Development And Implementation Of A Control System For A Remotely Operated Vehicle And Research On Intelligent Control Of Remotely Operated Vehicle System

Remotely Operated Vehicle,shorted as ROV,has been widely used in ocean and other underwater areas,and is facing increasing automation and intelligent demands.This paper is based on a ROV prototype belongs to a scientific research project of Jiangsu Province High Tech Ship Cooperative Innovation Center in 2016.A control system is designed for the prototype,and the intelligent control on human-machine cooperation is studied.Firstly,according to the domestic and foreign research status and the requirements of the scientific research,a ROV system architecture is designed and the structure design of the ROV prototype is carried out.The ROV system architecture includes spatial view,time view,user view,scene view,demand view and control view,each of which recognizes and analyzes the ROV system from its own perspective.The ROV system includes user,core system,extension system,development system,and service system.The ROV prototype includes a control and operation box,a power supply and communication cabinet,a winch,an underwater ontology and transmission cables.Secondly,a control system for the ROV prototype is developed and implemented.The control subject,the control flow,the design purpose and the design flow are analyzed,and the processes of hardware design and software design are introduced.User operation software is introduced emphatically,and it includes communication layer,data layer,control layer,core layer,service layer and interaction layer.Thirdly,the human-machine cooperation and intelligent control of ROV system are studied.The human-machine interaction mode of ROV system and the interaction role of control and operation box are analyzed,and the human-machine cooperation problems in human-machine interaction are discussed.An Adaptive Neuro-Fuzzy Inference System framework for ROV is designed and applied to solve the problem of operation intention identification and postural anomaly diagnosis.Finally,the processes of debugging and experimentation of ROV are introduced.The debugging process includes test of hardware unit,debugging of software unit and system linkage,and the structure and function of ROV are continuously improved.The experimental process includes simulation experiment in laboratory,remote control experiment in swimming pool and teleoperation control experiment in Qian-dao Lake,and the automation and intelligent level of ROV are continuously improved.