CN113335480A - Intelligent underwater robot with umbilical cable based on Beidou positioning - Google Patents
Intelligent underwater robot with umbilical cable based on Beidou positioning Download PDFInfo
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- CN113335480A CN113335480A CN202110604269.0A CN202110604269A CN113335480A CN 113335480 A CN113335480 A CN 113335480A CN 202110604269 A CN202110604269 A CN 202110604269A CN 113335480 A CN113335480 A CN 113335480A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/28—Arrangement of offensive or defensive equipment
- B63G8/32—Arrangement of offensive or defensive equipment of torpedo-launching means; of torpedo stores or handlers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Ocean & Marine Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent underwater robot with an umbilical cable based on Beidou positioning, which belongs to the technical field of underwater robots and comprises a robot main body, wherein longitudinal motors are fixedly connected to two sides of the robot main body, a transverse motor is fixedly installed on one side of the tail of the robot main body, and a plurality of tail fin modules are fixedly connected to four corners of the tail of the robot main body. According to the underwater robot, free switching operation in different modes is achieved through a multifunctional control system and an upper computer, meanwhile, the strength of Beidou positioning signals and shore-based communication signals is achieved through connection of the umbilical cables and the water surface communication buoy, underwater communication performance of a robot body is kept favorably, the flexible umbilical cables are used for driving the communication buoy to move, the limitation to the communication cables is reduced, the signal transmission requirement of remote working communication is met, technical dependence on acoustic and magnetic communication is reduced, and the problem that the underwater robot is increased in cost due to underwater communication is avoided.
Description
Technical Field
The invention belongs to the technical field of underwater robots, and particularly relates to an intelligent underwater robot with an umbilical cable based on Beidou positioning.
Background
With the success of Beidou global networking, the application of the Beidou satellite navigation system to industrialization is more fully exploited. With the increasing importance of ocean development and the technological progress, underwater robot technology is rapidly developed and plays an irreplaceable role in some fields of military and business. The functions of the Beidou navigation system and the underwater robot are organically and deeply integrated, so that the method has great practical significance and application prospect. Particularly, with the development of military science and technology, zero casualties are the choice in future war, so that the position of the robot in the future war is emphasized, and the potential combat effectiveness is more and more obvious. The underwater robot which is an important component of the unmanned weapon system can complete environment detection, target identification, information collection and data communication in an underwater space on land by using a surface ship or a submarine as a platform, greatly expands the operation space of the surface ship or the submarine, and has important significance for ocean rights and interests and safety in China.
However, in the prior art, the matching of the Beidou positioning technology and the deepwater underwater robot has the following defects and shortcomings: 1. the Beidou positioning and shore-based communication are transited from the water surface to the underwater signal and can be quickly attenuated, and the communication device is guided to the water surface by using the umbilical cable so as to ensure the underwater communication performance; 2. the existing advanced underwater robot has high cost, and the communication is limited by the conditions of wire, unstable underwater motion and the like; 3. the existing underwater acoustic and magnetic communication technology has high cost and limited working distance, and aims at overcoming all the defects of the prior art, so that the development of an underwater robot capable of solving the problems is urgently needed.
Disclosure of Invention
The invention aims to: in order to solve the problems that the fighting positioning and the shore-based communication are rapidly attenuated when signals are transited from the water surface to the underwater, the invention utilizes the umbilical cable to guide the communication device to the water surface so as to ensure the underwater communication performance, the existing advanced underwater robot has the problems of high cost, limited communication, unstable underwater motion and the like, and the existing underwater acoustic and magnetic communication technology has the problems of high cost and limited working distance.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent underwater robot with an umbilical cable based on Beidou positioning comprises a robot main body, wherein longitudinal motors are fixedly connected to two sides of the robot main body, a transverse motor is fixedly arranged on one side of the tail of the robot main body, a plurality of tail fin modules are fixedly connected at four corners of the tail of the robot main body, two torpedo mounting frames are fixedly mounted at corresponding positions of two sides of the outer part of the robot main body far away from the transverse motor, one side of the torpedo mounting rack is fixedly provided with a torpedo module, one side of the front end of the robot main body is provided with two crossed transverse vertical motors, the front end of the robot main body is fixedly provided with two cameras, the top of the robot main body is provided with an umbilical cable connected with a water surface communication buoy, and a Beidou positioning module is fixedly installed in the water surface communication buoy, and the water surface communication buoy and the communication base station are led to the corresponding water surface position.
