Design Of Underwater Vehicle For Marine Biometrics

Identifying Marine life using machine vision technology is a new way to study Marine life,The application of machine vision technology to Marine research usually requires the use of a carrier platform.In this paper,a wired underwater robot is designed for the research of Marine biometrics.The underwater robot provides an auxiliary platform for the Marine biometrics equipment,so that the Marine biometrics can be completed directly underwater and the identification results can be obtained.The efficiency and flexibility of Marine biometric identification are guaranteed by the function of light filling and attitude control of underwater robot.This paper designs a cable underwater robot for underwater biometric identification,and studies the software,hardware,information collection,two-way information transmission,and control of the cable underwater robot.According to the requirements of marine biological recognition technology,this paper designs the overall scheme of the underwater robot,and designs the mechanical structure of the wired underwater robot,the overall function framework of the underwater robot,the power control scheme,the software and hardware function framework,and the completion of the hardware Principle design and PCB design.In terms of hardware,the power supply circuit is designed according to requirements.The STM32F103ZET6 is used as the main control chip to carry MPU6050 sensors and other peripheral hardware circuits for information collection,and the RS485 communication protocol is used for two-way communication with the computer.In terms of power control,PID control algorithm is introduced to control the attitude of the underwater robot based on the attitude information of the underwater robot.In terms of software,the official firmware library provided by ST is used for development according to functional requirements,which is convenient for future maintenance and further development.Finally,the underwater robot was tested in the laboratory environment and the natural environment.