€ NGHIEN ClfU KHOA HOC *2 P H A R O B P H U C T T O V U T R I D E U Q U O C N t i M l P H O N G O T N U M O V A A U p N G H I E N C t f U B I E N DEVELOPING A N UNDERWATER ROBOT FOR DEFENSE A N D M A R I N E RES TANG QUOC NAM, LE TUAN ANH, VU QUANG CHIEN, VO THE HOANG Hoc vien Ky thuat Quan su e-Mail: ntangquocsryahoo.com PHAN BIEN 1: PGS.TS PHAM ANH TUAN Vien Cong nghe vu tru - Vien Khoa hoc va Cong nghe Viet Nam PHAN BIEN 2: TS PHAM MINH TUAN Vien Cong nghe thong tin - Vien Khoa hoc va Cong nghe Viet Nam Tom tat Bao cao trinh bay cac ket qua nghien cdu ban cTau ve thiet ke, che tao robot tham hiem dddi nurac phuc vu quoc phdng va nghien cuu bien Day la mot robot dddi nuac dieu khien tdxa, da duoc thiet ke, che tao hoan chinh bao gom ca he thong phan cung va phan mem dieu khien Robot duoc trang bi camera chuyen dung dddi nude va cac cam bien gia toe, ap suat, , de thdc hien chuc nang tham hiem dudi nuoc Cac thd nghiem vung nuoc tinh cho thay robot da van dong on dinh moi truong nddc, co kha nang thu thap dd lieu hinh anh ve moi trddng ddcri nddc va truyen ve trung tarn dieu khien vdi chat Idong tot C H l f VIET TAT AUV ROY CAD CAE ADC DAC PSoC VBK PTN C'232~"3 "Z ""a "25 nd manufacture under ise ~z—z -zizz-z' Autonomous Underwater Vehicle Remotely Operated Vehicle J • I";? z~ Co—ru.e: Aided Enzir.eer.r.; AnaJoa to Digital Convener Digital to AnaJoa Converter Programmable System on Chip \'i dieu khien Phona thi nahiem OAT V A N OE ter 32' Ifi TLT dc~£ ": = igaj i • 2011 : Td nhdng nam 1970, robot dudi nuoc (underwater robot! da duoc nghien cuu phat trien de hd tro va/hoac thay the ngudi lam viec d nhung vung nude sau sduoi day dai duong) nhung vung nude d nhiem hoac lam viec then' gian dai dudi nude Hien nay, robot dudi nude dupe sddung nhieu quan sU, ky thuat va nghien cdu bien Trong nganh dau khi, robot dudi nude duoc sd dung de lam nhung cdng viec nhu kiem tra cac gian khoan va dudng dng dan khi, dan dau Trong nganh vien thong, robot dudi nude dupe sddung de khao sat day bien trudc dat cap long bien, chdn cap va kiem tra hien trang cap truyen Trong quan sd, robot dudi nude dupe su dung de gai hoac tim kiem va thao go thuy Idi, hoac phdi hop cung ngudi viec tac chien dud' nude Robot dudi nude la cac thiet bi quan cdu hd cac tau thuyen bi dam dudi day bien Trong tham hiem va nghien cdu bien, robot dudi nUdc dupe sd dung de khao sat dia hinh dudi day bien, thu thap du lieu ve dp phdng xa, dp rd ri cua cac nguon dudi day bien, theo ddi viec sinh san cua cac dan ca, Trong nganh nang lupng nguyen td cac robot dudi nUdc cd nhd dupe dung de kiem tra cac thiet bi nha may dien nguyen td Viet Nam la mot quoc gia ven bien, cd dudng bd bien dai hon 3000 km, vung bien rdng Idn va he thong dao kha nhieu Nhu cau lam chu bien dao ca ve an ninh quoc phdng, kinh te, mdi trUdng, rat can den cac thiet bi, may mdc tien tien, dd cd robot dudi nUdc Do dd nhu cau nghien cdu, lam chu cdng nghe va tien tdi thiet ke, che tao cac robot dudi nUdc phuc vu cho an ninh, quoc phdng va ddi song dan sinh la mot ddi hdi tat yeu va cap thiet T O N G Q U A N VE ROBOT D l / O l NUOfC Cd nhieu loai robot dudi nUdc khac nhu robot dich chuyen tren nen cua day bien nhd cac banh xe hay banh xich Loai dung