CN106541413B - Underwater robot control system based on Arduino platforms and machine vision module - Google Patents
Underwater robot control system based on Arduino platforms and machine vision module Download PDFInfo
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- CN106541413B CN106541413B CN201610887641.2A CN201610887641A CN106541413B CN 106541413 B CN106541413 B CN 106541413B CN 201610887641 A CN201610887641 A CN 201610887641A CN 106541413 B CN106541413 B CN 106541413B
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- machine vision
- arduino
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- motor drive
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The present invention relates to machine vision and underwater robot field, it is desirable to provide a kind of underwater robot control system based on Arduino platforms and machine vision module.The control system includes motor drive module, Arduino controllers, machine vision sensor, bluetooth module and power supply；Arduino controllers are connected to machine vision sensor by FC-10P data lines by ICSP interfaces, and Arduino controllers are connect by 8 number I/O interfaces with two motor drive modules, and power supply is connected to each component and realizes power supply.The robot control system based on Arduino platforms and machine vision module in the present invention is to coordinate the target tracking function of CMUcam5 machine vision modules using Arduino controllers as core, the system has low cost, the advantages that development difficulty is easier to, and system structure is simple, and accuracy is high.
Description
Technical field
The invention belongs to machine vision and underwater robot field, more particularly to a kind of to be based on Arduino platforms and machine
The underwater robot control system of vision module.
Background technology
As the mankind continue to increase the consumption of natural resources, land resources gradually appear exhaustion, and the mankind turn to sight
Ocean includes abundant living resources, mineral resources and marine energy in wide ocean, and underwater robot is to explore sea
The important tool in ocean.The research of underwater robot is related to hydrodynamics, bionics, electric mechanical, signal processing, computer section
Numerous subjects such as, machine vision reinforce underwater robot technology and will be helpful to the exploitation to marine resources, to solve instantly
The problem of shortage of resources.Meanwhile going to explore Sea World using underwater robot, our understanding to ocean will be deepened, opened
Its mysterious veil.
Machine vision technique is a great branch for belonging to artificial intelligence, it refers to by optical, non-contacting biography
Sensor automatically obtains and the image of one real-world object of interpretation process, with obtain information needed or for control machine movement or
Process；Machine vision technique is related to digital image processing techniques, pattern-recognition, automatically controls, light source and optical imagery knowledge, mould
The multidisciplinary theory and technologies such as quasi- and digital video technology, computer software and hardware and man-machine interface.One typical machine vision
System includes：Light source, optical lens, video camera, image pick-up card, image processing system (contain image processing software), display,
Input and output and control executing agency, measured target and light source controller etc..
Currently, that there is Control system architectures is complicated, development difficulty is big and development cost for underwater robot control system
The problems such as high, and it is usually more demanding to the integration capability of developer, it needs to grasp relevant knowwhy in advance, lead
It causes the entire development cycle longer, seriously affects underwater robot development efficiency.
Undersea search task type is various, and it is one such typical mission, such as track up to find and track object,
It finds and tracks specific aquatic organism, find underwater lost objects etc..There are many kinds of the modes for finding tracking object, for example uses
Sonar, infrared and image recognition etc., the above two development costs are high, and development difficulty is big, are not suitable for small range, shallow water is explored etc.
Environment has many advantages, such as that at low cost, accuracy is high, easy extension by the way of the image recognition based on machine vision module.
For the exploitation of current underwater robot there are the problem of, further need to explore and study and a kind of be put down based on Arduino
The underwater robot control system of platform and machine vision module is improved the development efficiency of underwater robot, is increased income using Arduino
Characteristic, realize code reuse, simplied system structure, improve set expandability, significantly reduce development difficulty and exploitation at
This, strong technical support is provided for national marine strategy.
Invention content
The technical problem to be solved by the present invention is to overcome deficiency in the prior art, provide a kind of based on Arduino platforms
With the underwater robot control system of machine vision module.
To solve technical problem, solution of the invention is：
A kind of underwater robot control system based on Arduino platforms and machine vision module is provided, including motor drives
Dynamic model block, the control system further include Arduino controllers, machine vision sensor, bluetooth module and power supply；The company of each component
The relationship of connecing is：Arduino controllers are connected to machine vision sensor, Arduino by FC-10P data lines by ICSP interfaces
Controller is connect by 8 number I/O interfaces with two motor drive modules, and power supply is connected to each component and realizes power supply.
In the present invention, the Arduino controllers are Arduino UNO R3 controllers；The controller includes an input
Output interface plate, and microprocessor, flash memory, Static RAM and electricallyerasable ROM (EEROM) thereon are loaded,
Microprocessor is connected with flash memory, Static RAM and electricallyerasable ROM (EEROM) respectively；
The input/output interface board has 14 railway digital I/O pins, wherein 6 pass feet are exported as PWM；It is additionally provided with 6
Road simulation input, 1 16MHz crystal oscillator, 1 USB interface, 1 supply hub, 1 ICSP connector and 1 reset are pressed
Button.
In the present invention, the machine vision sensor includes processor, imaging sensor, random access memory, sudden strain of a muscle
It deposits and camera lens；Camera lens, random access memory, imaging sensor and processor are sequentially connected, and processor is also connected with flash memory；Mirror
Head quantity is one or two.
