Design Of Micro ROV Intelligent Control System Based On S5PV210

ROV(Remote Operated Vehicle)is an important tool for mankind to explore the sea.With the increasing demand for exploring marine resources,the human demand for the accuracy and convenience of ROV control is also getting higher and higher.The existing ROV control is highly susceptible to interference from the underwater environment.Manual operation easily leads to overshoot control.Therefore,this paper aims to develop a ROV control system suitable for underwater harsh environment.Based on the platform of micro ROV(AC-ROV),this paper designs a set of micro ROV intelligent control system based on S5PV210 processor,which can abandon the original full manual control mode.The ROV intelligent control system based on S5PV210 processor mainly aims at the ROV ontology attitude control and directional deep motion control to realize automatic intelligent control and improve the accuracy and convenience of ROV control so as to avoid the restriction of ROV operation by professionals.The proposed system carries out differential transmission and digital conversion on the micro ROV's own analog video to realize video display and storage for future analysis and playback.Micro ROV intelligent control system is divided into underwater information acquisition module,surface embedded control module and PC software.Underwater information acquisition module mainly adopts the STM32 single chip to collect the gyroscope,gravity acceleration,magnetometer,pressure depth gauge,sonar altimeter,temperature and humidity and analog camera sensor data installed in the AC-ROV body,and sensory data are transmitted through RS-458 Bus and AD8131 chip drivers differential transmission to the surface embedded control module.Using S5PV210 chip as the core processor,the underwater information acquisition module estimates ROV ontology posture by the fusion of angular velocity,acceleration and magnetometer data by the fusion algorithm of complementary filter and Kalman filter,and transmits it to the host computer through TCP protocol.The surface embedded control module receives control instructions from USB handle and host computer,and then controls the adjustment amount through PID control algorithm.Moreover,the proposed system uses PWM signal to control BTS7970 motor driving chip and drives the ROV's six-way motors so as to realize the micro ROV attitude control and orientation deep motion control.The surface embedded control module uses TVP5150 video decoder chip and Libjpeg library for underwater analog video conversion and compression,finally transmits to the host computer through HTTP protocol.The PC software is mainly used for human-computer interaction,sensor data and video information analysis The Open CV library and Direct3 D technology are used for video storage and visually display of ROV three-dimensional animation.The paper has carried on laboratory test and outdoor test to the miniature ROV intelligent control system based on S5PV210 processor.The test results show that the proposed micro ROV intelligent control system can realize the basic control function of ROV.By setting the ROV attitude and depth,the ROV can automatically approach the observation target and improve the control precision and efficiency of the ROV.The system automatically determines the depth and the attitude of the ROV,realizes the fixed point observation of the ROV and reduces the operation difficulty of the ROV.