【作者】 饶芊；

【导师】 张宏；

【作者基本信息】 浙江大学 ， 生物医学工程， 2008， 硕士

【摘要】 随着人类活动空间不断扩大,水下机器人已成为各国研究的热点。本文主要实现了履带式水下机器人的控制系统并进行了水下通信方式的实验室研究。控制系统由两部分组成:视频部分和电气部分,视频部分由摄像、视频压缩传输和PC图像终端组成。电气部分为两级控制,上位机由PC和控制台组成,下位机为称车载从控制器。车载从控制器位于小车内部,通过串口接收控制台命令对小车做相应的控制,并通过反馈获取的速度等信息进行PID算法控制。此外,通过采样电机电流值进行过流保护。控制台包括主控制器、视频服务器。主控制器除接收PC图像终端的命令外,也可通过按键和手柄获取命令,发送至车载从控制器。视频服务器将小车摄像头传输的视频信号数字化后,传输至PC图像终端显示。PC图像终端实现对视频服务器的控制,对视频数据的处理和存储,实现和用户的互动,以及与主控制器进行通讯。本文分析了水声信道的特点和现有的各种水声通信方式特点。在此基础上提出不等时隙的脉冲位置调试方式,对现有的编码方式作了改进,大大提高了通信速率。最后通过电路实验,仿真了水声信道的带宽特性,对不等时隙的脉冲位置调试通信方式进行模拟,验证了该通信方式的可行性。最后本文对履带式机器人的研制进行了总结和展望,并对水下脉冲通信改进方向进行了分析讨论。更多还原

【Abstract】 As the space for human activities expanding, study about underwater vehicle has become a hotspot. In this paper, a control system of tracked underwater vehicle is developed, and the underwater communication is studied in the lab.The control system consists of two parts: the video part and the electrical part. The former one includes camera, video server and PC terminal. The latter one is a two-level control system. The upper system consists of PC and the control box, the lower system is a vehicle-carried system.The vehicle -carried system is placed inside the vehicle, and it receives the command from the control box through UART, and controls the vehicle’s actions. Besides, it executes PID algorithm to control vehicle’s locomotion. Furthermore, the current of motors is sampled in order to avoid overloading.The control box is comprised of main-controller and video server. Besides receiving command from PC, the main-controller also can get the command according to keys and handles. Signal of the camera that fixed on the vehicle is transmitted by the cable to video server, and after digitized, it is transmitted to PC.PC controls the video server, processes and records the video data, offers interface to users, and communicates with the main controller.In this paper, the characters of underwater acoustic channel and several modulation in underwater acoustic communication are analysed. Based on that, a differential pulse position modulation (DPPM) using variable interval is brought forward. Comparing to DPPM, it improves transmission speed. Finally, experiments, which use circuit to simulate the underwater acoustic channel, are carried out, and the experiments prove its feasibility.At the end of the paper, the characters of the vehicle are analyzed and concluded and the further improvement of underwater pulse acoustic communication is also discussed.更多还原