Research And Implementation On Underwater Vehicle Monitoring System

Underwater vehicles are used to perform various tasks in a complex,highly dangerous underwater environment instead of human beings.By remote control of these vehicles or let vehicles run independently,it is able to explore the underwater environment,carry out underwater rescue,collect water sample and so on.These applications are of great significance in ensuring the safety of personal property and improving the efficiency of accident disposal.In view of the application requirements of the water quality survey and underwater building inspection,several key technologies of the underwater vehicle monitoring system are studied,such as the research on the architecture of the underwater robot monitoring system,the hardware manufacture of the electronic system and the software development of the monitoring system.In Chapter 1,the current development status and problems of various underwater vehicles at home and abroad is brief analyzed.Then,the research objectives and main contents of this paper are introduced.In Chapter 2,the requirements of underwater vehicle are analyzed,and the space motion model of underwater vehicle is introduced.On the basis of these works,the architecture of the underwater vehicle monitoring system is put forward,and the overall scheme of the hardware structure of the electronic system is designed.The hardware development of underwater vehicle electronic system is introduced in Chapter 3,including the selection of main controller,the design of motor drive module,sensor interface module and power monitoring and management module.The motor drive module is connected with the main controller through the RS485 bus,and the Modbus communication protocol is used to control propellers.The sensor interface module processes data acquisition and preprocessing for three axis accelerometer,three axis gyroscope,and liquid level sensor,and sends data to the main controller through serial port.The power monitoring and management module is composed of multi-stage DC-DC converters and single chip microcomputer.This module is responsible for providing power to the vehicle,real-time monitoring of the power consumption and estimating the remaining battery capacity.In Chapter 4,the design of underwater vehicle monitoring software based on ROS open source robot operating system is introduced,and the design process of man-machine interaction node,motion control node and attitude control node is described respectively.These nodes are scheduled by ROS Master to achieve communication and coordination among nodes.At the same time,an operator controller is simply introduced in this chapter.The operation monitoring interface designed by Visual Studio.It can monitor the working environment and posture of the underwater vehicle in real time,and it can also remotely control the movement and operation of the vehicle.The operator controller has the characteristics of simple structure,convenient operation and intuitive display effect.In Chapter 5,a method of attitude estimation for underwater vehicle based on data fusion of accelerometer and gyroscope by Kalman filtering is introduced,and the attitude of underwater vehicle is estimated by the fusion attitude data.In addition,the attitude control method of underwater vehicle based on fuzzy control is also described.The simulation of data fusion and attitude control is carried out by Matlab,and the feasibility of these two methods is verified.In Chapter 6,the underwater vehicle's motion control experiment and perception effect test are carried out.Experimental tests prove that the vehicle can carry out the motions of forward and backward,float and submerge,and make turns under water.It can also real-time feedback the tilt,pitching posture and cabin temperature,humidity and other environmental conditions of underwater vehicle.