Design of underwater micro-terrain real-time detection system based on TMS320C6416

Combined with the swinging single-beam ultrasonic ranging method, a design scheme of underwater microterrain real-time detection system based on high-speed DSP-TMS320C6416 platform is proposed, and it is implemented from hardware and software. The cm-level precision microterrain measured by this system can calculate the optimal cutting depth of the front-end terrain, so as to realize the accurate control of the floating of the mining head in the mining process of deep-sea cobalt-rich crusts resources, and achieve the purpose of optimal cutting. The test results show that the system can detect the terrain in front of it in real time when the experimental bench is walking at a uniform speed of 50mm/s, and draw a three-dimensional topographic map after the stroke meets the set distance, and the error is small, which can meet the actual requirements of cobalt crusts mining.