As a further description of the above technical solution:
the robot comprises a robot body, wherein the front end of the robot body corresponds to one side of two cameras to form a sealed toughened light-transmitting cover, and supporting ribs are arranged on two sides of the whole robot body.
As a further description of the above technical solution:
the robot main body further comprises a microcontroller, the output end of the microcontroller is respectively connected with a power system, a sensor module, a machine vision module and an attack module, the power system comprises a plurality of underwater propellers, the sensor module comprises a gyroscope and a sensor under warm and deep water, the machine vision module is used for acquiring underwater vision camera shooting and object identification camera shooting, and the attack module comprises ship side fish and cable pieces.
As a further description of the above technical solution:
the microcontroller model is STM32F7, the machine vision module is OPEN MV vision module, and the vision module utilizes neural network discernment aquatic object's optical characteristic.
The utility model provides an intelligence underwater robot communication method based on big dipper location has umbilical cable, it is specifically including the robot main part obtaining driving system, the sensor module, machine vision module and attack module data back pass through umbilical cable data transmission to the surface of water communication buoy in, the big dipper orientation module that lies in the surface of water communication buoy this moment passes through wireless data transmission to shore communication basic station, shore communication basic station transmits sensor data to the host computer, the host computer passes through to transmit to shore communication basic station and carries out the control operation through surface of water communication buoy to the robot main part through control command after judging sensor data.
The utility model provides an intelligence underwater robot control system that has umbilical cable based on big dipper location, includes host computer software and lower computer software, host computer software is the C language control system based on Vs, and host computer software include with lower computer wireless communication module, transfer hundred degrees map module, handle control signal transceiver module, longitude and latitude, degree of depth, course, mode display module and video signal receiving module for realize the control to the robot.
As a further description of the above technical solution:
the lower computer software is a lower computer control system based on Keil and comprises a motion control module, a sensor signal processing receiving module, an upper computer wireless communication module, a steering engine and a searchlight control module, and the upper computer wireless communication module is in communication connection with the lower computer wireless communication module.
As a further description of the above technical solution:
the upper software controls the robot main body to be controlled by a handle, autonomously cruises and followed by an object.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. according to the invention, the X-shaped power layout of 45 degrees in the oblique direction is realized through the designed cross transverse vertical motor at the head of the robot main body, the moving safety and stability of the robot main body are improved, the free switching operation in different modes is realized through the multifunctional control system and the upper computer, meanwhile, the signal intensity of Beidou positioning signals and shore-based communication is realized through the connection of the umbilical cable and the water surface communication buoy, the underwater communication performance of the robot main body is favorably maintained, the limitation on the communication cable is reduced by driving the movement of the communication buoy through the flexible umbilical cable, the signal transmission requirement of remote working communication is met, the technical dependence on acoustic and magnetic communication is reduced, and the cost increase of the underwater robot caused by underwater communication is avoided.
2. In the invention, a robot main body mainly realizes design control of an underwater robot through an upper computer, a sensor judges the conditions around the robot and realizes that shore personnel master various conditions of the underwater robot through full duplex communication in real time, a Beidou positioning module is adopted, the overall structure adopts a streamline shell, a vertical propeller and a horizontal propeller are respectively arranged on two sides, two image recognition cameras are arranged at the front end for image acquisition, the distance or angle deviation can be obtained for 5 times/second, a centroid detection and linear regression algorithm is adopted, and the capacity of keeping stable and autonomous navigation in an underwater complex environment is realized by using a closed-loop control algorithm in combination with a carried depth sensor and an carried attitude sensor.
Drawings
Fig. 1 is a schematic diagram of a split explosion structure of an intelligent underwater robot with an umbilical cable based on Beidou positioning, provided by the invention;
FIG. 2 is a schematic perspective view of an intelligent underwater robot with an umbilical cable based on Beidou positioning according to the present invention;
FIG. 3 is a logic block diagram of an intelligent underwater robot communication method with an umbilical cable based on Beidou positioning, provided by the invention;
FIG. 4 is a schematic diagram of a positioning module for positioning an intelligent underwater robot with an umbilical cable based on Beidou navigation system according to the present invention;
FIG. 5 is a software logic diagram of an intelligent underwater robot control system with an umbilical based on Beidou positioning according to the present invention;
fig. 6 is a side perspective view of an intelligent underwater robot with an umbilical cable based on Beidou positioning.
