CN209757483U - intelligent robot with underwater crawler - Google Patents
intelligent robot with underwater crawler Download PDFInfo
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- CN209757483U CN209757483U CN201822060721.8U CN201822060721U CN209757483U CN 209757483 U CN209757483 U CN 209757483U CN 201822060721 U CN201822060721 U CN 201822060721U CN 209757483 U CN209757483 U CN 209757483U
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Abstract
the utility model discloses an intelligent robot of track under water contains: the underwater crawler intelligent robot comprises an underwater crawler intelligent robot master control unit, an underwater crawler intelligent robot power unit, an underwater crawler intelligent robot buoyancy adjusting unit, an underwater crawler intelligent robot working arm unit, an underwater crawler intelligent robot image acquisition unit and an electric bus.
Description
Technical Field
the utility model particularly relates to an intelligent robot of track under water.
background
with the pace of ocean development of human beings becoming faster, underwater robot technology has gained unprecedented attention and development as the most important means for human beings to explore oceans. The ocean, which accounts for 71% of the surface area of the earth, is a strategic space on which human beings live and develop, is a strategic development base of energy, biological resources and metal resources, and is the most practical space at present and the most potential space for development.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an intelligent robot of track under water reduces the influence that marine environment caused and the interference of the reaction force that produces when carrying the object effectively to the robot.
in order to achieve the above purpose, the utility model discloses a realize through following technical scheme:
An intelligent robot with an underwater crawler is characterized by comprising: the underwater crawler intelligent robot comprises an underwater crawler intelligent robot master control unit, an underwater crawler intelligent robot power unit, an underwater crawler intelligent robot buoyancy adjusting unit, an underwater crawler intelligent robot working arm unit, an underwater crawler intelligent robot image acquisition unit and an electric bus;
the underwater crawler intelligent robot master control unit is connected to the underwater crawler intelligent robot power unit and the underwater crawler intelligent robot working arm unit and used for generating a motor control signal and a working arm control signal according to a master control optical fiber signal, and meanwhile, the underwater crawler intelligent robot master control unit feeds back information of the surrounding environment of the robot to an upper computer;
the power unit of the underwater crawler intelligent robot controls the servo motor to operate according to the motor control signal;
the working arm unit of the underwater crawler intelligent robot controls the working arm to act according to the working arm control signal;
The underwater crawler intelligent robot buoyancy regulating unit collects an acceleration signal of the robot and converts the acceleration signal into a buoyancy control signal;
The underwater crawler intelligent robot image acquisition unit is used for acquiring an underwater image and transmitting the underwater image;
the power bus supplies power to the underwater crawler intelligent robot master control unit, the underwater crawler intelligent robot power unit, the underwater crawler intelligent robot buoyancy adjusting unit, the underwater crawler intelligent robot working arm unit and the underwater crawler intelligent robot image acquisition unit.
The intelligent robot master control unit for the underwater crawler comprises: the system comprises a first voltage transformation rectifier module, a mechanical arm unit CAN module, an optical fiber module, a power unit CAN module and a first main controller module;
The first transformation rectifier module converts AC voltage of a power supply into DC voltage, and supplies the DC voltage to the mechanical arm unit CAN module, the first optical fiber module, the power unit CAN module and the first main controller module;
the upper computer is connected with the first optical fiber module through an optical fiber, the mechanical arm unit is connected with the CAN module of the mechanical arm unit, and the power unit is connected with the CAN module of the power unit;
The first main controller module is respectively connected with the mechanical arm unit CAN module, the first optical fiber module and the power unit CAN module through asynchronous communication buses;
the upper equipment sends the master control optical fiber signal to a first optical fiber module, the first optical fiber module sends the master control optical fiber signal to a first main controller module to be processed to obtain a motor control signal and a working arm control signal, the mechanical arm unit CAN module outputs the working arm control signal, and the power unit CAN module outputs the motor control signal;
meanwhile, the first main controller module sends the information of the surrounding environment of the robot to the upper computer through the first optical fiber module.
