一种小型水下机器人平台的设计与实现

Design and realization of a small underwater vehicle platform

设计并实现了一套功能高度集成的远程控制水下机器人平台,该平台由水下机器人、中继浮标和上位机控制终端组成。机器人自身搭载的传感器和摄像头可以对环境状态进行侦测,并通过中继浮标转发给控制终端,由控制终端远程控制水下机器人完成水下作业。该平台实现方案具有成本低、功耗低、可移植性和扩展性强等特点,可用于水下探测和简单清障任务。

This paper designs and realizes a set of highly-integrated remote control underwater vehicle platform. It is composed of an underwater vehicle, a relay buoy and an upper computer control terminal. Based on camera and other sensors in it, the vehicle can detect environmental parameters and transmit them to upper computer terminal by relay buoy. The upper computer terminal can realize remote control of the vehicle to complete some underwater tasks. The platform has many advantages, such as low cost, low power consumption, good portability and scalability. It can be used to survey and obstacle removal.