Raspberry Pi-based small-scale autonomous underwater vehicle

Abstract

The invention discloses a Raspberry Pi-based small-scale autonomous underwater vehicle. The Raspberry Pi-based small-scale autonomous underwater vehicle comprises a control panel, a sensor module, a driving plate, a propeller, a movable plate and a power management module, wherein the control panel comprises a main control panel and an auxiliary control panel; when the main control panel is in normal working state, the main control panel controls the other parts; when the main control panel works abnormally, the auxiliary control panel controls the other parts; the sensor module comprises a depth sensor, a camera, a GPS module and an attitude sensor; the depth sensor and the camera are arranged outside a sealing cabin and are in contact with the external world; the GPS module and the attitude sensor are arranged in the sealing cabin; and the driving plate is controlled by the control panel to drive the propeller and the movable plate. According to the main control panel, the common PCplatform or PC 104 platform of Intel is replaced by Raspberry Pi, so that both the volume and power consumption are greatly decreased, and low power consumption, miniaturization and low cost are realized.

Description

technical field [0001] The invention belongs to the field of underwater submersibles, and relates to a small autonomous underwater submersible based on a raspberry pie. Background technique [0002] The ocean occupies about 71% of the earth's surface area and is rich in energy and minerals. With the rapid development of marine economy, all countries have accelerated the pace of research and development of marine equipment. At the same time, our country regards building a marine power as a national strategy, and marine development and utilization have become a close concern. As the exploration of waters including oceans and lakes continues to increase, the demand for the number and technical requirements of autonomous underwater vehicles is also increasing. At present, there are three main architectures of mainstream autonomous underwater vehicles: [0003] 1. Based on several PC104 industrial computer boards to work together; [0004] 2. Based on Intel general PC platfor...

AI Technical Summary

Problems solved by technology

The main control part and various expensive large sensors occupy a large volume, so the autonomous underwater vehicle cannot operate in narrow channels (such as trenches and narrow rivers); it is also not conducive to the hiding of the autonomous underwater vehicle

[0008] 2. High power consumption

Due to the bloated and complicated electronic control system and too many redundant modules and functions, the autonomous underwater vehicle consumes a lot of power, so its endurance is poor and it cannot perform long-range missions.

[0009] 3. High cost

[0010] 4. Most of them are special development, not universal, not conducive to transplantation, not conducive to expansion, and high long-term maintenance costs

[0011] 5. Most of them are for military use, and the public information is insufficient, which is not conducive to expanding to the civilian field

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