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Abstract

For underwater robots working in a variety of risky, unpredictable, and complex underwater environments – with factors such as turbulence, vortex, wind, wave, and deep-water pressure – it is necessary to ensure good structural design and handling performance in the process of robot design. Based on the requirements of achieving the stability design, control system, and underwater vision system of the robot, this paper proposes the structural design of a police multipurpose underwater robot power system that realizes both stable and flexible movement. A 6-DOF driving method was designed and its motion analysis was performed. In the vision system, an image processing algorithm is suitable for underwater enhancement and defogging. Experiments verify the correctness of the design and method.

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