低成本模块化水下观察机器人设计  

Design of Low Cost Modular Underwater Inspection ROV Robot

作　　者：凌轩[1] 关秋菊 刘江涛[1] 霍家俊 LING Xuan;GUAN Qiuju;LIU Jiangtao;HUO Jiajun(College of Mechanical & Electrical Engineering,Zhongkai University of Agriculture and Engineering,Guangzhou Guangdong 510225, China)

机构地区：[1]仲恺农业工程学院机电工程学院

出　　处：《机床与液压》2019年第15期38-41,共4页Machine Tool & Hydraulics

基　　金：广东省科技计划资助项目(2014A020217020;2015A030401097);国家自然科学基金资助项目(61601523;U1504608)

摘　　要：水下机器人是能够在水下运动并且具有一定视觉和感知能力的装置,是海洋开发的核心技术。提出一种低成本、模块化的小型水下机器人,将控制系统、推进系统、信号转换系统、观测系统设计成独立模块,并将模块合理布局于机器人主框架上,可快速构建应用于不同场合的水下机器人。并设计了水下机器人的位置和方向自动控制算法,该算法不需要高阶复杂的控制模型,可采用低成本的控制系统和传感器,采用STM32F系列单片机用于传感器的数据采集、计算和控制输出。实验结果表明,所设计的系统具有良好的性能,符合设计要求。Underwater robot is a device which can move underwater with vision and perception system. As Underwater robots is the kernel of ocean exploitation techniques, a modular Remotely Operated Vehicle(ROV) robot is presented using low cost compact solution for a control system. The control system, propulsion system, signal conversion system, and full observation system were designed as independent modules, which were arranged on main frame of ROV rationally, hence different kinds of robot systems were constructed for underwater conditions. A position and orientation automatic control algorithms of underwater vehicle were proposed without using the knowledge of a previous dynamic model in the control law, mainly by using a low cost embedded instrumentation. STM32 F series Micro Controller Unit(MCUs) were used for sensor data acquisition, output calculation and actuator control. Experimental results for using the proposed sensing have demonstrated its good performance and are suitable for the design requirements.

关 键 词：水下机器人 独立模块 低成本控制系统 STM32F 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]