水下检测与清污机器人ROV模态切换模块设计与实现  

Design and implementation of ROV mode switch module for underwater detection and cleaning robot

作　　者：常路[1] 林仁义 刘海舰[1] 陈伟[1] 曾庆军[1] 

机构地区：[1]江苏科技大学电子信息学院,江苏镇江212003

出　　处：《电子设计工程》2016年第10期166-169,173,共5页Electronic Design Engineering

基　　金：国家自然科学基金项目(61503162);江苏省自然科学基金项目(BK20150473);江苏省大学生创新训练创业计划项目(201510289015Z)

摘　　要：文中提出了一种面向水下结构检测与清污、多功能、模块化、模态切换的新型ROV(Remotely Operated Vehicle)设计方案,利用Solid Works软件完成各子模块的虚拟建模、结构布置和虚拟装配,着重研究了可使ROV在浮游和爬行模态之间自由切换的模态切换模块设计并加工完成。开展了水池自航实验,在多次实体调平和水密实验后,结果表明,通过上位机控制系统实现了对ROV的灵活操控,航行稳定性较好,并能实现定航和定深功能,样机各模块性能较好地达到设计要求。In this paper, a new ROV（Remotely Operated Vehicle） design scheme is proposed, which is based on the detection of underwater structure, the function of the system, the module and the mode switch. The Solid Works software is used to complete the virtual modeling, structure layout and virtual assembly of the sub modules, and the design and processing of the mode switch module which can make the ROV between the floating and the crawling modes are studied. The experiments of the water pool in the air are carried out. The results show that the control system can achieve the flexible control of ROV and the navigation stability is good.

关 键 词：水下机器人 虚拟建模 模态切换 控制系统 

分 类 号：TN02[电子电信—物理电子学]