Design Of Underwater Robot Based On Embedded Linux System

In the 21 century,population expansion, shrinking living space and land resource exhaustion are challenging for human beings. It is an unavoidable choice to make full use of marine resources in order to human survival and development. Robots can work in the complex, dangerous sea water instead of human beings. The underwater robot can realize autonomous cruise in complex water, such as marine salvage work,oil exploration and investigation of radiation source. Robot obstacle avoidance is an important part of the development for the robot system. Due to the fact that the sensor based obstacle avoidance processing method relatively simple with low cost, this method is often adopted for the mobile robot system to realize obstacle avoidance.This thesis first introduces the background and current situation of the underwater robot around the world. According to the current domestic and foreign studies, the underwater robot remote control system is designed.Second, this dissertation analyzes the architecture of the underwater robot system architecture. The block design is proposed according to the functional division for the mobile robot system on the whole.Third, in the hardware aspect, we design and weld the mobile robot development board, including the control core plate and the control bottom plate. Besides, the waterproof shell in the ship model is completed as well as sealing deal to meet the waterproof requirement. The process of building and transplantation of the embedded Linux system is discussed. Virtual Linux system is installed in PC's Windows system. In this system, we compile the Boot Loader, kernel and file system and write the process to mobile platform control board.Finally, in the software aspect, the software development process is elaborated in detail after the embedded Linux system runs steadily, including underlying drivers and upper application programs. Moreover,the whole software program mainly realizes the remote control character achievement, sensor location and motor control. The underwater robot is then tested in the water environment with good performance. All the design requirements are achieved.