robotic arm and the design of angle data mapping, the angles of the human arm can be reasonably reflected on the drive servos of the robotic arm, enabling the robotic arm to fit the movements of the operator's arm to the greatest extent. Through this method, the interaction between the onshore operator and the "virtual" underwater working conditions is completed. Accurate actions that conform to the subjective will of the operator can be completed.

[0071] The presentation of a three-dimensional virtual scene mainly utilizes the principle of human eye imaging. Image data is collected by a binocular camera installed on an underwater robot, processed by a Raspberry Pi, and then transmitted to a visual computing computer on shore via power line carrier. The image information collected by the binocular camera will be delivered to an optical glasses, and the images of the two lenses will be projected into a three-dimensional image directly observable by the human eye through optical principles, so as to achieve the effect of feeding back the underwater scene to the operator in a three-dimensional imaging manner. Three-dimensional imaging deepens the operator's understanding of the underwater environment and judgment of the working conditions of the robot, and at the same time improves the operation accuracy and the degree of human-machine interaction.

[0072] In one embodiment, waterproof servos and steering wheels are used between the large arm and small arm sheet metal parts, the large arm and the base, and are fixedly connected by bolts.

[0073] In the description of this specification, the description with reference to terms such as "one embodiment / way", "some embodiments / ways", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment / way or example are included in at least one embodiment / way or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment / way or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments / ways or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments / ways or examples described in this specification and the features of different embodiments / ways or examples.

[0074] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0075] Those skilled in the art should understand that the above embodiments are only for clearly explaining the present invention and are not intended to limit the scope of the present invention. For those skilled in the art, other changes or modifications can be made based on the above disclosure, and these changes or modifications are still within the scope of the present invention.

Claims

1. An underwater robot multi-degree-of-freedom manipulator operation system, characterized in that It includes: An arm movement acquisition module, which includes, A large arm data acquisition unit, which is a data glove device provided on the large arm to acquire large arm movement data. The large arm movement data includes the Euler angles of the large arm rotation. A small arm data acquisition unit, which is a data glove device provided on the small arm to acquire small arm movement data. The small arm movement data includes the Euler angles of the small arm rotation. A hand data acquisition unit, which is a data glove device provided on the hand to acquire hand movement data. The hand movement data includes the Euler angles of the arm rotation and the quantization values of the bending degrees of the five fingers. An underwater device, which includes, An underwater robot motion platform, which is a cabled underwater robot equipped with eight thrusters. The cabled underwater robot has an open-frame structure, with a cylindrical pressure-resistant cabin placed in the middle. It includes a vision module and a control module inside. The cabled underwater robot has horizontal translation and rotation and vertical floating and diving. A multi-degree-of-freedom robotic arm is carried on the lower part of the cabled underwater robot. A vision module, which includes, A binocular camera, which acquires the image data detected by the underwater robot motion platform in real time. A processor, which uses a Raspberry Pi to connect to the binocular camera to process the image data and send it to the VR glasses in a power line carrier mode. A multi-degree-of-freedom robotic arm, which is an actuator for underwater operations underwater. The multi-degree-of-freedom robotic arm includes, A first robotic arm, which is driven by two first servos. The first servos drive the first robotic arm based on the large arm movement data. Among them, one first servo obtains the pitching angle for driving based on the large arm movement data, and the other first servo obtains the yaw angle for driving based on the large arm movement data. A second robotic arm, which is connected to the first robotic arm and driven by a second servo. The second servo drives the second robotic arm based on the small arm movement data. A mechanical claw, which is connected to the second robotic arm and driven by two third servos that respectively drive the mechanical claw to turn and open and close. The third servos drive the mechanical claw based on the hand movement data. An onshore device, which includes, A stereo vision module, which includes, A VR glasses, which presents the stereo images acquired by the binocular camera of the underwater robot. The operator manipulates the robotic arm to perform a grasping operation according to the stereo picture.

2. The underwater robot multi-degree-of-freedom robotic arm operation system according to claim 1, characterized in that, Preferably, the multi-degree-of-freedom robotic arm control system further includes a robotic arm motion controller that generates the motion data of the first robotic arm, the second robotic arm, and the mechanical claw based on the large arm movement data, the small arm movement data, and the hand movement data. The controller includes an STM32F103C8T6 single-chip microcomputer, which outputs a PWM wave control signal to drive the multi-degree-of-freedom robotic arm carried on the underwater robot.

3. The underwater robot multi-degree-of-freedom robotic arm operation system according to claim 1, characterized in that The multi-degree-of-freedom robotic arm control system includes motion data acquisition units respectively installed on the operator's large arm, small arm, and hand. Among them, the data acquisition modules installed on the large arm and the small arm use the magic tape tied to the arm as a fixed base, and place a square data acquisition module, which includes a gyroscope inside. The square data acquisition module wirelessly transmits the acquired data back to the computer upper computer through Bluetooth. The data acquisition module installed on the hand is worn on the operator's hand in the form of a glove. It is built-in with a gyroscope to collect the Euler angle data of hand movement. Flexible sensors for detecting the quantization values of the bending degrees are provided on the five fingers, and the collected data is wirelessly transmitted back to the computer host through Bluetooth.

4. The underwater robot multi-degree-of-freedom robotic arm operation system according to claim 1, characterized in that The data glove device is a wearable device made of flexible materials, which includes flexible electrodes for capturing the movements of the shoulder, forearm, and hand joints, and motion sensors for measuring the motion parameters of the shoulder, forearm, and hand joints.

5. The underwater robot multi-degree-of-freedom robotic arm operation system according to claim 4, wherein, The motion sensors include the gyroscopes inside the data glove device and the on-board gyroscopes for monitoring the motion state inside the underwater robot cabin.

6. The underwater robot multi-degree-of-freedom robotic arm operation system according to claim 1, wherein The first servo, the second servo, and the third servo are all waterproof servos.

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