Controlling Information Transmission Implementation Of Underwater Robot

Underwater robot plays an important part in sea development.Acoustic communication system is an indispensable part in underwater robot, it provides a way for cotrolling untetheredly. In this paper underwater acoustic communicating system is realized, which is used as node of ship or bank. It is responsible for transmitting controlling command and working state information. All of the information is transmitted to controlling machine and planning machine through serial port. It will be processed further more.Spread spectrum is adopted by the system. The main function is realized by software. The system uses two kinds of hardware platform, PC104 and ARM+DSP. VxWorks OS is established on the platform, it is responsible for task scheduling, and communicating algorithm.Firstly, multi-task is realized under VxWorks. Abiding by the regulation of device driver, driving program for serial expanding board is designed. Serial port programs are designed, which provides a way for exchanging information between different subsystems.Secondly, some work is done under ARM+DSP, including data stream between ARM and DSP, FPGA. Codec is configured through I2C. Communicating algorithm is transplanted under this platform.At last, the whole system is tested. Testing procedure includes electric debugging, testing in pool, and system integrated test. During the test, some assistant program is designed to settle the problems.