小型海洋环境监测平台设计
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摘要
针对当前海洋环境监测多样性的需求以及当前监测设备存在的弊端,设计了一款以水面浮台为中转中心,连接地面控制端与水下机器人的监测平台系统,实时监测局部海洋环境。水面浮台通过无线模块与移动控制端进行远距离通信,通过光端机模块与水下机器人端进行实时通信,水面浮台在水下机器人的带动下,可以灵活移动至指定海域。平台具有长航时、作业费用低、远距离通信以及灵活移动等特点。
In order to meet the need of marine environment monitoring diversity and overcome the shortcoming of current monitoring equipment, by taking a floating platform on the water surface as a transit center, and by connecting a ground control terminal and an underwater robot, a monitoring platform system is designed to monitor local marine environment in real time. The surface floating platform communicates with the mobile control terminal through the wireless module, and communicates with the underwater robot through the optical transceiver module in real time. The surface floating platform can be flexibly moved to the designated sea area for large-scale movement under the driving of underwater robot; It has the characteristics of long flight time, low operating costs, long-distance communication and flexible mobility.
In order to meet the need of marine environment monitoring diversity and overcome the shortcoming of current monitoring equipment, by taking a floating platform on the water surface as a transit center, and by connecting a ground control terminal and an underwater robot, a monitoring platform system is designed to monitor local marine environment in real time. The surface floating platform communicates with the mobile control terminal through the wireless module, and communicates with the underwater robot through the optical transceiver module in real time. The surface floating platform can be flexibly moved to the designated sea area for large-scale movement under the driving of underwater robot; It has the characteristics of long flight time, low operating costs, long-distance communication and flexible mobility.
引文
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[2]张云海.海洋环境监测装备技术发展综述[J].数字海洋与水下攻防,2018,1(1):7-14.
[3]HU Keyong,GUO Zhongwen.Composition model of complex virtual instrument for ocean observing[J].Journal of software,2014,95:1177-1188.
[4]FAN F M,FLEISCHMANN A S,COLLISCHONN W,et al.Large-scale analytical water quality model coupled with GIS for simulation of point sourced pollutant discharges[J].Environmental modelling&software,2015,64:58-71.
[5]周庆伟,张松,武贺,等.海洋波浪观测技术综述[J].海洋测绘,2016,36(2):39-44.
[6]杨灿军,陈燕虎.海洋能源获取、传输与管理综述[J].海洋技术学报,2015,34(3):111-115.
[7]周宏祥.波浪能推进水面航行器的路径规划问题研究[D].杭州:浙江大学,2016.
[8]胡测,张皓,孙海涛.模块化小型水下作业机器人设计及试验[J].水雷战与舰船防护,2017,25(2):48-52.
[9]YOUAKIM D,RIDAO P,PALOMERAS N,et al.Autonomous underwater free-floating manipulation using moveit![J].IEEE robotics&automation magazine,2017,24(3):41-51.
[10]师敬旭,张红雨,何超.基于STM32的i Beacon集中器设计[J].单片机与嵌入式系统应用,2017,17(10):56-58.
[11]王雷,杨庆喜,程勇,等.基于STM32的水下机器人设计[J].自动化与仪表,2018,33(2):29-32,44.