基于VxWorks的水下机器人通信系统设计

Communication System Design for Remotely Operated Underwater Vehicle Based on VxWorks

摘要:

针对水下机器人（ROV）在深海高噪声干扰环境中工作的特点，设计了一套基于VxWorks实时操作系统的ROV整体通信系统，实现了水下核心控制器对水下分系统快速高效的信息采集和数据分配，水下系统和水面控制器稳定实时的数据交换；硬件方面设计了以CAN总线为基础的水下通信系统，通过FPGA实现了CAN总线和PC104总线之间的时序逻辑转换，软件方面设计了基于TCP/IP协议栈的水面操控台和ROV之间的网络通信方式和水下各系统之间的CAN总线通信方式，着重介绍了基于缓冲队列的网络通信编程；通信系统数据测试实验表明：CAN总线通信和网络通信均具有良好的实时性和可靠性，满足最初的设计需求，而且采用模块化设计，便于维护和移植。

Abstract:

Aiming at the characteristic of remotely operated vehicle(ROV) working in the high noise environment in the deepwater, a secure and reliable communication system is designed. Firstly, a ROV core control system is set up, with PC104 industrial control computer using vxworks operating system as leading. Secondly, the underwater communication system is designed based on CAN bus, and then the FPGA is used to achieve the logic conversion between the CAN bus and the PC104 industrial control computer. Thirdly, the communication between the ROV and the water console is designed using TCP/IP communication mode. Finally, the communication system is tested to verify the feasibility and reliability of it.