de dao ranh de chdn cac loai cap ngam hay dung de thu gom cac vat quy hiem nam dudi day bien Hai loai robot dudi nUdc dupe nghien cdu va sd dung rdng rai nhat la robot dudi nUdc hoat ddng ddc lap (AUV) va robot dudi nude dieu khien tdxa (ROV) H Robot AUTOSUB60O0 kieu AUV cua Trung tarn Hai duong hoc quoc gia Southampton [9] AUV la robot dudi nUdc lam viec theo che dp da dupe lap trinh trUdc Nang lupng cung cap cho robot la pin hoac ac quy dupe mang tren robot Loai robot boi dupe tpdo nUdc va khdng bi han che ve ban kinh lam viec Tuy nhien thdi gian lam viec cua no rat han che, thudc vao nang lupng dptrd lap tren no Cac robot loai thudng duoc trang bi cac cam bien, camera de thpc hien cac nhiem vu tham hiem, thu thap dd lieu Cac AUV thudng cd ket cau than kin, hinh tru dai de giam thieu luc can cua nUdc He thong van ddng thudng dung kieu chan vit vdi cac canh lai dat d phia dudi hoac hai ben sUdn (hinh 1) ROV la robot dudi nUdc dupe dieu hoa nhu ddng robot SONIA cua trudng Ecole de Technologie Superieure (Canada), robot Micro REM cua hang REMTECHSTROY Group (Bulgaria), robot Nova Ray M3000 cua hang Nova+ (Ddc), robot ddng Seaeye Falcon cua Saab Seaeye Limited (Canada), [11] THIET KE CHE T A O M A U ROV_01 3.1 Ket cau chung H Robot Seaeye Falcon kieu ROV cua Saab Underwater Systems AB[10] khien va cung cap nang Ippng td trung tarn dieu khien (tren bd, tren tau me) thong qua cap dan Day cap cd nhiem vu cung cap dien nang va cac lenh dieu khien cho robot va truyen tai du lieu thu nhan dupe td cac camera, cam bien tren robot ve trung tarn dieu khien Ddi day cap cd tac dung phu giup true vdt cac vat the nang va cd the lam nhiem vu cdu hp robot gap sped Ban kinh lam viec cua loai robot bi gidi han bdi chieu dai day cap dan Khac vdi robot dudi nUdc hoat ddng ddc lap, robot dudi nUdc dieu khien tdxa cd the lam viec khoang thdi gian lau dai dudi nUdc ma khdng phai thoat len khoi mat nUdc de nap them nang lupng Tren robot loai ngoai cac cam bien, camera de thu thap dd lieu dupe bd tri them cac tay may vdi cac dung cu khac theo yeu cau cua tdng cdng viec cu the Tai trung tarn, bp phan van hanh cd the dieu khien robot thpc hien dupe mot so cdng viec nhu gap, lap rap, han, cat, lau chui, Ket cau cua ROV thudng cd dang than hd kieu khung gian de de dang bd tri cac thiet bi cdng tac (hinh 2) He thong van ddng thudng la cac ddng co day cd gan canh quat de tao luc day theo cac phuong khac giup robot thpc hien cac chuyen ddng tien, lui, lan, ndi mot each de dang Cac nghien cdu co ban ve md hinh hoa va dieu khien robot dudi nude dupe nhieu tac gia quan tarn [1]-[8], Do kha nang lam viec va dp tin cay vUpt trdi ma robot dudi nUdc kieu ROV dupe quan tarn phat trien va dng dung bien tren the gidi Da cd nhieu kieu loai ROV dupe phat trien va thuong mai Td muc tieu che tao robot tham hiem dudi nude phuc vu quoc phdng va nghien cdu bien, dang robot dupe chpn la loai dieu khien td xa (ROV) Ket cau dupe lpa chpn la kieu khung gian, tren dd lap khoang thiet bi, cac ddng coday va cd the lap cac co cau cdng tac khac can Robot dupe ket ndi vdi trung tarn dieu khien dat tren mat nUdc (tren bd, tren tau me) thong qua day cap Day cap cung cap dien nang, cho phep robot cd the lam viec lau dai dudi