The intelligent robot power pack input of track under water connect in power pack CAN module, intelligent robot power pack contain under water: the system comprises a second voltage transformation rectifying module, a first CAN transceiving module, a first data processing module and a servo motor driver module;
The second transformation rectification module converts the AC voltage of the power supply into DC voltage and supplies power to the first CAN transceiving module and the first data processing module;
the first CAN transceiver module receives the sent motor control signal and sends the motor control signal to the first data processing module;
the first data processing module is connected with the first CAN transceiving module and used for converting the motor control signal into a control pulse signal;
The input end of the servo motor driver module is connected with the first data processing module and used for controlling the servo motor to operate according to the control pulse signal.
The intelligent robot work arm unit input of crawler belt under water connect in arm unit CAN module, intelligent robot work arm unit of crawler belt under water contain: the system comprises a third voltage transformation rectifying module, a second CAN transceiving module, a displacement signal conversion module, a second main controller module, a hydraulic power module and an electromagnetic valve control module;
the third transformation rectifier module converts the AC voltage of the power supply into DC voltage, and supplies the DC voltage to the second CAN transceiver module, the displacement signal conversion module, the second main controller module and the solenoid valve control module;
the hydraulic power module uses the AC voltage of the power supply;
The hydraulic power module is connected with the electromagnetic valve control module through a hydraulic pipeline;
the displacement signal conversion module receives a plurality of paths of working arm displacement signals and transmits the signals to the second main controller module through a synchronous communication bus;
The second CAN transceiver module receives a working arm control signal and then sends a control instruction to the second main controller module;
the second main controller module starts the hydraulic power module to generate a hydraulic power source after receiving the control instruction transmitted by the second CAN transceiver module, and controls the hydraulic output of the electromagnetic valve control module according to the control instruction to realize the operation control of the working arm;
when the displacement of the working arm received by the displacement signal conversion module is consistent with the displacement appointed in the control command, the electromagnetic valve control module closes the electromagnetic valve, stops the working arm from moving, stops the hydraulic pump in the hydraulic power module, and waits for the next action command.
The buoyancy adjusting unit of the underwater crawler intelligent robot comprises: the fourth voltage transformation rectifying module, the acceleration sensor module, the second data processing module and the first control signal amplifying module;
The fourth transformation rectification module converts the AC voltage of the power supply into DC voltage and supplies power to the acceleration sensor module, the second data processing module and the first control signal amplification module;
The accelerator sensor module is used for acquiring an acceleration signal of the robot and sending the acceleration signal to the second data processing module;
The second data processing module is connected with the accelerator sensor module and used for converting the acceleration signal into a buoyancy control signal;
The input end of the first control signal amplification module is connected with the second data processing module and used for amplifying the buoyancy control signal.
the intelligent robot image acquisition unit of track under water contain: the system comprises an image acquisition module, an acquisition module control module, a second control signal amplification module, a third data processing module and a second optical fiber module;
The acquisition module control module is connected with the image acquisition module to control the rotation of the image acquisition module;
The image acquisition module is connected with a third data processing module, the third data processing module is connected with a control signal amplification module, and the control signal amplification module is connected with an acquisition module control module;
The third data processing module is connected with a second optical fiber module, and the second optical fiber module is connected with an upper computer through an optical fiber;
The image acquisition module sends acquired data to a third data processing module for image coding, converts the data into an Ethernet protocol, sends the Ethernet protocol to an optical fiber module for conversion into an optical fiber protocol, and transmits an image signal to an upper computer;
meanwhile, the second optical fiber module transmits an instruction for controlling the rotation of the image acquisition module sent by the upper computer to the third data processing module, the third data processing module sends a control instruction according to the instruction, and the control signal is amplified by the second control signal amplification module and then drives the motor of the acquisition module control module to control the rotation of the image acquisition module.
Compared with the prior art, the utility model, have following advantage:
The influence caused by marine environment and the interference of the reaction force generated when the object is conveyed to the robot are effectively reduced.
Drawings
Fig. 1 is a schematic structural view of an underwater crawler intelligent robot of the present invention;
FIG. 2 is a schematic diagram of a master control unit of the underwater crawler intelligent robot;
FIG. 3 is a power unit of an underwater crawler intelligent robot;
FIG. 4 shows an underwater crawler intelligent robot working arm unit;
FIG. 5 shows a buoyancy adjustment unit of an underwater crawler intelligent robot;
Fig. 6 is an image acquisition unit of an underwater crawler intelligent robot.
Detailed Description
the present invention will be further described by the following detailed description of a preferred embodiment thereof, taken in conjunction with the accompanying drawings.
