多功能模态切换的有缆遥控水下机器人控制系统设计与实验

摘要

针对一种面向海洋工程水下结构检测与清污、多功能模态切换的新型有缆遥控水下机器人（ remotely operated vehi-cle，ROV）开发了一套水面水下控制系统。通过对机器人本体水下运动受力计算分析，设计出了动力推进系统，并搭建了水下控制器单元。水面控制台设计包含供电系统、操控系统、通信接口及上位机软件，可实现机器人遥控和监控2种模式下的中等范围搜索和定点观测，并可在浮游和爬行模态之间自由切换。水下机器人姿态测试、定航、定深实验表明：该ROV控制系统性能可靠，能够满足复杂多变环境中的工作要求。%The control system for a new multi-functional model-switched ROV( remotely operated vehicle) is devel-oped in this paper.The propulsion unit and controller unit are designed after analyzing the ROV dynamic force. The control panel above level contains power supply, control system, communication interface and PC software, being able to complete medium-scale searching and point-fixed detection under remote control or monitoring while it converts the mode into floating or climbing.Tests including posture, navigation and depth verify that ROV con-trol system has reliable performances and it can satisfy the underwater complex environmental requirements.