Research On Monitoring System And Path Planning Method Of Underwater Rescue Robot

In recent years,European and American countries have deepened their observation and exploration of the ocean,and have successively formulated plans to reduce the harm caused by the ocean and vigorously develop and utilize marine resources.In order to achieve the goal of building a maritime power,it is necessary to conduct more in-depth exploration and research on underwater robots.Underwater vehicle can be used in various environments,and at the same time,it has the advantages of strong maneuverability,good endurance and high safety.In the process of search and rescue,the path planning method of underwater robot plays a vital role,and a good path planning method can effectively shorten the rescue path and improve the search and rescue efficiency.In this thesis,a control system of a small underwater robot used in underwater rescue and salvage is studied and designed,which mainly completes the collection and transformation of the output signal of Bluetooth handle and the upper computer monitoring system based on Java,and realizes the motion control of the underwater robot,data collection of various sensors,video shooting and recording,fault alarm prompt,etc.At the same time,this thesis studies the path planning of underwater vehicle based on flow function,and optimizes it by traditional methods.The specific research contents are as follows:Firstly,the water surface monitoring system of underwater robot is designed and developed by using the existing design experience of small robot.The monitoring system based on Java is mainly used for design.By using the advantages of Java multithreading and the convenient and practical interface system,the real-time and stable data transmission,image acquisition,motion control,fault alarm,video recording and so on are completed,which makes the developed upper computer monitoring system effective,real-time and stable for underwater robot control.According to the technical requirements,select the appropriate sensors to design the structure of the underwater vehicle.In the aspect of monitoring system software,besides compiling the water surface monitoring system software based on Java,I also participated in the programming process of master control board using STM32F429 chip and slave control board using STM32F103 chip.Secondly,the path planning algorithm of underwater rescue robot is studied.According to the underwater environment,the underwater grid map is established,and the irregular obstacles and threatening terrain are standardized by puffing.Aiming at the traditional flow function path planning,the path planning based on the constraints of underwater vehicles is proposed,and the planned path is smoothed.At last,functional tests were carried out on each module,and after the tests were completed,assembly was carried out,and land joint debugging was started.After that,many experiments of pool and small lake were carried out one after another.Finally,the bottom of the ship was actually detected in Hankou.In the experiment,the underwater robot completed a variety of movements and collected data and images.The experimental results show that the developed underwater robot can accurately complete the assigned tasks,and has the advantages of stable system and flexible operation.