A study on Development of 300m Class Underwater ROV

J. Ocean Eng. Technol. 1994;8(1):50-61.

300m급 수중ROV 개발에 관한 연구

이종식,이판묵,홍석원

한국기계연구원 선박.해양공학연구센터 해양기술연구부,한국기계연구원 선박.해양공학연구센터 해양기술연구부,한국기계연구원 선박.해양공학연구센터 해양기술연구부

Keywords: ROV, Surface unit, Underwater Vehicle, Thruster, Tether cable

핵심용어: 수중무인탐사기, 수상제어기, 수중탐사기, 추진기, 테더케이블

Abstract

A 300 meter class ROV(CROV300) is composed of three parts : a surface unit, a tether cable and an underwater vehicle. The vehicle controller is based on two processors : an Intel 8097-16-bit one chip micro-processor and a Texas Instruments TMS320E25 digital signal processor. In this paper, the surface controller, the vehicle controller and peripheral devices interfaced with the processors are described. These controllers transmit/receive measured status data and control commands through RS422 serial communication. Depth, heading, trimming, camera tilting, and leakage signals are acquired through the embedded AD converters of the 8097. On the other hand, altitude of ROV and lbstacle avoidance signals are processed by the DSP processor and periodically fetched by the 8097. The processor is interfaced with a 4-channel 12-bit D/A converter to generate control signals for DC motors an dseveral transistors to handle the relays for on/off switching of external devices.