Illustration of the drawings:
1. a robot main body; 2. a searchlight; 3. a longitudinal motor; 4. two cameras; 5. supporting ribs; 6. a torpedo module; 7. a torpedo mounting bracket; 8. a tail fin module; 9. a transverse motor; 10. and the transverse vertical motors are crossed.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides a technical solution: an intelligent underwater robot with an umbilical cable based on Beidou positioning comprises a robot body 1, wherein longitudinal motors 3 are fixedly connected to two sides of the robot body 1, a transverse motor 9 is fixedly mounted on one side of the tail of the robot body 1, a plurality of tail fin modules 8 are fixedly connected to four corners of the tail of the robot body 1, two torpedo mounting frames 7 are fixedly mounted at corresponding positions, far away from the transverse motor 9, on two sides of the outer portion of the robot body 1, a torpedo module 6 is fixedly mounted on one side of each torpedo mounting frame 7, two crossed transverse vertical motors 10 are arranged on one side of the front end of the robot body 1, double cameras 4 are fixedly mounted at the front end of the robot body 1, an umbilical cable connected with a water surface communication buoy is arranged at the top of the robot body 1, a Beidou positioning module is fixedly mounted in the water surface communication buoy, and the water surface communication buoy and a communication base station are led to corresponding water surface positions, the utility model discloses a robot, including robot main part 1, two cameras, attack module, sensor module, STM32F7, robot main part 1 front end and two cameras 4 one side correspond for being equipped with sealed tempering printing opacity cover, robot main part 1 whole section both sides all are equipped with brace rod 5, robot main part 1 still includes microcontroller, and the microcontroller output is connected with driving system, sensor module, machine vision module and attack module respectively, and driving system is a plurality of underwater screw, and sensor module includes gyroscope and temperature sensor under the deep water, machine vision module is used for acquireing under water field of vision and object identification and makes a video recording, attack module includes ship side fish and cable spare, the microcontroller model is STM32F7, machine vision module is OPEN MV vision module, and vision module utilizes neural network to discern the optical characteristic of aquatic object.
The implementation mode is specifically as follows: sealed tempering printing opacity cover can realize the printing opacity and shine needs, arrange the main control unit in the inside waterproof casing of underwater robot in, under the handle control mode, each sensor is gathered the back through different data processing methods and is transmitted data to the main control board by the serial ports, send for the basic station on the bank through the buoy on water after being unified the packing by the main control board, the personnel on the bank issue the instruction through the data that host computer shows, control robot's action and gesture, wherein, go upward data frame 17, down data frame 10 is bit, under the autonomous cruise control mode, the mainboard can rely on the data of gyroscope and the host computer instruction of last storage to independently navigate by navigation, adjust the gesture through the PID algorithm, the PID algorithm does, utilize the feedback to detect the deviation signal promptly, and control controlled quantity through the deviation signal. And the controller itself is the addition of proportion, integral, three links of differential, and can read the instruction of record and return a journey, great deflection appears when the gyroscope, when unable correct judgement position, the mainboard can upload big dipper positioning data this moment so that the recovery maintenance of robot, under the object is followed the mode, the mainboard accepts the instruction direct control motor that comes from OPENMV and makes a video recording and obtain through discernment-lock enemy-tracking and turns to the rotational speed, thereby reach the purpose of tracking, robot main part 1 working method divide into handle control, independently cruise, the object is followed three kinds. When the robot executes a close-range exploration task, manual operation is carried out through the rocker, and an underwater area is flexibly detected. When the offshore patrol task is executed, the Beidou module can independently sail for a long time according to a set track. In the navigation process, if an underwater target is found, a robot object tracking mode can be selected, the tracking target is locked, the robot is selected to strike and destroy the underwater target, the resistance of the robot in underwater navigation is considered, the robot is required to be in a stable posture, the underwater robot is enabled to realize a zero-buoyancy state through balancing gravity and buoyancy to carry out overall design, the overall structure adopts a streamline shell, and a vertical propeller and a horizontal propeller are respectively arranged on two sides of the streamline shell.