nUdc ma khdng can quan tarn den nguon nang lupng sd dung Ngoai cap ndi truyen cac lenh dieu khien tdi robot, truyen dd lieu tham hiem ve trung tarn dieu khien va lam chdc nang cdu hp can thiet Ket cau chung cua ROV_01 nhu tren hinh Robot cd ket cau khung gian bang thep (1), khoang thiet bi (2) dat long robot chda he thong bang mach va cac cam bien (ap suat, gia tdc) Td khoang thiet bi cd mot day dan ndi len trung tarn dieu khien dat tren bd hoac tren tau me Robot dupe gan khoang (9) phia tren hai ben khoang thiet bi de tao can bang cho robot nUdc va ludn hudng mat robot cd nap thung len tren Phia trUdc robot gan den chieu sang vdi cdng suat cao (8) va camera chuyen dung dudi nUdc (7) de quan sat mdi trUdng nUdc phuc vu cho muc dich nghien cdu, tham hiem Cac ddng co cd gan canh quat (3, 4, 5, 6) cho phep robot lan, ndi, tien, lui, quay vdng mdi trUdng nUdc • Ket cau khung va khoang thiet bi H Ket cdu chung ciia ROV_01 Automation Today / 2011 Be robot di chuyen dupe linh hoat nude, giam lpc can thi phia dau robot phai nhd, gpn, khung robot cd hinh dang thudn, dai ve phia sau Khung dupe cau tao tdcac thep manh de giam lpc can nude nhung cd dp cdng cao de dam bao dp cdng vdng cho khung Khoang thiet bi, cac khoang khi, cac ddng co day, cac thiet bi tham hiem, thiet bi cdng tac se dupe ga lap tren khung Khoang thiet bi dat ben khung la bp phan can nUdc chu yeu chuyen ddng dd dupe thiet ke ddng dang vdi khung robot va can cd kich thudc han che Tuy nhien khoang thiet bi cung phai cd khdng gian du Idn de chda cac mach dieu khien, cac thiet bi ngoai vi cho hoat ddng cua robot Ngoai kich thudc khoang thiet bi cung dupe tinh toan cho lpc day Archimedes the tich chiem chd cua no mdi trUdng nUdc can bang vdi lpc cua robot NhU vay, khdng cd tac ddng nao td ben ngoai thi robot se lo Idng mdi trUdng nUdc va dd cd kha nang tri dupe dp sau Ngoai cd khoang bd tri hai ben canh khoang thiet bi de cd the tang dupe lpc day Archimedes ma khdng phai tang kich thudc khoang thiet bi len qua Idn Cac khoang dupe bd tri phia tren cung giup cho robot khdng bi tat qua trinh van ddng Viec tinh toan kich thudc khung, khoang thiet bi, khoang de thoa man cac dieu kien neu tren dupe thpc hien bang each sd dung cac cdng cu md hinh hoa va phan tich ky thuat cua cac phan mem CAD/CAE thong dung (Autodesk Inventor, MSC.Nastran) • He thong van ddng He thong van ddng cua ROV_01 gdm ddng co cd vd chdng nUdc rieng, gan canh quat d true de tao lpc day Cac ddng CO dupe ga lap tren khung cua robot Cap ddng co dat phia trUdc va sau (3, 4) tao chuyen ddng lan ndi theo phuong xien hoac cd the theo phuong thang ddng Cap ddng co hai ben sUdn (5,6) tao cac chuyen ddng tien, lui va quay vdng Be robot di chuyen thang (tien hoac lui), cac ddng co hai ben sUdn se quay ddng tdc va cung chieu Neu hai ddng co quay cung chieu nhung vdi tdc dp khac nhau, robot se di chuyen quay vdng Tu dong hoa 2011 vdi ban kinh xac dinh Khi hai ddng co quay ddng tdc nhung ngupc chieu, robot se quay quanh tarn cua no theo chieu sang phai hoac trai thudc vao chieu quay cua ddng co (hinh 4) Cap ddng co trudc - sau neu quay cung chieu va ddng tdc se tao chuyen Tien Quay phai * Liii nang tham hiem Camera dupe chpn la JK-212 [10] sddung cam bien