UNDERWATER BODY DEVICE OF UNDERWATER ROBOT AND METHOD FOR AUTONOMOUS OBSTACLE AVOIDANCE

摘要

Disclosed is an underwater body device of an underwater robot, which comprises: a main control system (3), a rotational camera platform (6) and a sensor system (8), wherein the main control system (3) is communicatively connected with a control center on the water surface through composite optical cables, receives remote control instructions from the water surface, and uploads underwater video information and sensing data; video receiving equipment is arranged on the rotational camera platform (6), an input end of the rotational camera platform (6) is communicatively connected with the main control system (3), and the main control system (3) controls the rotational camera platform (6) according to the remote control instructions to drive the video receiving equipment to rotate; the sensor system (8) comprises a sonar assembly, the sonar assembly detects underwater environments in real time and transmits underwater environment information to the main control system (3), and the main control system (3) outputs motion control instructions to a motion mechanism of the underwater body device according to the underwater environment information. The underwater body device can acquire high-quality real-time high-definition videos and telemetry data from a long distance by uses of optical fiber transmission technologies, has higher flexibility in manipulation, and realizes autonomous obstacle avoidance by means of sonar detection.