The utility model provides an intelligence underwater robot communication method based on big dipper location has umbilical cable, it is specifically including robot main part 1 obtaining driving system, sensor module, machine vision module and attack module data back pass through umbilical cable data transmission to the surface of water communication buoy in, the big dipper orientation module that lies in the surface of water communication buoy this moment passes through wireless data transmission to shore communication basic station, shore communication basic station transmits sensor data to the host computer, the host computer passes through to transmit to shore communication basic station and carries out the control operation through surface of water communication buoy to robot main part 1 through control command after judging sensor data.
An intelligent underwater robot control system with an umbilical cable based on Beidou positioning comprises upper computer software and lower computer software, wherein the upper computer software is a C language control system based on Vs, the upper software comprises a wireless communication module with a lower computer, a hundred-degree map calling module, a handle control signal transceiving module, a longitude and latitude, a depth, a course, a mode display module and a video signal receiving module, the lower computer software is a lower computer control system based on Keil, the lower computer software comprises a motion control module, a sensor signal processing and receiving module, an upper computer wireless communication module, a steering engine and a searchlight 2 control module, and the upper computer wireless communication module is in communication connection with the lower computer wireless communication module, and the upper software controls the robot main body 1 to be controlled by a handle, autonomously cruises and followed by a target object.
The implementation mode is specifically as follows: and the preferred gyroscope model is JY901 gyroscope
JY901 transmits 3-dimensional acceleration, 3-dimensional angular velocity and 3-dimensional angle to STM32F7 through UART4 at the baud rate of 9600, and the format algorithm is as follows (taking the x axis as an example):
acceleration: ax ═ ((AxH < <8) | AxL)/32768 × 16g (g is gravity acceleration, and can take 9.8m/s2)
Angular velocity: wx ═ ((wxH < <8) | wxL)/32768 × 2000(°/s)
Angle: roll angle (x-axis) Roll ═ ((Roll h < <8) | Roll l)/32768 × 180(°), the preferred pressure sensor model is MS5837 pressure sensor;
MS5837 pressure sensor is arranged on inner shell surface, depth resolving plate2The C protocol is converted into a TTL protocol, and the water depth and the temperature are transmitted to the mainboard for displaying of the upper computer and adding PID data for calculation.
The power module is that 5 350W D80 brushless motors receive PWM wave signals from the mainboard through an electric regulation driver to carry out speed regulation and commutation, and the 24V power supply control panel of the battery supplies power; the mainboard enables 4 passageways of 2 timers because of output PWM ripples, and the source of signal is: closed-loop PID control, direct remote control of an upper computer and openMV control.
The preferred communication module is an ATK-HC05 Bluetooth serial port module which carries out communication of an upper computer and a lower computer through TTL level, the main form is a hexadecimal data frame, because the serial port communication is inconvenient for transmitting video data, the image of the wide-angle camera is transmitted to a video window of the upper computer through a 5.8G image transmission transmitter receiver through an independent video circuit, and the two circuits do not influence each other;
the preferred positioning module is ATGM336H-5N positioning module arranged on the buoy and connected with the main control board through a general communication cable, when the positioning data is received, the UART2 serial port is enabled to receive and convert latitude and longitude information, the longitude and latitude information is compressed into 4 frames of 16-system data through the calculation of the main board and then sent to the upper computer, and the upper computer converts the standard geographic coordinates into BD09 coordinates and then displays the BD09 coordinates on a map;
attack the module and be the torpedo, through mainboard control steering wheel pulling fuze, then utilize compressed air to release the torpedo, the head of the torpedo body has three kinds: the warhead part is used for destroying when explosive under water is filled, the targeting part takes the obvious acousto-optic characteristic as a target, the positioning part quickly floats upwards after being pushed out by small thrust, and Beidou positioning auxiliary inertial navigation calibration is carried out. When the robot meets an emergency problem at the water bottom, compressed air can be squeezed into the water tank without opening a safety valve to float up quickly;
the object identification module, OPEN MV vision module utilize neural network discernment aquatic object's optical characteristic and give the action command of motor to the main control board thereby realize the tracking to suspicious object, judge the motion mode according to the image that the camera obtained inside the vision module, for example: when the captured object moves upwards, the motor is driven to move upwards; when the speed is reduced, the vehicle is accelerated; the right movement moves to the right. An upper computer operator can know the underwater vision condition of the current robot by combining the wide-angle camera;
the reference performance parameters of the sensor are shown in table 1:
TABLE 1
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. An intelligent underwater robot with an umbilical cable based on Beidou positioning comprises a robot main body (1) and is characterized in that two sides of the robot main body (1) are fixedly connected with longitudinal motors (3), one side of the tail of the robot main body (1) is fixedly provided with a transverse motor (9), four corners of the tail of the robot main body (1) are fixedly connected with a plurality of tail fin modules (8), two torpedo mounting frames (7) are fixedly mounted at corresponding positions of two outer sides of the robot main body (1) far away from the transverse motor (9), one side of each torpedo mounting frame (7) is fixedly provided with a torpedo module (6), one side of the front end of the robot main body (1) is provided with two crossed transverse vertical motors (10), the front end of the robot main body (1) is fixedly provided with two cameras (4), the top of the robot main body (1) is provided with an umbilical cable connected with a water surface communication buoy, and a Beidou positioning module is fixedly installed in the water surface communication buoy, and the water surface communication buoy and the communication base station are led to the corresponding water surface position.