As shown in fig. 1, an underwater caterpillar intelligent robot comprises: the underwater crawler intelligent robot comprises an underwater crawler intelligent robot master control unit, an underwater crawler intelligent robot power unit, an underwater crawler intelligent robot buoyancy adjusting unit, an underwater crawler intelligent robot working arm unit, an underwater crawler intelligent robot image acquisition unit and an electric bus; the underwater crawler intelligent robot master control unit is connected to the underwater crawler intelligent robot power unit and the underwater crawler intelligent robot working arm unit and used for generating a motor control signal and a working arm control signal according to a master control optical fiber signal, and meanwhile, the underwater crawler intelligent robot master control unit feeds back information of the surrounding environment of the robot to an upper computer; the power unit of the underwater crawler intelligent robot controls the servo motor to operate according to the motor control signal; the working arm unit of the underwater crawler intelligent robot controls the working arm to act according to the working arm control signal; the underwater crawler intelligent robot buoyancy regulating unit collects an acceleration signal of the robot and converts the acceleration signal into a buoyancy control signal; the underwater crawler intelligent robot image acquisition unit is used for acquiring an underwater image and transmitting the underwater image; the power bus supplies power to the underwater crawler intelligent robot master control unit, the underwater crawler intelligent robot power unit, the underwater crawler intelligent robot buoyancy adjusting unit, the underwater crawler intelligent robot working arm unit and the underwater crawler intelligent robot image acquisition unit.
As shown in fig. 2, the underwater caterpillar intelligent robot master control unit includes: the device comprises a voltage transformation rectification module, a mechanical arm unit CAN module, an optical fiber module, a power unit CAN module and a main controller module; the voltage transformation rectifying module converts AC voltage of a power supply into DC voltage and supplies the DC voltage to the mechanical arm unit CAN module, the optical fiber module, the power unit CAN module and the main controller module; the upper computer is connected with the optical fiber module through an optical fiber, the mechanical arm unit is connected with the CAN module of the mechanical arm unit, and the power unit is connected with the CAN module of the power unit; the main controller module is respectively connected with the mechanical arm unit CAN module, the optical fiber module and the power unit CAN module through asynchronous communication buses; the upper equipment sends the master control optical fiber signal to the optical fiber module, the optical fiber module sends the master control optical fiber signal to the main controller module to be processed to obtain a motor control signal and a working arm control signal, the mechanical arm unit CAN module outputs the working arm control signal, and the power unit CAN module outputs the motor control signal; meanwhile, the main controller module sends the information of the surrounding environment of the robot to the upper computer through the optical fiber module.
The modules are all arranged inside a waterproof casing. The transformation rectification module comprises HLK-PM01 and is used for converting single-phase 220V into DC 5V; the device also comprises NDR-240-24, and converts the single-phase 220V into DC 24V; the DC5V voltage converted by the transformation rectification module is input to the main controller module, and the DC24V voltage converted by the transformation rectification module is input to the mechanical arm unit CAN module, the optical fiber module and the power unit CAN module.
the upper computer is connected with the optical fiber module through an optical fiber, the mechanical arm unit is connected with the CAN module of the mechanical arm unit through an asynchronous communication bus, and the power unit is connected with the CAN module of the power unit through the asynchronous communication bus; the main controller module is respectively connected with the mechanical arm unit CAN module, the optical fiber module and the power unit CAN module through asynchronous communication buses. The main controller module in the utility model uses STM32F 429; the mechanical arm unit CAN module and the power unit CAN module respectively use ADM3052 to realize CAN protocol communication; the optical fiber module uses the Huawei SFP-GE-T to convert the Ethernet protocol into the optical fiber communication protocol.
The utility model discloses a theory of operation is: the upper device sends an instruction signal to the optical fiber module through an optical fiber, the optical fiber module converts the optical signal into an Ethernet protocol and sends the Ethernet protocol to the main controller module, the main controller module carries out multi-task parallel processing on the received Ethernet data, and sends the instruction to the mechanical arm unit CAN module and the power unit CAN module respectively in a coding form meeting CAN protocol standards, and then the mechanical arm unit CAN module and the power unit CAN module control the mechanical arm unit and the power unit to realize the function required by the instruction; meanwhile, the main controller module sends pressure, density and temperature information of the surrounding environment of the underwater crawler intelligent robot to the upper computer through the optical fiber module.
