Design And Implementation Of Small Marine Environment Monitoring Platform

In recent years,with the exploitation and utilization of marine resources by human beings,the marine environment has suffered tremendous damage,and various new types of environmental monitoring equipment have emerged.Such as surface buoys,submersible standards,surface survey vessels and underwater robots.Due to the diversity of the marine environment,these traditional monitoring devices have problems such as high cost,inability to move flexibly,and inability to communicate for a long time,and cannot meet various marine environmental monitoring needs.This paper designs and implements a marine environment monitoring platform centered on the surface floating platform and combined with underwater robots to solve the problem that the existing marine monitoring system is complicated to operate,difficult to communicate,unable to move flexibly,and can not work for a long time.The system collects underwater information in real time by the front-end sensor and transmits it to the surface floating platform system through the optical fiber.The floating surface platform then transmits the monitoring information to the mobile terminal through wireless communication technology for real-time display.According to the different monitoring waters,the surface floating platform can be flexibly moved to a designated area for large-scale monitoring tasks under the drag of the underwater robot.The main research work of the subject is as follows:(1)Carry out the overall design of the monitoring platform.Mainly include: water surface floating platform design,water surface floating platform three-dimensional structure design,water surface floating platform power supply design and water surface floating platform communication unit design;underwater robot design,underwater robot skeleton design,sealed cabin design,propeller layout and control unit design etc.(2)According to the system requirements,the hardware design of the monitoring platform.The device selection is carried out for the research target;the hardware design of the surface floating platform is carried out,including the minimum system design and peripheral circuit design of the control board;the hardware circuit design of the underwater robot is carried out,including the design of the data acquisition board and the peripheral circuit design.Proofing,soldering,and debugging of the designed circuit.(3)According to the system function requirements,complete the software design of the monitoring platform.Carry out the sampling and analysis design of the upper computer signal and the signal transfer design of the surface floating platform,complete the data exchangefunction between the upper computer and the underwater robot signal;carry out the depth meter sampling design of the underwater robot,the IMU sensor sampling design and the motor driver design And complete the design of the PC software.(4)Considering the stability and safety of underwater robots,the underwater robot control algorithm is studied.Based on the PID algorithm,the fuzzy control theory is introduced.The fuzzy control theory is combined with the traditional PID algorithm to study the application of fuzzy PID algorithm in the field of underwater robot control.The fuzzy PID controller is designed to complete the control of underwater robots.The simulation platform is built to verify the fuzzy PID control algorithm.(5)In order to verify the function of the monitoring platform and monitor the diversity,verification is carried out through targeted experiments.The simulation experiment was carried out on the fuzzy PID controller;the pool experiment was carried out on the designed marine environment platform;the wave test unit was used to carry out the sea trial experiment.The experimental results show that the designed marine environment monitoring platform is simple in operation and strong in maneuverability,and can realize real-time and accurate measurement of environmental monitoring tasks in multi-range waters.