Underwater Monitoring Robot Development

With the gradual scarcity of land resources, countries spare massive effort to carry out marine exploration and research. Because of special oceanic terrain that divers cannot touch, underwater robot came into being. Based on the open - frame underwater robot , used the high - performance microprocessor and the peripheral sensor, the attitude control of the underwater robot and deep submarine performance is studied. At the same time equipped with water tank, the underwater robot is more energy efficient.Firstly,the research status of underwater robots at home and abroad is briefly introduced. This paper summarizes the research background of underwater robots,the importance of ocean exploration and the development status of the world. Briefly shows the scientific research achievements of underwater robots in China.Then, the architecture of the underwater robot is analyzed. At present,underwater robots are more common architecture for the space-time decomposition architecture. Combined with this hierarchical architecture,leads to the perception layer, computing layer, control layer three-tier structure of the POC architecture. This architecture's perceptual layer can send emergency commands directly to the control layer in an emergency state, avoiding system latency and improving the reliability of the architecture.Using the latest depth sensor and attitude sensor,the current mainstream Cortex-M4 architecture o microprocessor in core control circuit and the new developed propulsion. So that each layer of the architecture can be physically implemented.Finally, optimize the mechanical structure of underwater robots, rational distribution of propeller layout, highly integrated hardware circuit. Based on the analysis of the underwater robot and the basic kinetic investigation, six propellers and one water tank are controlled by PID controller for the special motion characteristics of underwater robots. Through practical experiments to verify the optimal layout of underwater robots can achieve 6 degrees of freedom movement,and more energy efficient. Which provides a new scheme for the development of underwater robots.