In addition, the operator of the upper equipment obtains feedback information of instruction execution through the image acquisition unit by naked eyes so as to achieve the effect of closed-loop control.
as shown in fig. 3, the input end of the power unit of the underwater crawler intelligent robot is connected to the power unit CAN module, and the power unit of the underwater crawler intelligent robot comprises: the device comprises a voltage transformation rectifying module, a CAN (controller area network) transceiving module, a data processing module and a servo motor driver module; the voltage transformation rectifying module converts AC voltage of a power supply into DC voltage and supplies power to the CAN transceiving module and the data processing module; the CAN transceiver module receives the sent motor control signal and sends the motor control signal to the data processing module; the data processing module is connected with the CAN transceiving module and is used for converting the motor control signal into a control pulse signal; the input end of the servo motor driver module is connected with the data processing module and used for controlling the servo motor to operate according to the control pulse signal.
the transformation rectification module comprises a first transformation rectification unit and a second transformation rectification unit, wherein the first transformation rectification unit is used for converting single-phase 220V into first direct-current voltage, the second transformation rectification unit is used for converting single-phase 220V into second direct-current voltage, and in a specific embodiment, the first transformation rectification unit is of the type: HLK-PM01, the second transformation rectification unit model is: NDR-240-24; specifically, the transformation rectification module firstly converts three-phase 200V alternating current into single-phase 220V through a transformer. Single phase 220V is then converted to DC5V by HLK-PM01, while single phase 220V is converted to DC24V by NDR-240-24. The first direct current voltage (DC5V) is used for supplying power to the data processing module, the second direct current voltage (DC24V) is used for supplying power to the CAN transceiving module, and meanwhile, the other three-phase 220V alternating current supplies working power to the servo motor driver module.
the CAN transceiver module is ADM3052 in model and receives a motor control signal based on CAN protocol coding. The model of the data processing module is STM32F405, and the obtained motor control signal is converted into a control pulse signal.
the voltage transformation rectification module CAN convert input three-phase 220V alternating current into direct current 24V and direct current 5V to provide a control power supply for the unit, after the host equipment sends a motor control signal to the underwater crawler intelligent robot, the motor control signal CAN be received by the CAN transceiver module and transmitted to the data processing module, the data processing module CAN convert the motor control signal into a control pulse signal through operation so as to control the servo motor driver module, and finally the servo motor driver module controls the servo motor according to the input control pulse signal.
as shown in fig. 4, the input end of the working arm unit of the underwater crawler intelligent robot is connected to the CAN module of the robot arm unit, and the working arm unit of the underwater crawler intelligent robot comprises: the device comprises a voltage transformation rectifier module, a CAN (controller area network) transceiver module, a displacement signal conversion module, a main controller module, a hydraulic power module and an electromagnetic valve control module; the transformation rectification module converts AC voltage of a power supply into DC voltage and supplies the DC voltage to the CAN transceiving module, the displacement signal conversion module, the main controller module and the solenoid valve control module; the hydraulic power module uses the AC voltage of the power supply; the hydraulic power module is connected with the electromagnetic valve control module through a hydraulic pipeline; the displacement signal conversion module receives a plurality of paths of working arm displacement signals and transmits the signals to the main controller module through a synchronous communication bus; after receiving the working arm control signal, the CAN transceiver module sends a control instruction to the main controller module; the main controller module starts the hydraulic power module to generate a hydraulic power source after receiving the control instruction transmitted by the CAN transceiving module, and controls the hydraulic output of the electromagnetic valve control module according to the control instruction to realize the operation control of the working arm; when the displacement of the working arm received by the displacement signal conversion module is consistent with the displacement appointed in the control command, the electromagnetic valve control module closes the electromagnetic valve, stops the working arm from moving, stops the hydraulic pump in the hydraulic power module, and waits for the next action command.
The transformation rectification module comprises HLK-PM01 and is used for converting single-phase 220V into DC 5V; the device also comprises NDR-240-24, and converts the single-phase 220V into DC 24V; the DC5V voltage converted by the transformation rectification module is input to the main controller module, and the DC24V voltage converted by the transformation rectification module is input to the CAN transceiving module, the displacement signal conversion module and the solenoid valve control module. The hydraulic power module directly uses the AC voltage of the power supply.
