Design and experiment of a carrying platform of underwater cleaning robot

Abstract

In order to meet the cleaning needs of aquaculture cages, a frame-type underwater carrying platform is developed, which mainly includes the underwater platform design, the layout of motion device, the embedded control system, the multisensing system, the sonar detection, and the underwater lighting, etc. The underwater cleaning robot can use manual remote control and automatic control, and can be operated by a ground control terminal station. The underwater platform has 6 thrusters and integrates a variety of sensors. It can measure underwater pose, underwater depth, underwater temperature, gas pressure and temperature in cabin, and camera video, and transmit to the control station for real time display. The control system of ground control terminal station and the underwater platform uses multiple ARM single-chip microcomputers, which can carry out real-time CAN communication and command control between the shore and the underwater robot. It can move up and down, move forward and backward, rotate left and right, and tilt left and right under the water. Experiments show that the multi-degree-of-freedom flexible operation and automatic depth control of the underwater platform can be realized through the remote joysticks, which provides an experiment platform for underwater cleaning robot for aquaculture cages.