anh 1/4 inch CCD Sony, dp phan giai ngang 420 TVL, khoang each chieu sang hong ngoai den 15m Can dieu khien: lam nhiem vu dieu khien robot van ddng mdi trUdng nUdc Thiet bj dupe lpa chpn la Joystick Gravis Extreme Dual, cd nut va can gat, cd the lap trinh tdi 49 lenh, di chuyen Quay trai 3600 Lin H So van ddng cua robot ddng lan / ndi theo phuong thang ddng cho robot Neu cac ddng co cd tdc dp quay khac se tao cho robot mot gdc ta nhat dinh, rat cd ich thpc hien viec quay phim, chup anh hay cac thao tac khac Khi ket hpp ca cac ddng co hai ben sUdn va ddng co trUdc - sau cd the tao chuyen ddng lan ndi theo phuong xien cho robot Cac ddng co dupe I Pa chpn dpa tren cdng suat can thiet de dap dng kha nang di chuyen thang vdi van tdc Idn nhat la Im/s Lpa chpn canh quat day la loai cd budc tien khdng ddi bang 60mm, dudng kinh 120mm thi cdng suat can thiet cho mdi ddng co la 30W • Cac thiet bi Cac thiet bi cdng tac va thiet bi ngoai vi dupe lpa chpn theo cac nhiem vu cua robot Vdi mau ROV_01 cd cac thiet bi sau: Cam bien ap suat: lam nhiem vu ap suat dudi nUdc tai vi tri hien thdi cua robot de xac dinh dp sau cua robot Cam bien dupe chpn la loai MPX5700 cd the dupe ap suat khoang 15-^700kPa, dp chinh xac 2,5%, dd nhay 6,4 mV/kPa, thdi gian dap dng ms Cam bien gia tdc: lam nhiem vu gia tdc chuyen ddng cua robot theo phuong x va y de td dd xac dinh vj tri tuong ddi cua robot theo mat phang nam ngang Cam bien dupe chpn la ADXL230 cd gidi han ±1,7g, dp nhay 1000mV/g Camera: lam nhiem vu thu nhan hinh anh dudi nUdc de thuc hien chdc Noi 3.2 He t h o n g dieu khien Vdi ket cau da lua chpn, he thong dieu khien cua ROV_01 phai dam nhiem dieu khien ddng co, thu vaxdlytin hieu til cam bien gia tdc true, cam C*D dl CU Cam bien £ia toe Cam bien sp suit I M*ch ccng EHeakUtn soil trunj tim Mivtmk (Ph&o mem pirn sit &£ukfai£n) Tnmz tarn dieu khien H So khoi he thong dieu khien bien ap suat, bp dem xung (encoder) va giao tiep vdi may tinh (hinh 5) Do dd, dieu khien trung tarn phai cd it nhat cac khoi sau: khoi ADC nhan tin hieu tdcac cam bien, khoi dem nhan tin hieu tdcac encoder, khoi UART giao tiep may tinh, bp PWM dieu khien tdc dp va chieu quay cac ddng co De dap dng cac yeu cau ndi tren, vi dieu khien dupe lpa chpn la ddng PSoC CY829466 cua Cypress [12], Trong vi dieu khien da tich hpp san nhdng khoi tai nguyen nhu khoi chuyen ddi tuong tU - so (ADC) 12 hoac 14 bit, khoi khuech dai tuong tu, khoi chuyen ddi so - tuong tu (DAC), khoi dieu che dp rdng xung (PWM) 8, 16 hoac 24 bit, khoi giao tiep UART, bp dem (counter) 8, 16 hoac 24 bit, bp djnh thdi (timer) 8,16 hoac 24 bit, ( I bo ADC dud^ Cbc CUE -'I.T pi if} H Cdu true vi dieu khien CY829466 Ddi vdi robot ROV_01, cac khoi duoc sddung bao gdm (hinh 6): khoi chuyen ddi ADC 12 bit, khoi khuech dai tuong tu PGA (dung cho cam bien gia tdc, ap suat), khoi PWM bit (dung cho ddng co), bp dem (dung cho encoder), khoi UART (de giao tiep may tinh), khoi dieu khien LCD, 3.3 Phan m e m dieu khien, t h u thap dur lieu va hien t h j hinh anh tham hiem • Thuat toan nhan va xd ly tin hieu td ap suat ke: Tin hieu analog t d cam bien ap suat dupe nhan va ddi tin hieu so qua bp chuyen ddi ADC Khi gpi lenh apsuat_Start (apsuat_MEDPOWER), bp chuyen ddi