水下机器人通信系统设计

Underwater Vehicle Communication System Design

由于水下机器人运作环境复杂,水下通信技术是目前水下机器人发展的瓶颈。本文采用一种基于电力载波的水下通信方式,将Atheros作为主芯片的电力载波模块与树莓派三代作为主控通信模块相结合,提出一种更适合机器人水下通信的扩频通信方式。文中详细地介绍了通信系统设计,树莓派开发和Ardusub系统使用,最后进行了模块测试和水池测试,实验表明:该水下机器人通信稳定,在水中转向良好,姿态稳定。

Due to the complex operating environment of underwater vehicle,underwater communication technology is the bottleneck of the development of underwater vehicle.In this paper,a kind of underwater communication mode based on power carrier is adopted.Combining the power carrier module of Atheros as the main chip with the third generation of Raspberry Pi as the main control communication module,a spread spectrum communication mode more suitable for robot underwater communication is proposed.In this paper,the communication system design,the development of Raspberry Pi and the application of Ardusub system are introduced in detail.Finally,the module test and pool test are carried out.The experiments show that the underwater robot has stable communication,good steering and stable attitude in water.