水下检测与作业机器人ROV水下控制系统设计+电路图+程序
毕业论文关键词：水下机器人；结构设计；ARM；嵌入式系统；水池实验
Abstract With the rapidly development of the world ocean transportation industry, as themain tool of the sea transportation, the ship is playing an increasingly large role. Inthe navigation process, when the bottom of the hull contact to the sea suspendedsolids , these suspensions can easily be inhaled and then wrapped around the propeller,seriously affecting the safety of ship navigation. But time-consuming manualhomework, and risk bigger, is in urgent need of advanced underwater equipmentinstead of manual work in dangerous areas and underwater robots is one of a class ofhighly representative of equipment for the development of marine industry andmarine scientific research has brought a huge boost.In this paper, a new type of underwater structure inspection and operation typeunderwater robot prototype is developed, which is based on the scientific researchproject of Jiangsu Province in 2015. The graduation project, the main research ROVunderwater control system design, including hardware and software two parts.Hardware part responsible for acquisition of electronic cabin safety alarm moduleinformation and send it to PC, and PC to receive control command to complete theappropriate action; lower computer integrated ontology and pressure cabin ofelectronic equipment, the K60 micro controller as the core peripheral respectivelyDCDC module, motor drive module, the voltage current collecting module, depthgauge, leaking acquisition module, temperature and humidity detection module,communication module, video signal acquisition amplifier module.Control system software is also an indispensable part of the control systemsoftware is the ROV can operate normally and achieve the design objectives of thecore. ROV hypogynous machine control system software in the IAR company IARembedded workbench software development environment and the executionefficiency is high, occupy small space, real-time performance excellent and scalablestrong UC / OS-II real-time embedded operating system, to achieve the managementof many peripheral module, convenient control algorithm further write.Finally the whole system of onshore debugging and test in the pool, poolexperiment verify the the ROV can better complete retreat, rotation, depth, airlinesand other sports, and clear observation to the underwater object structure, to achievethe desired design goals.
下一篇：基于人脸识别的电子门锁+程序