| In recent years,with the implementation and promotion of China’s Marine power strategy,the exploration and research of Marine operating technologies and Marine equipment become increasingly important.The complex and changeable Marine environment has brought great personal danger to underwater operators and the harsh underwater environment has become an important problem in the process of human exploitation of the ocean.Underwater vehicles capable of performing a variety of tasks among various Marine technologies have ushered in a new era of ocean development.In order to improve the working efficiency and safety factor of underwater operators,a new type of underwater companion robot is designed in this thesis,which can assist underwater operators to work safely and efficiently,and its key technologies are studied.The main research contents of this thesis are as follows:According to the actual working environment and design index of underwater operators,the overall design scheme of underwater accompanying robot is determined,including the design of mechanical system and control system.The key components of the underwater companion robot are designed in detail and the material selection is carried out by using the modular design idea.Ansys Workbench software was used to check the strength of the main frame and the pressure resisting electronic control cabin,and to verify the overall balance of the underwater companion robot.The motion performance of the designed underwater companion robot is analyzed.The adjoint kinematic model of the relative motion of the adjoint robot and diver is established,and the adjoint dynamics model is established based on the vector method.According to the force and torque of the robot in underwater movement,Fluent software was used to analyze its hydrodynamic performance,and the standard wall function was introduced into the near-wall region processing,so as to obtain the hydrodynamic performance under the three conditions of horizontal direct navigation,navigation direction change and vertical floating and sinking,which provided a theoretical basis for the configuration and selection of the propeller.The target following strategy and path planning of underwater accompanying robot are studied.The ultra-short baseline positioning technique was used to obtain diver position information,and the target following strategy based on the ultra-short baseline positioning was studied.In order to realize real-time path planning of the underwater accompanying robot,the repulsive potential field function was improved by constructing the repulsive potential field and gravitational potential field of the robot relative to the obstacle and diver,and the local minimum was introduced to determine the decision.Finally,matlab software is used for simulation analysis to verify the effectiveness of the improved artificial potential field method path planning.Finally,according to the requirements of the underwater companion robot operating environment and diver,the distributed control scheme of the shore system and robot system is proposed,and the hardware and software design of the control system is completed.In hardware design,STM32F407ZET6 chip is selected as the main controller to carry all hardware modules.Altium Designer software is used to complete key modules and corresponding hardware selection.In the software design,according to the function characteristics of the accompanying robot,based on the target following strategy,combined with the fuzzy PID algorithm,the design of the target following motion controller,and through simulink software simulation analysis,verify the effectiveness of the strategy.The software of shore control system and robot control system is designed with modularization idea. |
