| Underwater remote operated vehicle is an important tool for ocean exploration,which can replace human to carry out exploration work in dangerous waters.The autonomous remotely operated vehicle(ARV)has the ability of remote operation and autonomous movement at the same time.Compared with the traditional underwater robot,ARV has greater advantages in completing the underwater exploration,acquisition and rescue work,which not only ensures the safety of technical personnel,but also greatly improves the working efficiency of the robot and reduces repetition of the same work.It has become a hot spot of current research.Based on the existing long-distance remote control "dolphin" second generation underwater remote operated vehicle,this research improves the perception control equipment,adds the algorithm of dead reckoning and attitude control,and develops the autonomous remotely operated vehicle for the inspection of large dams,hydropower stations and other underwater buildings.In Chapter 1,the current development status,research trends and existing problems of underwater remote operated vehicles at home and abroad are analyzed.Then,the research objectives and main contents of this paper are introduce briefly.The structure of the underwater remote operated vehicle is introduced briefly at the beginning of the Chapter 2.Then define the motion coordinate system and the fixed coordinate system of the underwater remote operated vehicle in order to establish the motion model of the underwater remote operated vehicle and determine the general equation of the four degrees of freedom motion of the underwater robot by coordinate conversion.Buoyancy,gravity and thruster thrust are calculated at the end of this chapter.The calculation results lays a foundation for the research of trajectory calculation and attitude control of underwater remote operated vehicle.The development of sensor control module and operator controller which is based on the hardware scheme and structure of the electronic system of the underwater remote operated vehicle are introduced respectively in Chapter 3.The hardware circuit structure of the sensor control module is introduced in detail.The interface mode of three-axis accelerometer,three-axis gyroscope,sonar depth meter and other sensors,as well as the design idea of the main program module are introduced.The sensor control module can preprocess the collected sensor data and send it to the main controller through the serial port.It can also receive the control command from the main controller and realize the control of the robot underwater manipulator,searchlight and other external equipment.The design of the hardware circuit and the design of the software module of the interface board used in the operator controller to connect the robot control rocker,control button are presented carefully.The interface board of the operator controller can collect the information of the control rocker,command button,etc.on the panel of the operator controller,and send it to the underwater robot through the main controller,so as to control the operation of the underwater robot and the manipulator.In Chapter 4,trajectory estimation method of underwater vehicle based on Kalman filter fusion accelerometer and gyroscope is described.The data of accelerometers and gyroscopes are filtered by Kalman filter to reduce noise.And realize dead reckoning by fuse the data of accelerometers and gyroscopes.Experimental test prove that the designed dead reckoning program can record the dead reckoning result,which is close to the actual motion path of the robot.In Chapter 5,the attitude control method of underwater vehicle based on fuzzy control is introduced.Firstly,the design of fuzzy controller is introduced.Then the simulation and software design of fuzzy control algorithm for robot attitude are introduced.The experimental results show that this method can control the attitude of the underwater remote operated vehicle according to the yaw angle,the heel angle and the roll angle efficiently.In Chapter 6,the software structure of the underwater robot system based on ROS is introduced.Development of sensing and control node program,such as dead reckoning node,attitude control node and external equipment control node,and the design of operator controller interface is described respectively.It can be seen from the experiment that the sensing and control node can collect the data of the angle meter and acceleration in real time,calculate the track,control the searchlight,manipulator and other equipment,and the operator controller's operation interface is visual,which is helpful to improve the operation efficiency. |