ADC bat dau lam viec d mdc tin hieu trung binh (MEDPOWER=Medium Power) Nb*i tacNhan m tual lu hieu til Lenh apsuat = apsuatjGetDataO + Cam bien Camera Hien thi 2048 gan gia trj dien ap tdc thdi cua ADC m \p» eu ru toe Cuaoog Olao Video apsuat vao bien apsuat Cam bien tier, mnh dieu •putt t h o n g s o PC - khien tren Khi dd xac djnh dupe dp sau cua Nlun tin may tinh*• vi Hi vi VDK robot la: Nhan tin bjcu Captinbieu dieu hieutiiCan phi = (apsuat - Voff/(V/P) = (apsuat Lhien cac done co dieu Lhien H.7SO khoi chdc nang phan mem dieu khien 200)/6,4 Vdi Voff = 200mV la dien ap dau Phan mem dieu khien cho robot cua cam bien ap suat tai dp sau bang 0, ROV_01 dupe thiet ke gdm nhdm V/P = 6,4mV/kPa la dp nhay cua cam bien chuong trinh: cac chuong trinh tren may Nhieu nhien dupe Ipc bang each tinh va cac chuong trinh tren vi dieu lay 10 gia trj vdi thdi gian each deu 20ms khien Cac chuong trinh tren vi dieu khien va chia trung binh, dd: lam nhiem vu dieu khien cac thiet bi _ ph\ + ph2 + + ph\0 ngoai vi va thu thap dd lieu td cac cam (dm) ph 10 bien gan tren robot Cac chuong trinh tren may tinh cd nhiem vu dieu khien va Ap suit X hien thi hinh anh gdi ve td camera; tinh Cam bien toan, ve thi va hien thi thong so ve vj ap suit tri cua robot; thpc hien chdc nang dieu ADC khien chuyen ddng cua robot Ngoai •pant - ipsMtiGttDiaQ + 2048 cd cac module chuong trinh ket ndi Do sau rue then thu i de truyen thong gida may tinh va vi dieu ph, - (apsmt - 2O0>6,4 khien Cau true cua phan mem dieu khien H Thuat robot nhu tren hinh toan xac dinh • Thuat toan nhan va xd ly tin hieu td sau tdc encoder: [ph - (phi* phlOVIO (dm) thdi Bp dem • Thuat toan nhan va xd ly tin hieu td Dong co Counter gia tdc ke: Encoder nhan tin hieu H 10 Thuat toan Robot di i xac dinh gia tdc d r a y e n td encoder Counter 1 tdc thdi Suit cua ddng co Cam bien eia toe Delav ms dupe kich x hoat gpi Tin hieu td Counter a - asjGetDariO * 2W8 cam bien gia Stop lenh Start va xl =ax-250O(cms) ep - 255 - bphai bRetdCounter thpc hien tdc dupe nhan ephau_WritePenod(255): phep dem qua bp H Thuat toan doc vaxdly tin ngUOC td chuyen ddi hieu tir encoder 255 ADC tuong dng thdi gian 5ms, sau dd gan cho bien ep cho tin hieu gia tdc theo true x va true y Khi dd xac djnh dupe van tdc tdc thdi Khi gpi lenh ax_Start(ax_MEDPOWcua ddng cola: ER), bp chuyen ddi ADC bat dau lam viec d mdc tin hieu trung binh 12000 12000 , , x vphai = eyi x — =epx— — = ep x 30 [yong I phut)Lenh ax = ax_iGetData() + 2048 la a 400 lenh gan gia trj dien ap tdc thdi cua ADC Vdi a = 400 la so xung vdng ax vao bien ax Khi xac dinh dupe gia quay cua encoder — : tdc tdc thdi theo true x cua robot: xl = ax-2500 (/cm/s ^ Vdi 2500 la dien ap dau cua cam bien gia tdc true x bang va dp nhay cua cam bien la 1000mV/g = mV/(cm/s2) xl + x2 + + x\0 (cm/ s ) 10 Nhieu nhien dupe Ipc bang each lay 10 gia trj vdi thdi gian each deu 20ms va chia trung binh, dd: Gia tdc theo true y xac djnh tuong • Thuat toan nhan va xd ly tin hieu td may tinh: May tinh V H 7 Thuat Vi dien Ichien toan nhan va Chuyen chub,I du lieu sang sd thuc xtily tin hieu 'lenh noa) dieu khien Tach nimi.Li.Di bang ds 1000 cdcdqngcotd Tach pa m bed fzh iU op^ bang cbMCO O may tinh Gan gia tn dieu khien cho p pa t