Design Of Ground Control System For Small Underwater Robot

Recently,many developed countries devoted lots of labour and resources into underwater robots,which have been widely used in specific area,such as searching the underwater target and detection of hydrogeology.However,it is imperious to develop the underwater robots for getting rid of the current situation that the research of underwater robots in our country has been fallen behind.A small underwater robots system is composed of many subsystems.So it is necessary to study the subsystem of underwater robots in detail.On the basis of the existing underwater robots technology,a set of ground control system is studied for the small underwater robots developed by the project team to achieve the purpose of remote control of the small underwater robots.For this purpose,the following research and design are carried out in this paper.Firstly,we have designed the hardware of the ground handling system,including the structure of the ground control box and the circuit of the control system.In terms of the size of the circuit of the control system,designed the structure of the ground control box has kept the abundant functions as well as the small size.On the other hand,we also designed the circuit of the control system because of the functional demands of the control system,including controlling the command acquisition circuit,the power supply circuit,the display circuit,the character superposition circuit,the VR stereo vision circuit,the battery power detection circuit,etc.Simultaneously,the scheme of CAN trunk transmission and AV twisted-pair cooperative transmission data transmission as well as CAN trunk transmission command signal and AV twisted-pair transmission recorded video signal,which efficiently tackled the low transmission rate when it comes to the long-range communication of CAN trunk transmission command signal,were proposed.The introduction of stereoscopic vision system can provide the operator with immersive control experience.Secondly,the software that controls the system is divided into embedded software and upper computer software.The embedded software is mainly based on the hardware system of the control box to control the ROV,including the control instruction collection procedures,character overlay program,communication protocol,etc.The underwater robot can control the functions of floating up and diving down,moving forward and backward,turning left and right and adjusting lights,and has certain real-time and reliability.The upper computer software mainly runs on the computer,which is connected through the serial port and the control box.It can display the running state of the underwater robot in real time on the computer and provide auxiliary control for the underwater robot.Thirdly in order to ensure the smooth sailing of the underwater robot,this paper estimates and studies the remaining power of the power battery of the underwater robot.Firstly,an equivalent Thevenin model is established for the power battery of the underwater robot.Secondly,an extended Kalman filter algorithm is introduced to estimate the residual battery power of the underwater robots.So as to monitor the battery power of the underwater robots in real time.Finally,the joint experiments and tests of the underwater robots and the ground control system are carried out.Experimental results show that the ground control system has a certain reliability and stability,achieving a series of remote control of underwater robot,completing of the design index.