Research On The Remote Monitor And Control Technology In The Deep-water AUV Detecting System

In deep water oil and gas resources survey and the process of installing subseaproduction system, measurements of submarine topography, geomorphology andhydrological parameters are needed. Autonomous Underwater Vehicle picking up avariety of deep water exploration equipments can complete this kind of surveymission successfully. Thinking of the environmental extremes, it is necessary todesign a set of remote monitor and control system placing on the attendant ship, tomonitor AUV’s task execution process in real-time. This method can reduce theoperating risk and improve reliability of the whole system.This AUV control system’s communication mode between nodes are set ascombination of CAN bus and Ethernet. Choose PC104module which has low powerconsumption and strong extended performance as the core of Central ControlSystem. The remote monitor and control system communicates with Central ControlSystem for data exchange, and then realize task monitoring.This paper mainly explains the realization process of remote monitor andcontrol system. First analyze the detection work flow and task need of AUV anddivide the system into four parts by the use of N-level layered structure thought onsoftware design. The four modules contain communication, task performancemonitoring, electronic chart and communication log management. Select LabVIEWas software development environment. After that, write programs modularlycombining with knowledge of TCP/IP protocol, GIS, MySQL database. Theprograms can realize functions of network communication, serial portscommunication, establish of user events, data analysis, track display, log records andlog query. Set up task scheduling strategy and corresponding exception handlingmechanism，then evaluate software reliability with method of FMEA to furtherperfect system.Long time joint debugging experiments are carried out by connecting with thesemi-physical simulation system. The operation results show the integrity，feasibilityand reliability of the design.