Underwater intelligent robot radar obstacle avoidance system

Abstract

The invention relates to an underwater intelligent robot radar obstacle avoidance system. The system comprises a robot body (1), wherein a top surface, a bottom surface, a left surface and a right surface of the robot body are respectively equipped with a radar transceiver (2), the robot body is internally provided with a single-chip microcomputer (3) and a peripheral circuit connected with the single-chip microcomputer, the single-chip microcomputer (3) is internally provided with a timer (4), radar signals are transmitted to each radar transceiver (2) by the single-chip microcomputer (3) in a time division one-to-one correspondence mode, feedback signals of an obstacle are respectively transmitted by the radar transceivers (2) to the single-chip microcomputer (3) in a one-to-one correspondence mode, the timer (4) starts when the radar signals are transmitted, the timer (4) stops when the feedback signals are transmitted, and distances between the obstacle (5) and the radar transceivers (2) can be calculated by the single-chip microcomputer (3) according to time difference between starting and stopping of the timer (4). The system is advantaged in that obstacle avoidance can be more reasonably and effectively carried out, moreover, miniaturization and light weight can be realized, and the system can be applied to micro underwater robots.

Description

technical field [0001] The invention relates to an obstacle avoidance system for an underwater robot, in particular to a radar obstacle avoidance system for an underwater intelligent robot. Background technique [0002] Underwater robots have broad application prospects in marine scientific research, marine development, underwater engineering, and military affairs. Underwater robots generally work in complex ocean environments. In order to better complete various missions and their own life safety, they need to have the ability to avoid obstacles autonomously, and be able to sense and make decisions about the possible collision risks caused by obstacles in the surrounding environment. Respond accordingly. [0003] There are many autonomous obstacle avoidance methods for underwater robots, such as potential field method, fuzzy collision avoidance method and so on. The potential field method is a virtual force method, and its basic idea is to regard the movement of the robot...

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Problems solved by technology

However, although this method considers the motion control performance of the underwater robot and other factors when determining the safety distance of the motion balance point, the designed safety distance is a fixed value, especially without considering the influence of the speed of the underwater robot on the obstacle avoidance ability. And when considering the motion control ability of the underwater robot, it is also considered to be invariable. These actually cannot truly reflect the dynamic changes of the underwater robot in actual work.

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