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The disasters such as floods and dam failures bring great damage to the human life and property, and most post-disaster rescue tasks are performed by humans. However, the underwater environment after floods is usually complex and dangerous, and there are many challenges for the underwater search and rescue tasks. The underwater vehicle-manipulator systems(UVMSs) can replace humans to complete the underwater rescue tasks, including personnel search, oxygen delivery, underwater cutting and other tasks, and provide equipment support for the disaster rescue projects. For the underwater rescue tasks, an underwater emergency rescue vehicle-manipulator system(UERVMS) is developed in this thesis, and the control software for the UERVMS is designed, as well as a teleoperation control algorithm for the UERVMS is proposed. The main contributions of this thesis are as follows:

Firstly, inspired by the modular design idea, an UERVMS with some functions such as the underwater cutting, oxygen delivery, image and video collection and so on has been developed, and an prototype of the UERVMS is presented. Also, the UERVMS has high-speed exercise capabilities, which maximum swimming speed reaches 2m/s. At last, the reliability of the prototype are verified by underwater experiments.

Secondly, a visual control software for the UERVMS has been developed to perform the underwater cutting operations. At first, the visual control software has functions such as vehicle motion control, manipulator position control, underwater video recording and so on. In addition, the software has the emergency processing capability after the URRVMS is disconnected, and has a safe command transmission method. Finally, the effectiveness of the control software is verified by underwater cutting experiments.

Thirdly, using the haptic device, the teleoperation control algorithm of the UERVMS with haptic force feedback is designed. At first, the dynamic model of the UERVMS is established, and an underwater simulation platform combining visual and tactile is built. In addition, a teleoperation control method combining coordinate force mapping and haptic force feedback is proposed for the vehicle motion control; a staged control method is proposed for the end-effector's position control of the manipulator. The spring-damping system is used to filter the operator's hand shaking and misoperation in the stage of large-scale movement of the manipulator, and the incremental control method is used in the stage of small-scale movement. At last, the feasibility and effectiveness of the proposed method are verified by simulation teleoperation experiments.

Keyword水下救援 水下应急救援机器人 可视化控制软件 遥操作控制 触觉力反馈
Subject Area机器人控制
MOST Discipline Catalogue工学::控制科学与工程
Document Type学位论文
Recommended Citation
GB/T 7714
马进. 水下应急救援机器人设计与遥操作控制[D]. 中国科学院自动化研究所. 中国科学院自动化研究所,2022.
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马进-水下应急救援机器人设计与遥操作控制(7986KB)学位论文 限制开放CC BY-NC-SA
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