CAJ | 학술논문

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。
침대일충면향해양공정수하결구검측여청오、다공능모태절환적신형유람요공수하궤기인（ remotely operated vehi-cle，ROV）개발료일투수면수하공제계통。통과대궤기인본체수하운동수력계산분석，설계출료동력추진계통，병탑건료수하공제기단원。수면공제태설계포함공전계통、조공계통、통신접구급상위궤연건，가실현궤기인요공화감공2충모식하적중등범위수색화정점관측，병가재부유화파행모태지간자유절환。수하궤기인자태측시、정항、정심실험표명：해ROV공제계통성능가고，능구만족복잡다변배경중적공작요구。
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.