论文标题
用于浅水海洋检查机器人车辆的设计和开发
Design and Development of a Robotic Vehicle for Shallow-Water Marine Inspections
论文作者
论文摘要
水下海洋检查船体或海洋碎片等是为确保海洋结构和水下物种的安全而采取的重要措施之一。这项工作详细介绍了紧凑而经济的观察类远程操作的车辆（ROV）原型的设计，开发和资格，该原型旨在在浅水中进行科学研究。 ROV具有一个实时处理器和机载机，该处理器和控制器根据水面站的命令同步车辆的运动。使用车载覆盆子PI摄像头和某些导航传感器（例如全球定位系统（GPS），惯性，温度，深度和压力）的支持进行了车辆驾驶。该ROV的原型是使用有限数量的组件构建的紧凑单元，适用于使用单个相机的水下检查。最初在池中测试了开发的ROV。
Underwater marine inspections for ship hull or marine debris, etc. are one of the vital measures carried out to ensure the safety of marine structures and underwater species. This work details the design, development and qualification of a compact and economical observation class Remotely Operated Vehicle (ROV) prototype, intended for carrying out scientific research in shallow-waters. The ROV has a real-time processor and controller onboard, which synchronizes the movement of the vehicle based on the commands from the surface station. The vehicle piloting is done using the onboard Raspberry pi camera and the support of some navigation sensors like Global Positioning System (GPS), inertial, temperature, depth and pressure. This prototype of ROV is a compact unit built using a limited number of components and is suitable for underwater inspection using a single camera. The developed ROV is initially tested in a pool.
