便携式水下机器人设计

出于对近海海洋探索的目的,本文应用了上次研究[1]的水下ROV空间姿态控制系统设计了一种便携式水下机器人。该水下机器人系统硬件部分主要由电源模块、无刷电调、遥控部分以及姿态传感器模块组成,软件控制以及相关数据处理由一块ARM-M3内核的处理器完成,编译软件使用Kile。水下机器人结构采用3D打印机制作,材料选用PLA。遥控通讯采用CAN总线协议。水下机器人经过实际调试可以达到相关技术要求,下潜深度100 M,能实现简单的水下作业要求。

Research on Attitude Fusion Technique for Underwater ROV Control

For the purpose of offshore ocean exploration, this paper applied the underwater ROV space attitude control system of the last study to design a portable underwater robot. The underwater robot system hardware part is composed of main power module, brushless ESC, remote control part and attitude sensor module. The software control and related data processing are completed by a processor of ARM-M3 core, and the compiled software uses Kile. The structure of the underwater robot is made by a 3D printer, and the material is PLA. The remote communication uses the CAN bus protocol. Under the actual debugging, the underwater robot can meet the relevant technical requirements, with a depth of 100M, which can achieve simple underwater operation requirements.