基于LoRa、蓝牙和安卓手机的AUV手柄遥控系统设计

Design of AUV Handle Remote Control System Based on LoRa, Bluetooth and Android Phone

摘要:

为实现AUV手柄遥控模式不增加AUV无线电通信硬件开销，且为了实现该功能模式的低成本、易实现、全透明和自定义，设计了AUV手柄遥控指令经指控台中转的AUV手柄间接遥控方案；方案硬件上以安卓手机为遥控手柄，配套遥控手柄APP软件实现手柄操作，通过手机蓝牙与指控台计算机蓝牙进行近距离点对点连接，以蓝牙无线通信实现手柄遥控指令对指控台的传输，之后指控台通过LoRa无线通信实现手柄遥控指令对AUV的无线传输；方案试验验证环节以Arduino开发板模拟指控台，结合无线蓝牙收发模块接收手机遥控手柄发来的遥控指令，实现了10米间距20Hz数据帧蓝牙通信，结合LoRa模块进行遥控指令的无线发送，以AUV无线通信板进行LoRa接收，并对收到的遥控指令进行解析和执行，实现了1000米间距9600bps速率的LoRa通信；最终通过点灯试验、打舵试验和推进器试验证明了该设计方案链路完整可行并应用到工程实践。

Abstract:

In order to realize the AUV handle remote control mode without increasing the hardware overhead of AUV radio communication, and in order to realize the low cost, easy implementation, full transparency and customization of this function mode, an indirect remote control scheme of the AUV handle is designed in which the AUV handle remote control command is transferred through the command station. The hardware of this solution uses an Android mobile phone as a remote control handle, and is equipped with a remote control handle APP software to realize the handle operation. Through the mobile phone Bluetooth and the command station computer Bluetooth, a short-range point-to-point connection is made, and the Bluetooth wireless communication is used to realize the transmission of the handle remote control command to the control station, and then charge the control station. The station realizes the wireless transmission of the handle remote control command to the AUV through LoRa wireless communication. In the test and verification process, the Arduino development board is used to simulate the control station. Combined with the wireless Bluetooth transceiver module to receive the remote control commands from the mobile phone remote control handle. Realized Bluetooth communication of 20Hz data frame at 10 meters distance. Combined with the Lora module to send the remote control commands wirelessly. The AUV wireless communication board is used for LoRa reception, and the received remote control commands are parsed and executed. Realized LoRa communication with 9600bps rate at 1000 meters distance. Finally, through the lighting test, the rudder test and the thruster test, it is proved that the link of the design scheme is complete and feasible and applied to engineering practice.