Research on underwater safety inspection and operational robot motion control

Abstract

In order to meet the requirements for the safety inspection of surface attachments such as hulls, dams, and underwater steel structures and the requirements for attachment removal, a new underwater safety detection and operation type cabled remote control robot was developed. This type of Remotely Operated Vehicle (ROV) exchanges the manipulator for different tasks to realize the function of grabbing and cutting, thus ensuring the removal of attachments on structures. The whole system composition and principle of underwater safety detection and operation robot are expounded. This article proposes that an Arduino microcontroller is used as the control panel signal acquisition tool, water monitoring system developed by IPC for platform, Zero-buoyancy umbilical cable with two pairs of twisted pairs, and Submarine control system with ARM embedded as the main control unit. At the same time, the underwater robot dynamics model was established and the generalized predictive controller of ROV heading control was designed. The incremental PID controller was used in the initial stage of control and the GPC controller later. This solves the initial instability of control, combining the advantages of both PID and GPC control algorithms. Underwater robots have performed pool and Qiandao Lake tests with good results. The test verifies the stability, reliability and real-time performance of the underwater robot. ROV can meet the requirements of underwater safety inspection and operation.