Research And Design On Underwater Robot

Underwater robot is a device which can move under water with vision and perception system.It can replace or assist people to complete the underwater task utilization with mechanical hand or other equipment. Underwater robot plays an important role in military and civil area. Therefore, it becomes the focus of research in robotics.In recent years, there are some problems of water pollution in our country, caused a great economic loss.such as the cyanobacteria in Taihu Lake in Wuxi, leting80%Wuxi residents drink polluted water, water supply of city is paralyzed, seriously affecting the life of the people.If the water sources is periodically detected,we will be able to take measures as soon as possible, so as to protect water sources.In the past, taking water samples is mainly through people, and there is a certain degree of risk and accuracy problems. In order to solve these problem, we invented underwater robot which can replace people to water sampling in some dangerous places. The main research and results are as follows:Firstly,after analysing the domestic and foreign research situation on underwater robot,it confirms the electronic system which includes monitoring of operation level, control level, execution level, and device level.The structure has some advantages of hierarchical, modular and intelligent.Then,Based on C8051F340microprocessor and computer,the author designs the remote operator control box, Remote operator control box can control underwater robot and display sensor data and video; Based on C8051F120microprocessor, the author designs the sensor and control module which can collect the data of temperature and humidity sensors and depth sensor;Based on Banana Pi,the author collects the data of GPS and GY-85to monitor underwater robot’s position and attitude.Then,according to200meters underwater enviroment,it makes stress analysis and buckling analysis of electronic equipment hull and head observation window through ANSYS WORKBENCH,the simulation results show that the design of the electronic equipment hull and head observation window can meet the requirements. According to the characteristics of underwater imaging envirment, it analys the selection and arrangement of underwater camera and underwater lamp,and designs the underwater lamp. Due to the limit of the price of the existing underwater propeller, it makes the numerical calculation when underwater robot works through FLUENT software,and confirms the motor.it designs the dynamic sealing structure of motor to make cheap underwater motor with O ring and lip-type packing. Due to the traditional water quality sampler will disrupt the flow field and the water exhaust is difficult in the water when water sampling, designed the optimized water sampling sampler with magnetic valve placed on the top of magnetic valve and on the bottom of magnetic valve.Finally,Based on VC++, the monitoring interface are designed,it has video display function, motion control function, map display function and sensor data display function. The nonlinear characteristics of the underwater robot motion, fixed depth using a fuzzy control method.In the end of the experiment shows that the underwater robot is good at controlling、 detecting and meeting the requirement in fixed depth.