2. The intelligent underwater robot with the umbilical cable based on Beidou positioning is characterized in that a sealed toughened transparent cover is arranged at the front end of the robot main body (1) corresponding to one side of the double cameras (4), and supporting ribs (5) are arranged on two sides of the whole section of the robot main body (1).
3. The intelligent underwater robot control system with the umbilical cable based on Beidou positioning is characterized in that the robot main body (1) further comprises a microcontroller, the output end of the microcontroller is respectively connected with a power system, a sensor module, a machine vision module and an attack module, the power system is a plurality of underwater propellers, the sensor module comprises a gyroscope and a sensor in warm and deep water, the machine vision module is used for acquiring underwater vision camera shooting and object identification camera shooting, and the attack module comprises ship side fish and cable pieces.
4. The intelligent underwater robot with the umbilical cable based on Beidou positioning is characterized in that the microcontroller is STM32F7 in model, the machine vision module is OPEN MV vision module, and the vision module utilizes a neural network to identify the optical characteristics of aquatic targets.
5. The intelligent underwater robot communication method based on Beidou positioning and with the umbilical cable is characterized by comprising the following steps that a robot body (1) obtains data of a power system, a sensor module, a machine vision module and an attack module and then transmits the data to a water surface communication buoy through the umbilical cable, the Beidou positioning module in the water surface communication buoy transmits the data to a shore communication base station through wireless data, the shore communication base station transmits the sensor data to an upper computer, and the upper computer judges the sensor data and then transmits a control command to the shore communication base station and controls and operates the robot body (1) through the water surface communication buoy.
6. The intelligent underwater robot control system based on Beidou positioning and provided with an umbilical cable is characterized by comprising upper computer software and lower computer software, wherein the upper computer software is a C language control system based on Vs, and the upper software comprises a wireless communication module with the lower computer, a hundred-degree map calling module, a handle control signal transceiving module, a longitude and latitude, a depth, a course, a mode display module and a video signal receiving module and is used for realizing the control of a robot.
7. The intelligent underwater robot control system with the umbilical cable based on Beidou positioning is characterized in that the lower computer software is a lower computer control system based on Keil, the lower computer software comprises a motion control module, a sensor signal processing and receiving module, an upper computer wireless communication module, a steering engine and a searchlight (2) control module, and the upper computer wireless communication module is in communication connection with the lower computer wireless communication module.
8. The intelligent underwater robot control system with the umbilical cable based on Beidou positioning is characterized in that the upper software controls the robot main body (1) to be divided into handle control, autonomous cruising and target object following.
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| CN114180011A (en) * | 2021-11-02 | 2022-03-15 | 天津海翼科技有限公司 | Underwater robot system |
| CN115009476A (en) * | 2022-06-05 | 2022-09-06 | 上海爱船船舶科技有限公司 | Underwater robot |
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| CN112025725A (en) * | 2020-08-25 | 2020-12-04 | 中国人民解放军海军工程大学 | Disposable cableless remote control underwater explosion-removing robot and design method thereof |
| CN112810781A (en) * | 2021-03-12 | 2021-05-18 | 广东海洋大学 | Novel streamline underwater robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114180011A (en) * | 2021-11-02 | 2022-03-15 | 天津海翼科技有限公司 | Underwater robot system |
| CN115009476A (en) * | 2022-06-05 | 2022-09-06 | 上海爱船船舶科技有限公司 | Underwater robot |
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Application publication date: 20210903 |