Information Fusion And Operation Planning Of Underwater Manipulator

Mankind is faced with three problems: population, resources and environment. With the rapid development of national economies and the world's population continues to increase, depletion of land resources is becoming increasingly serious. To survive and prosper, humans began to cover 71% of the earth's surface into the ocean. Ocean is rich in mineral resources, marine biological resources and energy. Using underwater robots and robotic operations to replace the human observer ocean seabed geological survey and mining resources, has become an important means of ocean development. Autonomous underwater vehicle assembled with Underwater Manipulator will play an important role in a variety of non-military applications such as marine science, oil and gas exploration, underwater inspection, drilling and mining support, pipeline maintenance and underwater cable laying, and military applications.Underwater Manipulator is an important part of the underwater robot. The technology of the underwater robot with operational capacity is to a large extent marked the level of development of marine high-tech of a country. The"Micro-Underwater Work Tool"project was funded by the commission of Science Technology & Industry for National Defense.This paper carried out a series of research and design work based on it. But there still are a few problems unresolved, and many technologies should be improved.The thesis contains six chapters with their contents as follow: Chapter One introduces the background and significance of the research paper, research status, and leads to the main contents of this paper; Chapter Two describes the composition of the underwater manipulator, and overviews the control system of the underwater manipulator include hardware architecture and software architecture; Chapter Three studies multi-sensor data fusion of the underwater manipulator, including the proximate sensor information processing, visual sensor information processing. The target object's coordinate conversion is issued in detail. Finally, the design of the information fusion of specific programs based on vision and proximate sensor is designed; Chapter Four is the research of the operation planning, designs two manipulator controls, and various remote manipulator operations planning is detailed analyzed. Chapter Five presents a whole series of related tests on the manipulator system; Chapter Six is a summary of the paper and prospect of the technology.