Underwater Structure Detection ROV Control System Design Research On Navigation And Location

The ocean is rich in biological resources and mineral resources.With the depletion of land resources,the development of marine resources is more and more obvious to the human development and social progress.As the main tool of marine transportation,the ship is playing a more and more important role.When the ship is sailing,the suspended matter on the water surface is easy to be sucked and wrapped around the propeller.When the ship is close to the port or wharf,it is easy to be subjected to the impact of waves and piers,which causes the hull to break,crack and deform.Therefore,it is necessary to detect the structure of the underwater hull.Due to the high risk and high cost of human work,low efficiency of dock operation,these two modes of operation are gradually replaced by the increasingly developed machinery.The remote operated vehicle is one of the most representative equipment,which has brought a great impetus to the development of marine industry and marine science research.This paper is involved in the development of a multi-functional,modular underwater robot,can carry out underwater patrol and simple underwater operations.First of all,based on the technical requirements of the project and the current situation of underwater robot research at home and abroad,this paper puts forward a new development scheme of underwater structure detection and operation ROV,introduces the frame design,floating design,electronic pressure tank design,Propulsion system design and key component selection.Secondly,the control system of ROV is studied,and the underwater control system is mainly developed.The underwater control system mainly includes control module,power supply module,motor drive module,communication module,voltage and current acquisition module and leakage detection module.Then,expand the study of synchronous positioning and map building(SLAM)algorithms.The new SLAM method is used to realize the construction and self localization of the map.A new method of Mixed Birth Map Information is proposed to improve the PHD-SLAM,which increases the prior information of the PHD-SLAM prediction phase,so as to improve the estimation accuracy and the estimation accuracy of the position.Secondly,the method of amplitude information estimation is proposed to estimate the PHD-SLAM,which improves the estimation accuracy of the estimation accuracy and reduces the computation time effectively.Finally,the whole system is tested on the ground,pool experiment and lake experiment.The results show that the ROV can achieve the movement of the advance and retreat,the rotation,the depth,the navigation and so on,and can clearly observe the underwater structure objects to achieve the desired design goals.