The hydraulic power module is connected with the hydraulic oil tank through a hydraulic pipeline and is connected with the electromagnetic valve control module through the hydraulic pipeline; and the hydraulic oil output by the electromagnetic valve control module returns to the hydraulic oil tank again through a hydraulic oil return pipeline. The displacement signal conversion module receives a plurality of paths of working arm displacement signals, converts the signals into digital signals and transmits the digital signals to the main controller module through a synchronous communication bus; the displacement signal conversion module converts the displacement signal of 4-20mA into a sixteen-bit SPI communication signal by using AD 974. And after receiving the control instruction transmitted from the user, the CAN transceiver module sends a control instruction signal to the main controller module through a CAN protocol.
The utility model discloses a theory of operation is: the main controller module starts the hydraulic power module to generate a hydraulic power source after receiving the control instruction transmitted by the CAN transceiving module, and controls the hydraulic output of the electromagnetic valve control module according to the control instruction to realize the operation control of the working arm. When the displacement of the working arm received by the displacement signal conversion module is consistent with the displacement appointed in the control command, the electromagnetic valve control module closes the electromagnetic valve, stops the working arm from moving, stops the hydraulic pump in the hydraulic power module, and waits for the next action command.
Here, the hydraulic power module uses a single phase ac asynchronous motor to drive the hydraulic pump, the CAN transceiver module uses ADM3052, the main controller module uses STM8S207, and the solenoid valve control module uses BIFOLD-FP 06P.
as shown in fig. 5, the buoyancy adjusting unit of the underwater crawler intelligent robot comprises: the device comprises a voltage transformation rectifying module, an acceleration sensor module, a data processing module and a control signal amplifying module; the voltage transformation and rectification module converts the AC voltage of the power supply into DC voltage and supplies power to the acceleration sensor module, the data processing module and the control signal amplification module; the accelerator sensor module is used for acquiring an acceleration signal of the robot and sending the acceleration signal to the data processing module; the data processing module is connected with the accelerator sensor module and is used for converting the acceleration signal into a buoyancy control signal; the input end of the control signal amplification module is connected with the data processing module and is used for amplifying the buoyancy control signal.
the transformation rectification module comprises a first transformation rectification unit and a second transformation rectification unit, wherein the first transformation rectification unit is used for converting single-phase 220V into first direct-current voltage, the second transformation rectification unit is used for converting single-phase 220V into second direct-current voltage, and in a specific embodiment, the first transformation rectification unit is of the type: HLK-PM01, the second transformation rectification unit model is: NDR-240-24; specifically, the transformation rectification module firstly converts three-phase 200V alternating current into single-phase 220V through a transformer. Single phase 220V is then converted to DC5V by HLK-PM01, while single phase 220V is converted to DC24V by NDR-240-24. The first direct voltage (DC5V) is used to power the accelerator sensor module and the data processing module, and the second direct voltage (DC24V) is used to power the control signal amplification module.
the model of the acceleration sensor module is MPU-6000, the change speed of the robot in the direction vertical to the sea level is converted into an acceleration signal, and the acceleration signal is sent to the data processing module through a synchronous communication bus.
the model of the data processing module is STM8S208, and the received acceleration signals are subjected to proportional-calculus operation to obtain corresponding buoyancy control signals.
the control signal amplification module is of an OPA445 model, and is used for amplifying the buoyancy control signal to enable the buoyancy control signal to have higher output power.
when the robot changes in the vertical direction, the acceleration sensor module converts the change into an SPI communication signal and sends the SPI communication signal to the data processing module. And the data processing module performs proportional-calculus operation according to the value of the change data and outputs the operated control signal by using an analog quantity signal. The control signal amplification module can amplify the analog quantity signal output by the data processing module, and the anti-interference capability and the signal driving capability of the signal are improved.
as shown in fig. 6, the image collecting unit of the underwater crawler intelligent robot comprises: the device comprises an image acquisition module, an acquisition module control module, a control signal amplification module data processing module and an optical fiber module; the acquisition module control module is connected with the image acquisition module to control the rotation of the image acquisition module; the image acquisition module is connected with the data processing module, the data processing module is connected with the control signal amplification module, and the control signal amplification module is connected with the acquisition module control module; the data processing module is connected with the optical fiber module, and the optical fiber module is connected with the upper computer through an optical fiber; the image acquisition module sends acquired data to the data processing module for image coding, converts the data into an Ethernet protocol, sends the Ethernet protocol to the optical fiber module for conversion into an optical fiber protocol, and transmits an image signal to the upper computer; meanwhile, the optical fiber module transmits an instruction for controlling the rotation of the image acquisition module sent by the upper computer to the data processing module, the data processing module sends a control instruction according to the instruction, and the control signal is amplified by the control signal amplification module and then drives a motor of the acquisition module control module to control the rotation of the image acquisition module.
