Design Of A Small Underwater Robot And The Research On Its Control Method

The water environment such as oceans and lakes on the earth is vast and the resources are abundant.With the gradual depletion of terrestrial resources,the exploration and development of the water environment is particularly important.The ocean-going project needs the assistance of large transportation vehicles such as ships,and the robot has an irreplaceable role for underwater exploration and development operations.On the one hand,the depth of human dive is limited,and on the other hand,the underwater environment is complex and dangerous.Based on the above two points,underwater robots have broad development prospects.Among them,the small underwater robot has the function of flexible movement and can enter the operation in a small area,so its development has attracted the attention of many researchers.The purpose of this paper is to design a small autonomous underwater robot that can be operated remotely and autonomously,including its structural design,control system design and control algorithm design.Therefore,the article first describes the status quo of underwater robots at home and abroad,focusing on the description of AUV and bionic robot fish.At the same time,the subject content includes research on the target detection of underwater robots,so the status quo of target detection is expounded.Considering the advantages of AUV propeller propulsion power and the flexibility of machine fish and high energy utilization,the two structures are combined to design a small underwater robot with different motion modes.The robot structure includes a propeller and a multi-joint bionic fishtail In this paper,robot kinematics and dynamics analysis are carried out for the multi-joint tail propulsion structure.In the kinematics,the fish body wave curve is fitted,and the dynamics is approximated by the Lagrange equation to approximate the robot as a series member.Then,this paper designs the underwater robot system.Including the design and assembly of the prototype structure and the construction of the control system.After the underwater robot prototype and control platform are built,the underwater robot cruise mode and tracking mode are controlled.In the c ruising mode,the tail is used as a tool for propulsion and turning.The swinging propulsion and steering are realized by discretely grouping the fish body wave curves and multi-thread control steering gear.Consider the power requirements and stationarity requirements in the tracking mode,using the power of the propeller propulsion forward and submerged motion.The tail uses auxiliary steering as a rudder.Tracking includes the detection of the target object.This paper examines the target in a low-cost embedded device by fine-tuning the existing advanced convolutional neural network model and researching the model compression method.Finally,the robot's motion state and target detection effect are verified by experiments.