基于VxWorks的水下机器人通信系统设计  

Communication System Design for Remotely Operated Underwater Vehicle Based on VxWorks

作　　者：贾献强 魏延辉[1] 高延滨[1] 于媛媛 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《计算机测量与控制》2015年第10期3529-3532,共4页Computer Measurement &Control

基　　金：国家自然基金(51205074);国家科学技术部国际科技合作项目(2014DFR10010);中央高校基本科研业务费(HEUCF041505);高等学校博士学科点专项科研基金(20112304120007)

摘　　要：针对水下机器人(ROV)在深海高噪声干扰环境中工作的特点,设计了一套基于VxWorks实时操作系统的ROV整体通信系统,实现了水下核心控制器对水下分系统快速高效的信息采集和数据分配,水下系统和水面控制器稳定实时的数据交换;硬件方面设计了以CAN总线为基础的水下通信系统,通过FPGA实现了CAN总线和PC104总线之间的时序逻辑转换,软件方面设计了基于TCP/IP协议栈的水面操控台和ROV之间的网络通信方式和水下各系统之间的CAN总线通信方式,着重介绍了基于缓冲队列的网络通信编程;通信系统数据测试实验表明:CAN总线通信和网络通信均具有良好的实时性和可靠性,满足最初的设计需求,而且采用模块化设计,便于维护和移植。Aiming at the characteristic of remotely operated vehicle （ROV） working in the high noise environment in the deep water, a ROV communication system based on VxWorks is designed , which realizes fast efficient information collection and data distribution from the core controller to underwater subsystems. At the same time, it can realize real time data exchange between underwater system and the con- troller on the surface of water. At the aspect of hardware, the underwater communication system based on CAN bus is designed and the se- quential logic conversion from CAN bus to PC104 bus by FPGA is achieved. At the aspect of software , he communication system based on TCP/IP between the controller and ROV is designed, and the communication system based on CAN bus among underwater systems is estab lished. In this part, the network communication on buffer queue is focused on. The result of experiment shows their good real time and reli- able performance , which can meet the original design requirements. Furthermore the modular design is convenient for maintenance and transplantation.

关 键 词：水下机器人 VXWORKS CAN TCP/IP 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]