Design And Experimental Study Of Deep Sea Video Monitoring System

Long time operation of subsea production system on the seabed will lead to falling objects anchoring,marine corrosion and other phenomena,resulting in system failure.Because the subsea production system is generally fixed on the seabed,in most cases,it can only use the remote control subsea robot for regular inspection,so it is urgent to carry out the research on the deep-sea video monitoring system,instead of the remote control subsea robot for regular inspection,to carry out real-time monitoring of the operation state of the subsea production system.This paper analyzes the working environment of the deep-sea video monitoring system,and studies the scheme of the deep-sea video monitoring system combined with the technical indexes;calculates the field of view change caused by refraction of the BK7 hemispherical glass cover through ANSYS software simulation and polynomial fitting curve equation;calculates the torque and pressure compensation volume required for the motor cabin to carry the subsea imaging system;and through the analysis of the mechanism of marine fouling organisms attachment,the reasonable marine fouling protection mode is selected;combined with the carrying requirements of subsea imaging system,the tolerance range of docking structure under the condition of meeting the docking accuracy is analyzed.Based on the subsea optical characteristics,the light field distribution function of subsea lighting is established,and the factors that affect the output luminous flux of the lighting are obtained.Considering the luminous flux of the lighting required by the camera imaging under the subsea visible light scattering,the position distribution of the camera and the lighting is determined by integrating the processing technology and image contrast factors.The deep-sea video is obtained by calculating the image contrast and signal-to-noise ratio the effective observation range of the monitoring system.According to the control requirements of deep-sea video monitoring system for horizontal rotation and pitch motion,the hardware selection and circuit design are carried out,the motion control program design based on CANopen protocol for horizontal rotation motion and the additional program design such as limit are carried out;the pitch motion mode is studied to realize the omni-directional and multi angle observation of the target.The main interface,horizontal rotation control interface and pitch control interface of deep-sea video monitoring system are designed and configured by using SIMATIC Win CC host computer software.By building the test platform of horizontal rotation and pitching motion,the operation accuracy of horizontal rotation and pitching motion is tested,and the influence of the operation accuracy on the observation target of subsea imaging system is analyzed to verify the operation performance of horizontal rotation function and pitching function;the light field distribution test platform of subsea lighting is built,and the output luminous flux and target velocity of the lighting are obtained through the test the effective observation range of subsea imaging system is verified by comparing the contrast and signal-to-noise ratio of images collected by subsea imaging system at different positions.