Design And Implementation Of Motion Display And Control System For Underwater Work Platform

With the increasing demand for marine exploration and resource development,underwater operating platforms have been widely used in marine surveys,underwater acoustic research,seabed resource exploration,marine ecological research,submarine optical cable/cable maintenance,underwater archaeology,underwater lifesaving and salvage and other fields.a wide range of applications.Due to the influence of ocean currents,gravity buoyancy,and umbilical cable forces in the ocean,the operating environment of underwater operating platforms is very complex,so the research on motion control of underwater operating platforms is very important.The underwater operation platform motion display and control system is a software system used to control and operate underwater robots,mainly used to control the robot’s movement,attitude,sensor data acquisition,data transmission and other functions.This paper designs a motion display and control system for underwater work platforms,which has the functions of data transmission,analysis,storage,real-time control and motion status display,and multi-sensor data fusion fault diagnosis.This paper mainly completes the following tasks:(1)Design the overall structure of the motion display and control system of the underwater operation platform,and determine the system implementation plan.According to the actual operation requirements of the underwater operation platform,make overall planning for the submersion,leveling and floating of the platform,receive the status data of the carrying platform and sub-platforms from the main control unit on the water,and complete the carrying platform and sub-platforms through the display interface of the platform motion display and control system.Real-time display of platform motion status,motion status detection and diagnosis,and soft operation control command issuance and other tasks.(2)For the complexity of the working environment of the underwater operating platform,a ResNet-GRU multi-sensor data fusion fault prediction algorithm based on ResNet-GRU is proposed.Taking the inverter controller as an example,the data fusion is carried out by weighted mean filtering method for each temperature sensor data,and the fused values are put into the ResNet-GRU model for training,and the trained model is used to predict the working state of the bow left inverter.Through the experimental comparison with BP neural network model and ResNet network model,the average accuracy of ResNet-GRU model reaches99.73%,and the fault prediction function of the motion display and control system of underwater working platform is realized.(3)According to the actual design requirements of the display and control system of the underwater work platform,the design and optimization of the software interface was completed using the WinForm framework on the basis of following the UI interface design principles,and the human-computer interaction and distribution of human-computer functions were reasonably designed to improve the performance of the display and control system.Intelligence and friendliness,and enhance the efficiency of human-computer interaction of the overall system.Through the graphical interface,you can intuitively understand the status and performance of each subsystem of the platform,and realize functions such as real-time control and motion status display,user authentication,database storage,and multi-sensor data fusion fault diagnosis.(4)Finally,a hardware-in-the-loop simulation test platform was built to conduct a system test on the motion display and control system.The operator can control the depth,bow and stern of the underwater work platform through the upper computer control platform,and can monitor the underwater operation in real time through the monitor.The control interface can display the collected multi-sensor data in real time.The test results show that the interface and control of the motion display and control system can work and respond normally,and each functional module can meet the design requirements,achieve the expected performance indicators,and can run stably and effectively use resources.