ta L 1* x, xo Tin hieu truyen td may tinh tdi vi dieu khien la mot chudi gdm 21 ki cd dang: "OKabcdefghijklmnpq_END" Trong a, e, i, m mang gia trj la hoac dieu khien chieu quay cua ddng co hai ben va trUdc sau la thuan hay ngUpc Ba ki tptie'p theo cua mdi gia trj tren la dp rdng xung cua cac ddng co tuong dng Chuong trinh dung vdng lap for de lay tdng chudi gdm gia trj abed, efgh, ijkl, mnpq Sau chuyen ddi td dang chudi so thpc; tach gia trj a, f, i, m bang phep toan lay phan nguyen cua ds/1000; lay so thpc bed, fgh, ikl, npq bang phep toan lay phan du cua ds%1000 vdi ds lan lupt bang so nguyen abed, efgh, ijkl, mnpq Td dd gia trj dieu khien ddng co dupe gan cho p, pa, t, ta, I, le, x, xo; nhd dd dieu khien tdc dp va chieu quay ddng co theo tin hieu tdcan dieu khien • Thuat toan nhan tin hieu td VDK Trong chieu nhan, OnCOMm cung Tin hieu vao H 12 Thudt toan nhan tin hieuttiVOK ( COMEvRtcnvt Bo dem = MSCOMm input Xa bo dem Tinh loan va hien thi texrbox Automation Today 2011 cap thupc tinh Rtheshold de phat hien nao dd lieu dope nhan tai cdng Thudc tinh Rtheshold cua MSCOMm quyet dinh sd ki it nhat dupe nhan de gay su kien OnCOMm Thiet lap thudc tinh RThreshold = thi se vd hieu hoa sp kien COMEvReceive tdc khdng dung ngat, va se khdng cd sp kien nhan xay Neu thiet lap thudc tinh RThreshold > thi nhung byte den cudi cung hoac cd rat nhieu byte van khdng doc dupe Do thiet lap RThreshold = de neu nhan dupe bat ky tin hieu nao la chuong trinh se biet Khi da thiet lap RThreshold = thi bat cd nao bp dem nhan dupe tin hieu vao (mot ky tu hoac hon), chuong trinh se xay sp kien MSCOMm COMmEvent, cu the d day la COMEvReceive Ngay lap tdc, se thu dupe tin hieu dau vao cho vao bp dem Caeh thu tin hieu rat hieu qua, dam bao khdng bi mat tin hieu Sau da thu dupe tin hieu each don gian nhat la cho hien thi len textbox chuong trinh Dieu giup giai phdng bp dem ddng thdi cd the xd ly chudi tin hieu da thu dupe mot each de dang hon • Thuat toan thu nhan tin hieu cam bien tu VDK Tin hieu cam bien thu dupe td vi dieu khien la mot chudi 37 byte cd dang: "OKax12345ay12345ph 12345ep12345etl2345" Trong "OK" la byte de xac dinh vi tri bat dau cua chudi byte so sau mdi byte chu lan lupt la gia tri thu duoc cua cam bien gia tdc theo true x, true y, dp sau, tdc dp ddng co phai, ddng cotrai Thu toan bp tin hieu vao cd bat ky byte nao dupe gul den cdng COM Sau dd so can thu ve Dung ham Mid se cat dupe lan lupt cac thong so can thiet chudi 3.4 San pham • Mau robot ROV_01 Td cac tinh toan, thiet ke neu tren, phien ban dau tien cua ROV_01 da dupe che tao hoan chinh tai PTN Co dien td Hoc vien Ky thuat Quan sp (hinh 14) Cac thong so ky thuat chinh: Kich thudc tdng the: 800 x 350 x 350 mm; Khoi lupng: 26 kg; So ddng CO: 4; Nguon cung cap: 24VDC/15A; Van tdc Idn nhat: m/s; Camera: 420 TVL, chieu sang hong ngoai 15m; Dieu khien td can dieu khien hoac may tinh • Phan mem dieu khien ROV Program H 14 Robot tham hiem dtfdi nu"6e ROV 01 H 75 Robot ROV_01va ede thiet bi phu trp Phan mem dieu khien ROV Program H 16 Phan mem dieu khien ROV Program (hinh 16) bao gdm cac khoi chuc nang dieu khien va hien thi Cac chdc nang dieu khien bao gdm: dieu khien ket ndi vdi robot (Connect), dieu khien robot di chuyen thong