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摘 要世界远洋运输事业飞速发展， 船舶作为海上交通运输的主要工具正发挥着越来越重大的作用。船舶在航行过程中，当船体底部接触到海中悬浮物（网具、绳索等） 时， 这些悬浮物容易被吸入并缠绕在螺旋桨上， 严重影响船舶的航行安全。不仅如此，海洋结构生产平台水下部分结构由于长期处于海水的浸泡中，以及平台受船舶的碰撞，经常会发生诸如扭曲、生锈等等的损坏现象。所以，对水下结构体的检测与作业必不可少。但是人工作业耗时耗力，而且危险性较大，故急需先进的水下设备代替人工进入危险地域工作。水下机器人(Remotely OperatedVehicle, ROV)便是其中一类极具代表性的设备，为海洋事业的发展和海洋科学研究带来了巨大的推动作用。本文结合江苏省高技术船舶协同创新中心 2015年科研项目，参与研制了一款水下结构检测与作业型水下机器人样机，具有多功能、模块化等特点。本次毕业设计，主要研究ROV 的水下控制系统设计，包括硬件和软件两个部分。硬件部分负责采集电子舱内安全报警以及各功能模块接收的信息并发送给上位机，并接收上位机控制指令完成相应动作；下位机集成本体与耐压电子舱内的电子设备，以 K60微控制器为核心，外围分别为 DCDC 电源模块，电压电流采集模块，深度计，漏水采集模块，温湿度检测模块，通信模块，视频信号采集放大模块等。软件部分负责接收和处理各传感器接收到的信号，控制各个硬件建模块的运行，并与上位机通讯。ROV下位机控制软件在 IAR公司 IAR Embedded Workbench软件开发环境下，采用执行效率高、占用空间小、实时性能优良和可扩展性强的uc/os-II 实时嵌入式操作系统，实现外围众多模块的管理，方便控制算法的进一步编写。最后对整个系统进行陆上调试和水池实验， 水池实验验证了本 ROV能较好完成进退、旋转、定深、定航等运动，并能清晰观测到水下结构物体，实现的预期功能。58602
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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.
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