摘要：随着人类对海洋资源的需求和不断探索，有缆遥控水下机器人（RemotelyOperatedVehicle，简称ROV）的使用需求越来越多，被广泛应用于水下检测、资源勘探、安全巡查等多个领域。因为海底能见度低，环境恶劣，人工作业危险性极高，ROV成功地解决了这个问题，推动了海洋科学的研究与海洋事业的发展。

本文根据我校的研究成果，设计了一款ROV的水面监控系统。首先设计了水下机器人ROV水面部分硬件系统，主要包括水面控制箱和水面电源箱的设计。其中对采集控制箱信号的单片机和电源箱进行了选型，另外使用CAD软件绘制了控制面板与电源箱的结构图。

然后设计了水下机器人ROV水面部分软件系统，主要包括控制台面板按钮采集平台软件设计和计算机人机交互界面。其中面板按钮采集平台软件基于Arduino开发平台；人机交互界面基于VC开发，包括云台摄像头视频显示、推进器控制、数据保存、姿态调整、故障报警等。

关键词：水下机器人；监控系统；上位机；控制

Abstract：With the human demand for marine resources and exploring continuously,there are more and more demand for the use of remote control underwater robots (Remotely Operated Vehicle, referred to ROV)，which is widely used in underwater testing, resource exploration, security inspection and other fields.Because of the low visibility of the seabed, poor environment and high risk of human work, ROV has successfully solved this problem and promoted the development of marine science and the development of marine industry.

Based on the research results of our university, this paper designs monitoring system above the water for ROV .First designed underwater robot ROV surface part of the hardware system,including the design of the control box and the power box above the water,which collected the control box signal of the microcontroller and power box were selected.In addition, using CAD software to draw the control panel and the power box structure.

And then designed the underwater robot ROV part of the software system, including the console panel button acquisition platform software design and human-machine interface.One panel button acquisition platform software based on Arduino development platform;Human-computer interaction interface based on VC development, including cloud-terrace camera video display, propeller control, data preservation, attitude adjustment, fault alarm.

Key words: Underwater robot; Monitoring system; Host computer; Control

目录

第一章绪论 3

1.1研究背景及意义 3

1.2国内外研究现状 3

1.2.1水下机器人概况 3

1.2.2ROV发展现状 4

1.2.3ROV的发展趋势 6

1.3ROV控制技术研究现状 7

1.4本文主要研究内容 7

第二章水下机器人ROV总体结构 9

2.1引言 9

2.2ROV总体设计方案 9

2.2.1技术要求 9

2.2.2总体结构组成 10

2.3ROV本体结构 11

2.4本章小结 12

第三章水下机器人ROV水面监控系统硬件设计 13

3.1引言 13

3.2水面控制箱设计 13

3.2.1控制面板设计