A transformer rectifier module that converts single phase 220V to DC5V using HLK-PM 01; NDR-240-24 was also used to convert single phase 220V to DC 24V; the DC5V voltage converted by the transformation rectification module is input to the data processing module, the control signal amplification module and the image acquisition module, and the DC24V voltage converted by the transformation rectification module is input to the acquisition module control module and the optical fiber module.
The acquisition module control module is connected with the image acquisition module to control the rotation of the image acquisition module; image data acquired by the image acquisition module is transmitted to the data processing module through a digital video interface (DVP), the data processing module is connected with the control signal amplification module, the control signal amplification module is connected with the acquisition module control module, the data processing module is connected with the optical fiber module through an Ethernet, and the optical fiber module is connected with an upper computer.
the data processing module uses STM32F779, and the control signal amplification module uses IRF640 to improve the driving capability of the camera rotation signal; the image acquisition module uses an OV5640 camera of a 60-frame 720P image sensor; the acquisition module control module drives the camera to rotate by using an XD-37GB555 direct current motor, so that the image acquisition module has a 180-degree spherical view; the fiber optic module converts the Ethernet protocol into the fiber optic communication protocol by using Huawei SFP-GE-T.
While the present invention has been described in detail with reference to the preferred embodiments thereof, it should be understood that the above description should not be taken as limiting the present invention. Numerous modifications and alterations to the present invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (6)
1. an intelligent robot with an underwater crawler, comprising: the underwater crawler intelligent robot comprises an underwater crawler intelligent robot master control unit, an underwater crawler intelligent robot power unit, an underwater crawler intelligent robot buoyancy adjusting unit, an underwater crawler intelligent robot working arm unit, an underwater crawler intelligent robot image acquisition unit and an electric bus;
the underwater crawler intelligent robot master control unit is connected to the underwater crawler intelligent robot power unit and the underwater crawler intelligent robot working arm unit and used for generating a motor control signal and a working arm control signal according to a master control optical fiber signal, and meanwhile, the underwater crawler intelligent robot master control unit feeds back information of the surrounding environment of the robot to an upper computer;
the power unit of the underwater crawler intelligent robot controls the servo motor to operate according to the motor control signal;
the working arm unit of the underwater crawler intelligent robot controls the working arm to act according to the working arm control signal;
the underwater crawler intelligent robot buoyancy regulating unit collects an acceleration signal of the robot and converts the acceleration signal into a buoyancy control signal;
the underwater crawler intelligent robot image acquisition unit is used for acquiring an underwater image and transmitting the underwater image;
The power bus supplies power to the underwater crawler intelligent robot master control unit, the underwater crawler intelligent robot power unit, the underwater crawler intelligent robot buoyancy adjusting unit, the underwater crawler intelligent robot working arm unit and the underwater crawler intelligent robot image acquisition unit.
2. The underwater caterpillar intelligent robot as claimed in claim 1, wherein the underwater caterpillar intelligent robot master control unit comprises: the system comprises a first voltage transformation rectifier module, a mechanical arm unit CAN module, an optical fiber module, a power unit CAN module and a first main controller module;
the first transformation rectifier module converts AC voltage of a power supply into DC voltage, and supplies the DC voltage to the mechanical arm unit CAN module, the first optical fiber module, the power unit CAN module and the first main controller module;
The upper computer is connected with the first optical fiber module through an optical fiber, the mechanical arm unit is connected with the CAN module of the mechanical arm unit, and the power unit is connected with the CAN module of the power unit;
The first main controller module is respectively connected with the mechanical arm unit CAN module, the first optical fiber module and the power unit CAN module through asynchronous communication buses;
The upper equipment sends the master control optical fiber signal to a first optical fiber module, the first optical fiber module sends the master control optical fiber signal to a first main controller module to be processed to obtain a motor control signal and a working arm control signal, the mechanical arm unit CAN module outputs the working arm control signal, and the power unit CAN module outputs the motor control signal;
Meanwhile, the first main controller module sends the information of the surrounding environment of the robot to the upper computer through the first optical fiber module.
