Research On Underwater Environment Detection Technology Of Hexapod Robot

Mankind has begun to explore the sea in depth,with the development of society and the exhaustion of terrestrial resources.Underwater robots are one of the key technologies for exploring the sea,but the motion and detection capabilities of underwater robots have become a limiting factor in marine exploration.Traditional deep-sea robots use propellers to resist the interference of water flow.In this way,these underwater equipment deviate from their planned trajectory and cannot run smoothly at fixed points.In the shallow water layer,the strong water flow may even sweep away the AUV and ROV equipment.The appearance of the underwater multi-legged robot successfully solves the problems of the stability of the shallow water layer and the application of fine processing.This design develops a system for underwater robot environment detection based on the UCOS real-time operating system.It combines embedded technology with underwater robots.The system is divided into three subsystems,namely the underwater robot subsystem,the lower computer wireless video transmission subsystem and the upper computer remote control subsystem.The underwater robot system uses the digital rudder controller of the AX-12 communication protocol,which can recognize the action group data in a specific format and complete the actions corresponding to the commands of the host computer.The wireless video transmission system of the lower computer adopts a modular design,with the STM32 chip transplanted with the UCOS real-time operating system as the core,the video data is collected by the OV7725 digital camera and stored in a circular queue,and sent to the upper computer through the W5500 Ethernet.The remote control system of the host computer is written in C # WinForm.It receive video data and displays it smoothly in the video display area.At the same time,it can send control commands to the underwater robot to complete the corresponding actions.After testing,the upper computer is a remote control terminal,and the lower terminal and underwater robot are integrated.A system of detection terminals has the characteristics of small size and stable operation.It can operate not only underwater but also on land.It provided remote real-time scene information for people,with broad application prospects.