qua can dieu khien ao (Joystick Position), dieu khien camera (Capture Picture, Capture Video) Cac chdc nang hien thi bao gdm hien thi hinh anh H 13 Thuat toan Tin men vao thu nhan tin hieu truyen ve td camera, ve thi vi tri cua cam bien tir VDK robot (XY Position, ROVs Depth) va hien thi cac thong sd trang thai khac cua robot tim den byte (ROV Index) danh dau bat • Thd nghiem dau chudi la Cac thd nghiem da duoc tien hanh "OK" Neu cac mdi trUdng nUdc tinh nhu be khdng thay, boi, hd nude deu cho ket qua rat tot Robot Cat 5* trite va anh toan quay lai doi dupe dieu khien tdxa dung can dieu khien hien thi n terbox cac ket den cd tin qua rucn£ uns hoac phim bam tren may tinh, da thpc hieu gdi vao Khi thay chudi "OK" chuong hien tot cac chdc nang van ddng (tien, lui, trinh se biet day la chudi tin hieu gul len td quay vdng, lan, ndi) theo dung y cua robot va cat lay chudi 37 byte tiep theo ngUdi dieu khien O trang thai tinh, robot Day se mot chudi tin hieu day du thong tri dupe dp sau va trang thai can bang Tu dong hoa ngav na\ 2011 on dinh Cac thiet bi deu hoat ddng on dinh mdi trPdng nude.Truyen thong giua trung tarn dieu khien va robot dam bao lien tuc va cd chat lupng tot Tin hieu tdcac cam bien gia tdc, ap suat dam bao xac dinh vi tri hien thdi cua robot Kinh anh rd net truyen vetd camera hong ngoai cho phep thuc hien chdc nang tham hiem cac dieu kien mdi trudng nUdc khac (hinh 17) H 17 Mot so hinh anh tham hiem ditdi nwdedo ROV_01 truyen ve KET LUAN San pham robot ROV_01 da dupe thiet ke, che tao va thd nghiem hoat ddng on dinh cac vung nude tinh cho phep dng dung vao cac hoat ddng tham hiem, kiem tra mdi trudng ao, hd, cac be chda Trong giai doan tiep theo, ROV_01 se dupe tiep tuc nghien cuu de "vUOn bien" vdi cac kha nang hoat ddng cac vung nude ddng, bd sung cac module cdng tac can thiet khac de cd the dng dung cac hoat ddng nghien cuu khai thac va bao ve bien dao cua To quoc Tai lieu tham khao [1 j Cactia /Vi; Indiveri G; Veruggio 0L Modelling and iden tification of open-frame variable configuration underwater vehicles IEEE Journal of Ocean Engineering (25), 2000 [2] Carreras M^ Ridao P; Garcia Ft Nicosevici T: Vision based localization of an underwater robot in a structured environment IEEE International conference on robotics and automation, ICRA'03, Taiwan 2003 [3] Miskovic N, Vukk Z; Fiarisic Mj Identification of coupled mathematical models for underwater vehicles Proceedings of the OCEANS 07 Conference, Scotland 2007 [4] Miskovic N_- Vukic 7_ Fiarisic M: Autotuning autopilots for micro-ROVs Proceedings of the 14th Mediterranean Conference on Control and Applications, Italy 2006 [5] Ridao P; Tiano A,- El-Fakdi A,- Carreras M,- ZM AJ O the identification of nonlinear models of unmanned underwater vehicles Control Engineenng Practice (12), 2004 [6] Yuh, h Modeling and control of underwater robotic vehicles IEEE Trans Systems, Man and Cyber 20X6) 1990 [7] Yuh Jt Aneural net controller for underwater robotic vehicles IEEE Journal of Ocean Engineering 15(3), 1990 [8] Yuh J: Learning control for underwater robotic vehicles IEEE Control System Magazine 14(2) 1994 [9] http-y'wwwriovaray.com [105 httpv VAvwieaeye.com.falconiitml [11 ] httpv/www JOvexchance.cornrr