【正文】 ............................................................................................................................ 7 無線模塊 ............................................................................................................................... 8 水下平臺(tái)轉(zhuǎn)向部分設(shè)計(jì) .......................................................................................................... 9 系統(tǒng)總體設(shè)計(jì) ..............................................................................................................................11 系統(tǒng)總體硬件電路設(shè)計(jì) .........................................................................................................11 系統(tǒng)總體軟件設(shè)計(jì) ............................................................................................................... 12 系統(tǒng)各部分硬件設(shè)計(jì) .................................................................................................................. 14 穩(wěn)壓電源模塊設(shè)計(jì) ............................................................................................................... 14 驅(qū)動(dòng)模塊設(shè)計(jì) ...................................................................................................................... 14 溫度檢測模塊設(shè)計(jì) ............................................................................................................... 15 單片機(jī)最小系統(tǒng)設(shè)計(jì) ........................................................................................................... 15 無線模塊設(shè)計(jì) ...................................................................................................................... 16 下潛方式部分設(shè)計(jì) ............................................................................................................... 17 上位機(jī)部分設(shè)計(jì) .................................................................................................................. 19 系統(tǒng)整體外觀部分設(shè)計(jì) ........................................................................................................ 20 系統(tǒng)整體密封防水部分設(shè)計(jì) ................................................................................................. 21 系統(tǒng)各部分軟件設(shè)計(jì) .................................................................................................................. 22 無線模塊及串口通訊程序設(shè)計(jì) ............................................................................................. 22 轉(zhuǎn)向舵機(jī)部分程序設(shè)計(jì) ........................................................................................................ 23 DS18B20 溫度檢測模塊程序設(shè)計(jì) ......................................................................................... 24 結(jié)論與建議 ................................................................................................................................ 27 結(jié)論 .................................................................................................................................... 27 創(chuàng)新點(diǎn) ................................................................................................................................ 27 建議 .................................................................................................................................... 27 參考文獻(xiàn)： ...................................................................................................................................... 28 致謝 ................................................................................................................................................ 29 附錄 ................................................................................................................................................ 33 I 水下行走平臺(tái)設(shè)計(jì) (下位機(jī)部分 ) 摘 要 水下行走平臺(tái)的研究為水產(chǎn)養(yǎng)殖的環(huán)境監(jiān)控提供了數(shù)據(jù)采集平臺(tái)，對(duì)提高養(yǎng)殖質(zhì)量有重要 意義。本文進(jìn)行了水下移動(dòng)平臺(tái)的結(jié)構(gòu)設(shè)計(jì)。通過無線接收和發(fā)射模塊實(shí)現(xiàn)上位機(jī)（ PC）與水下行走平臺(tái)的通訊、上位機(jī)對(duì)水下行走平臺(tái)的運(yùn)動(dòng)控制以及將采集水下信息發(fā)送到上位機(jī)等功能。通過無線模塊接收到上位機(jī)指令控制 L298N 驅(qū)動(dòng)電機(jī)帶動(dòng)渦輪推動(dòng) 水下平臺(tái) 在水下行走， 水下平臺(tái) 下方舵機(jī)帶動(dòng)尾翼控制 水下平臺(tái) 轉(zhuǎn)向， 水下平臺(tái) 左側(cè)及右側(cè) 舵機(jī)分別帶動(dòng)左右翼控制 水下平臺(tái) 下潛與上浮。 關(guān)鍵詞： 水下行走平臺(tái)；單片機(jī)；舵機(jī)；無線通訊 II Underwater Walking Platform (Lower Machine) Abstract Provides data acquisition platform environment monitoring underwaterwalking platform research for aqua The search of underwater walking platform provides data acquisition platform for the environment of aquaculture. It has important significance to improve the quality of aquaculture. This paper designs the structure of underwater walking STC pany ’s STC89C52microcontroller as the core control unit,realizing the moving control of underwater walking platform ,such as walking straight, turn around and wireless receiving and sending,achieving the munication of pc and underwater walking platform,the moving control of underwater walking platform and gathering underwater data and sending data to pc and other design is mainly posed of L298N motor,LM2596 voltage regulator module, MG995 servo motor, MCU minimum system wifi receiving order of pc to control L298N motor, it drives turbine to walking underwater. The Steering engine below engine body drives empennage to control direction. The engine body ’left steering engine drives left wing diving. The engine body ’right steering engine drives right wing ing up. The underwater experiment proves that this design can be carried out in basic moving function. Keywords: mobile platform underwater。 actuator。而人類本身不能長期置身于水中去采集了解水下的信息，因此為了更加方便 地 了解水下的信息各種水下機(jī)器人應(yīng)運(yùn)而生 ， 但是目前為止，還沒有成熟固定的水下機(jī)器人設(shè)計(jì)方法。水下機(jī)器人的形 式有仿生魚式、潛水艇式、動(dòng)物行走的方式等多種形式。 設(shè)計(jì) 水下操作平臺(tái)，可以 在 水中自主自由行走 ，通過相應(yīng)的傳感器檢測水中的各種情況，比如水的溫度、水流速度、 PH 值、污染物、障礙物、外來物種、水底地形等，并且能夠特殊水域代替人類在水下作業(yè)，完成特殊的任務(wù)。 對(duì)于水下行走平臺(tái)的設(shè)計(jì)業(yè)有不同層次的研究，目前 相對(duì)來說 較 為 成熟穩(wěn)定的水下機(jī)器人主要有仿生魚 形 、橢圓形、圓筒形等 幾種 形式。 1989 年，美國人 Henry Stommel 在海洋學(xué)雜志（ Journal of Oceanography）上發(fā)表了一篇題為 “TheSlocum Mission”的論文 [1]，開啟了水下滑翔機(jī)的平臺(tái)。1998 年， 又 推出 一種 仿黃鰭金槍魚 的水下行走機(jī)器人 ，長 8 英尺，重 300 磅， 這是 利用現(xiàn)代