3. the intelligent underwater crawler robot as recited in claim 2, wherein the input end of the power unit of the intelligent underwater crawler robot is connected to a power unit CAN module, and the power unit of the intelligent underwater crawler robot comprises: the system comprises a second voltage transformation rectifying module, a first CAN transceiving module, a first data processing module and a servo motor driver module;
the second transformation rectification module converts the AC voltage of the power supply into DC voltage and supplies power to the first CAN transceiving module and the first data processing module;
The first CAN transceiver module receives the sent motor control signal and sends the motor control signal to the first data processing module;
The first data processing module is connected with the first CAN transceiving module and used for converting the motor control signal into a control pulse signal;
the input end of the servo motor driver module is connected with the first data processing module and used for controlling the servo motor to operate according to the control pulse signal.
4. The intelligent underwater crawler robot as recited in claim 2, wherein the input end of said intelligent underwater crawler robot working arm unit is connected to the CAN module of the robot arm unit, and said intelligent underwater crawler robot working arm unit comprises: the system comprises a third voltage transformation rectifying module, a second CAN transceiving module, a displacement signal conversion module, a second main controller module, a hydraulic power module and an electromagnetic valve control module;
The third transformation rectifier module converts the AC voltage of the power supply into DC voltage, and supplies the DC voltage to the second CAN transceiver module, the displacement signal conversion module, the second main controller module and the solenoid valve control module;
the hydraulic power module uses the AC voltage of the power supply;
the hydraulic power module is connected with the electromagnetic valve control module through a hydraulic pipeline;
the displacement signal conversion module receives a plurality of paths of working arm displacement signals and transmits the signals to the second main controller module through a synchronous communication bus;
The second CAN transceiver module receives a working arm control signal and then sends a control instruction to the second main controller module;
the second main controller module starts the hydraulic power module to generate a hydraulic power source after receiving the control instruction transmitted by the second CAN transceiver module, and controls the hydraulic output of the electromagnetic valve control module according to the control instruction to realize the operation control of the working arm;
when the displacement of the working arm received by the displacement signal conversion module is consistent with the displacement appointed in the control command, the electromagnetic valve control module closes the electromagnetic valve, stops the working arm from moving, stops the hydraulic pump in the hydraulic power module, and waits for the next action command.
5. the underwater crawler intelligent robot as recited in claim 1, wherein said underwater crawler intelligent robot buoyancy adjusting unit comprises: the fourth voltage transformation rectifying module, the acceleration sensor module, the second data processing module and the first control signal amplifying module;
the fourth transformation rectification module converts the AC voltage of the power supply into DC voltage and supplies power to the acceleration sensor module, the second data processing module and the first control signal amplification module;
The acceleration sensor module is used for acquiring an acceleration signal of the robot and sending the acceleration signal to the second data processing module;
The second data processing module is connected with the acceleration sensor module and used for converting the acceleration signal into a buoyancy control signal;
The input end of the first control signal amplification module is connected with the second data processing module and used for amplifying the buoyancy control signal.
6. the intelligent underwater crawler robot as recited in claim 1, wherein said image capturing unit of said intelligent underwater crawler robot comprises: the system comprises an image acquisition module, an acquisition module control module, a second control signal amplification module, a third data processing module and a second optical fiber module;
The acquisition module control module is connected with the image acquisition module to control the rotation of the image acquisition module;
the image acquisition module is connected with a third data processing module, the third data processing module is connected with a control signal amplification module, and the control signal amplification module is connected with an acquisition module control module;
the third data processing module is connected with a second optical fiber module, and the second optical fiber module is connected with an upper computer through an optical fiber;
The image acquisition module sends acquired data to a third data processing module for image coding, converts the data into an Ethernet protocol, sends the Ethernet protocol to an optical fiber module for conversion into an optical fiber protocol, and transmits an image signal to an upper computer;
meanwhile, the second optical fiber module transmits an instruction for controlling the rotation of the image acquisition module sent by the upper computer to the third data processing module, the third data processing module sends a control instruction according to the instruction, and the control signal is amplified by the second control signal amplification module and then drives the motor of the acquisition module control module to control the rotation of the image acquisition module.
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