【摘要】：隨著人類對(duì)海洋環(huán)境的不斷探索與開發(fā),以及對(duì)海洋環(huán)境的科研考察,自治水下機(jī)器人(AUV)與有纜水下機(jī)器人(ROV)得到了快速的進(jìn)步和發(fā)展。有纜水下機(jī)器人(ROV)在海底勘探,海洋石油開采,海底工程監(jiān)測(cè),軍事領(lǐng)域,近海養(yǎng)殖等諸多領(lǐng)域都有廣泛的應(yīng)用。ROV具有續(xù)航能力強(qiáng),負(fù)載能力大,工作高效等優(yōu)點(diǎn)。但同時(shí)也存在纜線纏繞,工作人員近距離持續(xù)監(jiān)控等問題。論文就解決工作人員近距離持續(xù)監(jiān)控問題,將ROV與當(dāng)今快速發(fā)展的3G網(wǎng)絡(luò)相結(jié)合,設(shè)計(jì)并實(shí)現(xiàn)了基于3G網(wǎng)絡(luò)的ROV遠(yuǎn)程控制系統(tǒng)。使ROV在近海工作領(lǐng)域控制更便利。論文基于一款國外開源的小型有纜水下機(jī)器人Open ROV。首先對(duì)Open ROV水下機(jī)器人平臺(tái)的硬件結(jié)構(gòu)和軟件架構(gòu)進(jìn)行了詳細(xì)的介紹,然后在Open ROV平臺(tái)的基礎(chǔ)上實(shí)現(xiàn)了基于3G網(wǎng)絡(luò)的ROV遠(yuǎn)程控制系統(tǒng)。其中遠(yuǎn)程控制系統(tǒng)的實(shí)現(xiàn)主要分為兩大部分:ROV通信系統(tǒng)的實(shí)現(xiàn)和ROV數(shù)據(jù)采集模塊的實(shí)現(xiàn)。通過對(duì)ROV通信系統(tǒng)的研究,設(shè)計(jì)并實(shí)現(xiàn)了利用SIM卡進(jìn)行3G網(wǎng)絡(luò)通信的3G遠(yuǎn)程通信系統(tǒng),解決了3G網(wǎng)絡(luò)遠(yuǎn)程控制ROV的兩個(gè)技術(shù)問題:ROV的3G通信模塊的設(shè)計(jì)與動(dòng)態(tài)域名解析。其中利用3G路由器和樹莓派設(shè)計(jì)了3G通信模塊,而動(dòng)態(tài)域名解析功能則利用UDP協(xié)議實(shí)現(xiàn)。3G遠(yuǎn)程通信系統(tǒng)是實(shí)現(xiàn)ROV遠(yuǎn)程控制的基本條件。此外,本文還對(duì)ROV數(shù)據(jù)采集模塊進(jìn)行了更新設(shè)計(jì)。首先利用TMP36溫度傳感器和Beagle Bone Black設(shè)計(jì)了艙內(nèi)溫度數(shù)據(jù)采集模塊,然后利用MS5803-14BA壓力傳感器與ROV的Arduino控制板Open ROV Controller 2.8設(shè)計(jì)了深度數(shù)據(jù)采集模塊。其中溫度數(shù)據(jù)采集模塊采用了采集模擬信號(hào)進(jìn)行溫度數(shù)據(jù)計(jì)算的方式。傳感器直接與控制艙進(jìn)行交互,而深度數(shù)據(jù)采集模塊采用了采集數(shù)字信號(hào)進(jìn)行深度數(shù)據(jù)計(jì)算的方式,傳感器不直接與控制艙進(jìn)行交互。通過對(duì)ROV數(shù)據(jù)采集模塊的更新設(shè)計(jì),實(shí)現(xiàn)了對(duì)水下溫度數(shù)據(jù)、深度數(shù)據(jù)的有效采集。通過完善ROV通信系統(tǒng)和ROV數(shù)據(jù)采集模塊的功能,最終整體上實(shí)現(xiàn)了基于3G網(wǎng)絡(luò)的ROV遠(yuǎn)程控制系統(tǒng)。
[Abstract]:With the continuous exploration and development of the marine environment and the scientific investigation of the marine environment, the autonomous underwater vehicle (AUV) and the cable underwater vehicle (ROV) have made rapid progress and development. Underwater vehicle (ROV) is widely used in many fields, such as submarine exploration, offshore oil exploitation, submarine engineering monitoring, military field, offshore breeding and so on. ROV has many advantages such as strong ability of endurance, large load capacity, high efficiency and so on. But at the same time there are cable entanglement, staff close continuous monitoring and other problems. In order to solve the problem of staff close and continuous monitoring, this paper designs and implements the ROV remote control system based on 3G network by combining ROV with the rapid development of 3G network. Make ROV more convenient to control in the field of offshore work. This paper is based on a small underwater vehicle (Open ROV.), which is based on a foreign open source underwater vehicle. Firstly, the hardware structure and software architecture of Open ROV underwater vehicle platform are introduced in detail, and then the ROV remote control system based on 3G network is implemented on the basis of Open ROV platform. The realization of remote control system is divided into two parts: the realization of ROV communication system and the realization of ROV data acquisition module. Through the research of ROV communication system, a 3G remote communication system using SIM card for 3G network communication is designed and implemented. Two technical problems of 3G network remote control ROV are solved: the design of 3G communication module of ROV and the dynamic domain name analysis. The 3G communication module is designed by using 3G router and raspberry pie, while the dynamic domain name resolution function is realized by UDP protocol. 3G remote communication system is the basic condition of ROV remote control. In addition, the ROV data acquisition module is updated and designed in this paper. Firstly, the module of temperature data acquisition in the cabin is designed by using TMP36 temperature sensor and Beagle Bone Black, and then the depth data acquisition module is designed by using MS5803-14BA pressure sensor and Arduino control board Open ROV Controller 2.8 of ROV. The temperature data acquisition module adopts the method of collecting analog signal to calculate the temperature data. The sensor directly interacts with the control module, while the depth data acquisition module adopts the method of collecting digital signal to calculate the depth data, and the sensor does not interact directly with the control module. Through the update design of ROV data acquisition module, the effective collection of underwater temperature data and depth data is realized. By perfecting the functions of ROV communication system and ROV data acquisition module, the ROV remote control system based on 3G network is realized.
【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TN929.53;TP872

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