Design And Implementation Of An Open-frame Underwater Robot

With the increasing in human demand for energy and the non-renewable characteristics of terrestrial energy,it is urgent to expand the energy space.There are abundant resources in the ocean,but the underwater environment is complex,and the requirements for divers are extremely high.so it is particularly important to rely on underwater robots to carry out operations.In particular,it has been widely used in Marine archaeology,scientific investigation,monitoring of Marine pollutants,surveying and mapping of seabed topography,fishery farming,Marine ranching,sea rescue,wreck salvage,dam power station inspection and other aspects.Therefore,this paper designs an open-frame underwater robot,which is suitable for underwater operation.Firstly,an open-frame underwater robot is designed.Its acquisition system is equipped with depth sensors and attitude sensors.The propulsion system consists of six thrusters,The communication uses power carrier communication,The operating system is equipped with a manipulator.The upper computer visual interface is used as the The monitoring system realizes the functions of carrier communication,image acquisition and underwater grabbing.The underwater robot design process includes mechanical structure design,hardware design,software design,and experimental analysis.Mechanical structure design includes carrier frame,electronic sealed cabin,manipulator design,etc.Among them,the carrier frame and the electronic sealed cabin are under great pressure under the design.After the design is completed,the simulation software is used to verify the structural strength,which can be used as the basis for the selection of underwater materials.Verification and verification,the pressure value is 16.20 Mpa,HDPE strength is selected to meet the underwater design requirements.Secondly,the hardware circuit design of the underwater robot,the use of AD17 for the minimum circuit design,peripheral circuit design,depth,attitude sensor circuit design,power supply circuit and PCB board production installation debugging,and installed in the electronic sealed cabin.Software design,used to design the control program of the underwater robot,using QT software to write the host computer monitoring system,mainly including communication control,status monitoring and motion control;PID control algorithm,attitude control and fixed depth control of the underwater robot.Finally,an underwater robot prototype was used for experiments,including basic functional tests such as advancing,retreating,snorkeling,and levitation,image acquisition,and grabbing with a robotic arm.In the experiment,after debugging,the underwater robot can realize carrier communication,and the image information can be received from the lower computer,and the upper computer can accurately control the underwater robot to perform underwater movement.The host computer controls the underwater robot to complete the grasping and navigation control,which verifies the feasibility and stability of the open-frame underwater robot in this paper.The robot can be used in underwater sampling,image acquisition,and crack detection of dams.