基于3G网络的ROV远程控制系统设计与实现

发布时间：2018-10-13 16:25

【摘要】：随着人类对海洋环境的不断探索与开发,以及对海洋环境的科研考察,自治水下机器人(AUV)与有缆水下机器人(ROV)得到了快速的进步和发展。有缆水下机器人(ROV)在海底勘探,海洋石油开采,海底工程监测,军事领域,近海养殖等诸多领域都有广泛的应用。ROV具有续航能力强,负载能力大,工作高效等优点。但同时也存在缆线缠绕,工作人员近距离持续监控等问题。论文就解决工作人员近距离持续监控问题,将ROV与当今快速发展的3G网络相结合,设计并实现了基于3G网络的ROV远程控制系统。使ROV在近海工作领域控制更便利。论文基于一款国外开源的小型有缆水下机器人Open ROV。首先对Open ROV水下机器人平台的硬件结构和软件架构进行了详细的介绍,然后在Open ROV平台的基础上实现了基于3G网络的ROV远程控制系统。其中远程控制系统的实现主要分为两大部分:ROV通信系统的实现和ROV数据采集模块的实现。通过对ROV通信系统的研究,设计并实现了利用SIM卡进行3G网络通信的3G远程通信系统,解决了3G网络远程控制ROV的两个技术问题:ROV的3G通信模块的设计与动态域名解析。其中利用3G路由器和树莓派设计了3G通信模块,而动态域名解析功能则利用UDP协议实现。3G远程通信系统是实现ROV远程控制的基本条件。此外,本文还对ROV数据采集模块进行了更新设计。首先利用TMP36温度传感器和Beagle Bone Black设计了舱内温度数据采集模块,然后利用MS5803-14BA压力传感器与ROV的Arduino控制板Open ROV Controller 2.8设计了深度数据采集模块。其中温度数据采集模块采用了采集模拟信号进行温度数据计算的方式。传感器直接与控制舱进行交互,而深度数据采集模块采用了采集数字信号进行深度数据计算的方式,传感器不直接与控制舱进行交互。通过对ROV数据采集模块的更新设计,实现了对水下温度数据、深度数据的有效采集。通过完善ROV通信系统和ROV数据采集模块的功能,最终整体上实现了基于3G网络的ROV远程控制系统。
[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.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN929.53;TP872

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