Vector-propelled small four-axis underwater robot control system

Abstract

The invention discloses a vector-propelled small four-axis underwater robot control system. The system can be divided into a man-machine collaboration layer, a decision making layer, a planning layer and an executive layer, wherein the man-machine collaboration layer is composed of a land-based / boat load monitoring system and used for sending an AUV (Autonomous Underwater Vehicle) course control signal, receiving sensor data and displaying the sensor data in upper computer monitoring software in real time; the decision making layer comprises a multi-sensor information collection and fusion system which is used for receiving the course control signal and collecting and fusing sensor data; an intelligent decision making system is used for receiving the sensor data and the course control signal fused by the multi-sensor information collection and fusion system and processing the fused sensor data and course control signal through a decision algorithm to generate a decision instruction; the planning layer comprises a gait generation system in charge of planning movement gaits of the robot according to the decision instruction and collaborating data communication between an upper layer and a lower layer; and the executive layer comprises a driving and executing system and is used for controlling a steering engine and a direct-current water spraying motor in real time. The vector-propelled small four-axis underwater robot control system is high in reliability, excellent in flexibility, easy to expand and maintain, and wide in application prospect.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a control system of a vector propulsion small four-axis underwater robot. Background technique [0002] An underwater robot is an underwater navigation device that can swim, operate or engage in specialized work in water. At present, underwater robots have been widely used in our country, especially in the fields of resource exploration, environmental monitoring, geological and landform exploration and investigation of oceans and lakes, and play an irreplaceable role. [0003] The vector propulsion system can provide strong power for small underwater robots, and can also provide powerful help for the adjustment of the underwater robot's own attitude and navigation state. At present, the vector propulsion methods of autonomous underwater vehicles (AUV) with good application prospects mostly use the principle of water jet drive. The advantages are that the underwater robot still ha...

AI Technical Summary

Problems solved by technology

However, this control method makes the work tasks of the main control computer very heavy, and the efficiency is low, and once the main control computer breaks down, the whole system will be paralyzed, and the reliability is poor; , it is difficult to add other devices at will, and the scalability is poor

With the complexity of the structure of the underwater robot itself and the diversification of user needs, the traditional centralized control method can no longer meet the needs of the development of the underwater robot control system.

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