Implementation Of The Electronic Monitoring System For The Semi-automatic ROV With A Cable

The rapid development of today’s world, with the wordwide problem, such as the continuous growth of population and the excessive consumption, which cause the land resources are dwindling and people are looking towards the vast ocean. Our country has vast ocean area, which is rich in mineral resources. So the development of the marine resources is of great strategic significance for the sustainable development of our country’s economy.ROV(Remote Operated Vehicle), namely underwater robots, is a kind of important tool for the future development of the marine resources.So the rapid development of ROV technology is an inevitable trend in the future.Under the background of this research, according to the requirement of the ROV at the aspect of intelligent and visual, this article develops a set of electronic monitoring system for the semi-automatic ROV with a cable.The system is divided into two parts of underwater ststem and abovewater system: the underwater system is used to collect all kinds of sensor’s data and control LED lights and other equipment. The abovewater system is mainly responsible for controlling the movement of ROV, sending the control commands to the underwater and transmitting data up a machine. The communication between underwater system and abovewater system is through the cable.According to the demand of electronic monitoring system for the semi-automatic ROV with a cable, this paper introduces the principle of automatic control firstly, giving the solving process of heading angle and the error analysis and proposing the PID control algorithm, which provide the theoretical foundation for realizing the ROV automatic control. Then it determines the system solutions, which uses the STM32F103VCT6 single-chip microcomputer as the system processor and uses BTS7970 as the motor driver chip. Then it expounds the principle and implementation of the system hardware design in detail. There are many hardware circuit having been completed, such as the power supply circuit, the RS-485 communication circuit, the USB interface circuit, the temperature and humidity acquisition circuit, the serial communication circuit and so on. Then it summarizes some details of the hardware design. And then it introduces the design of system software in detail, putting forward the programming of the system software and understanding the need to complete the softwares design, including the software design of the abovewater system, the underwater system and the communication protocol between systems. Then realizing the software design of every function module, including the electronic compass, motion control, reading the data of USB handle and the sensor of temperature and humidity and so on.In the process of software design, it should continuously debug the procedures of thefunctional modules. The whole system should be debugged after every functional module to meet the requirements. At present, the commissioning result of the whole system basically meets the expected requirement. Then putting the system in the outdoor that is more restricted to debug, in order to perfect the function and improve the stability of the system.In summary and outlook of the thesis, it summarizes the completed work of the subject and points out the deficiency of the system and puts forward how to improve.