Teleoperate system of underwater cleaning robot based on HUD

Abstract

To enhance the operator's sense of position and attitude, head-up display (HUD) techniques have been applied to the teleoperation system of an underwater cleaning robot. HUD is implemented through object oriented programming on LabVIEW, in which the “Position&Index Algorithm” solves the problem of display finite part of infinite ruler inside window. Quite different from conventional HUD dedicated to aircraft, the HUD panel can be flexibly configured for different usages, providing a high engineering value. To control EPOS (a motor controller based on CAN bus) remotely, a network consists of Ethernet and CAN bus is introduced, and the control panel is built on LabVIEW. Moreover, the hybrid network is extensible for both Ethernet device and CAN bus device.