Research On Tele-Autonomous Control Technology Of Underwater Wall-Climbing Cleaning Robot

With the rapid development of robotics technology,the use of underwater robots for underwater wall cleaning has been widely applied.Currently,most underwater robots are remotely controlled by operators and lack autonomy.Due to the complex and harsh underwater working environment,existing underwater robot technology struggles to achieve complete autonomous operation.Therefore,it is of great significance to study tele-autonomous control technology that combines human control behavior with autonomous behavior of underwater robots.In this thesis,based on the working task of the underwater wall-climbing cleaning robot,the underwater wall-climbing cleaning robot system is designed.On this basis,the autonomous path planning of this robot is studied and the corresponding algorithms are deployed into the autonomous planning system of the underwater robot.The main research contents are as follows:(1)In view of the issues of the underwater wall-climbing cleaning robot during the working process,a new underwater robot with two working modes,floating and wall climbing,was designed,significantly improving the flexibility of the underwater robot’s movement during operation.To achieve tele-autonomous control of the underwater robot,a dual-layer control system based on human-robot collaboration was adopted,and a control system with both remote control and autonomous operation modes was designed.(2)A complete coverage path planning algorithm based on enclosing window is proposed based on the dual-mode operation underwater robot.This algorithm determines the traversal priority of the corresponding single-layer enclosing window according to the grid map with different horizontal and vertical distances,reducing the number of turns of the robot.When the robot is trapped in a dead corner,a water-ripple diffusive enclosing window search algorithm is proposed based on the special underwater robot’s operating mode to search for an escape grid.Simulation experiments are conducted to verify the effectiveness of the algorithm in reducing traversal repetition rate and total traversal path length.(3)To plan the optimal sequence path for cleaning multiple surfaces in a three-dimensional environment for underwater robots with energy efficiency as a constraint,an improved simulated annealing algorithm is proposed.The motion model of the underwater robot is simplified,and its power consumption during motion is evaluated by the energy efficiency coefficient under different speeds.The simulated annealing algorithm is improved from two aspects: diverse path mutation and jump cooling.The algorithm is used to plan the optimal energy-efficient path for the robot.Simulation experiments are conducted to compare the results,and the algorithm shows good performance in the problem of optimal energy-efficient path planning for underwater robots.(4)The autonomous planning system of underwater robots is designed using Py Qt,the system reduces the coupling degree between various functions by modularizing the function modules and reasonably laying out the interface.The complete coverage path planning algorithm based on enclosing window and the improved simulated annealing algorithm are deployed into the system,and the imported data is processed accordingly to enhance the intuitiveness and convenience of the underwater robot path planning function.