Development of a Compact Hybrid Type Underwater Vehicle for Shallow Water Area

近年来，为了应对气候变化，海洋调查的必要性日益增加。我们开发了用于调查海洋环境的混合型遥控潜水器。我们实现了利用无线电和无线电的混合型水下机器人。在海面上，用WESTERN测量温度、电导率和浊度，以检查环境参数。在浅水环境下，UCPs可以对海底环境、渔业资源和渔场进行观测。控制子系统由飞行员通过无线电系统进行操作。传感器子系统采用PSoC微处理器实现GPS、电子罗盘、声纳和深度传感器的数据提取。传感器数据被传输-用于飞行员的支持系统。通信子系统由控制信号系统、数据系统和图像通信三部分组成。特别是光缆收放系统，由无线电系统和光缆收放自动浮标组成。光缆通过O/E（光学/电子）电缆和E/O（电子/光学）电缆连接，用于螺旋桨控制和图像传输。由于无人机的无线电控制系统采用PROPO发射机，操作方便，因此，在一公里的调查中，无人机的导航和收集传感器数据都能够在陆地上进行，工作效率和成本效益大大提高。作为研究的结果，根据目标的路线，位置的保持，并采取了目标物的照片已经获得了良好的实验数据。

Recently the necessity of marine survey is increasing in order to progress the climate change. We have developed the hybrid type ROV (Remotely Operated Vehicle) for investigating the marine environment. We have realized the hybrid type underwater vehicle utilizing the WROV (wireless ROV) and UROV (Untethered ROV). In the sea surface, temperature, conductivity and turbidity are measured by WROV for check the environmental parameters. In the shallow water, UROV can observe the sea bottom environment, fisheries resource and alga field.The hybrid ROV includes three subsystems. The control subsystem is operated by ROV pilot via wireless system. The sensor subsystem extracts the data of GPS, electronic compass, sonar and depth sensor, using PSoC microprocessor. The sensor data is transmitted- for the pilot' support system. The communication subsystem composed of system for control signal, data system for communicating sensor data in ROV, and image communication. Especially UROV system composes the wireless system and the automatic buoy which wind and rewind the optical cable. The optical cable is connected through O/E (Optical/Electronic) convertor and E/O (Electronic/Optical) convertor for propeller control with UROV and image transmission. UROV is easily operated by PROPO transmitter for the radio control system.Therefore, because in the investigation of one kilometer, navigation and collection the sensor data of UROV are able to perform on land, work efficiency, and cost-effectiveness improve greatly. As the results of investigating, good experimental data have been obtained for the route according to the target, the maintenance of the position, and taking a picture of a target thing.