In the present invention, the bluetooth module is embedded Bluetooth serial communication module, and it is that 6pin arranges needle to draw interface, point
It Wei not VCC, GND, TXD, RXD, KEY, STATE；Bluetooth module is equipped with LED light and is used to show bluetooth connection status,
It can be used as full duplex serial ports after completing pairing, support 8 data bit, 1 stop position, the communication lattice of even-odd check can be set
Formula is supported from the standard baud rate between 4800bps-1382400bps.
In the present invention, the motor drive module is encapsulated using 15 feet, is included the full-bridge type driver of two H bridges, can be used
To drive direct current generator, stepper motor and relay coil；Motor drive module is controlled using standard logic levels signal, is had
Energy control terminal at two allows in the case where not influenced by input signal or forbids logic power input there are one device work
End, makes internal logic circuit part work under the low-voltage of+5V~+7V, and the external detection resistance of energy feeds back to variable quantity
Control circuit, the motor drive module input corresponding pwm signal to control turning for two motors respectively from IN1, IN2, IN3, IN4
Speed and direction, wherein tetra- interfaces of IN1, IN2, IN3, IN4 are connected respectively to four number I/O interfaces of Arduino controllers,
The positive and negative rotation of motor is controlled by level height, passes through the rotating speed of pulse width modulation control motor.
Inventive principle describes：
The Arduino controllers use UNO R3 models, support a variety of interactive softwares, and can easily with various biographies
Sensor is connected with electronic building brick.Arduino UNO R3 controllers are the simple input/output interface boards of one piece of USB interface, by it
Microprocessor control and read-write memory, complete the data transmission of high speed, transmission rate is up to 9600bit/s.
In the present invention, the machine vision sensor uses CMUcam5 (Pixy), supports SPI, I2C, USB, UART, mould
It fits the multiple communication interfaces such as number to carry out data transmission, can be used cooperatively with various controller, such as Arduino controllers.
Distance of the machine vision sensor to target object location and between the two calculates, and Arduino controllers are every 50 milliseconds of readings
The scanning result of visual sensor is taken, the number of identified object, the coordinate of center and object can be rapidly obtained
Width and height, underwater robot parameter setting, order transmission and feedback of status are completed by bluetooth module, to control electricity
Machine drive module completes the pose adjustment of underwater robot.
Described CMUcam5 (Pixy) machine vision sensor is a machine vision sensor increased income, and is supported per second
Handle 50 frame pictures.Vision system can carry camera number according to it and be divided into single camera vision system and binocular vision system, should
Sensor is by NXP LPC4330 dual core processors, OV9715 imaging sensors, 264Kb random access memory, 1Mb flash memories with
And standard M12 camera lenses composition.Dual core processor control and read-write memory, camera lens by the image collected be placed into memory into
Row storage, what imaging sensor can be selective handles useful information, because it uses the method centered on color, only will
The vision data of the object of particular color is sent to mutually matched microcontroller, rather than export all vision datas with into
Row image procossing.Using unique color filtration algorithm, and 7 kinds of different color marks and more than 100 a mesh can be remembered simultaneously
Object is marked, to complete to be tracked to painted target object.
In the present invention, the motor drive module uses L298N, is a kind of high voltage, high current motor drive module,
It is encapsulated using 15 feet.The full-bridge type driver of two H bridges is included, can be used for driving direct current generator and stepper motor, relay
The inductive loads such as coil.It is controlled using standard logic levels signal, tool is not being influenced there are two enabled control terminal by input signal
In the case of allow or forbid device work there are one logic power input terminal, make internal logic circuit part work at low voltage
Make, variable quantity can be fed back into control circuit with external detection resistance.It can be answered respectively from IN1, IN2, IN3, IN4 the input phase
Pwm signal control rotating speed and the direction of two motors respectively, wherein tetra- interfaces of IN1, IN2, IN3, IN4 are connected respectively to
Four number I/O interfaces of Arduino controllers control the positive and negative rotation of motor by level height, pass through pulse width tune
Make the rotating speed of (PWM) control motor.
The bluetooth module uses HC-05, is a embedded Bluetooth serial communication module, has automatic connection Working mould
Formula and command response operating mode, can be by control module external pin PIO11 incoming levels, to realize bluetooth module work shape
The dynamic translation of state.When module is in automatic connection operating mode, completion number will be connected automatically according to the mode being previously set
According to transmission；When module is in command response operating mode, following all AT orders can be executed, user can send various to module
AT orders set control parameter or publication control command for module.
The extraction interface of HC-05 bluetooth modules is that 6pin arranges needle, respectively VCC, GND, TXD, RXD, KEY, STATE.Its
On LED indication bluetooth connection status, quick flashing indicates that no bluetooth connection, slow flash indicate entry into AT patterns, double sudden strain of a muscle expression bluetooths
Port is had connected and opened, is used as full duplex serial ports after pairing, 8 data bit, 1 stop position is supported, can be arranged very
The communication format of even parity check.It supports from the standard baud rate between 4800bps-1382400bps.By bluetooth, each string can be completed
The parameter setting of mouth low and high level and PWM values；Order transmission, including forward-reverse, turn left and turn right, floating of sinking, open/stop
Only track；State feedback report, including operating status, whether find target, target object location size.
Compared with prior art, the beneficial effects of the invention are as follows：
The robot control system based on Arduino platforms and machine vision module in the present invention, is controlled with Arduino
Device processed is core, and the target tracking function of CMUcam5 (Pixy) machine vision module, the system is coordinated to have low cost, is developed
The advantages that difficulty is easier to, and system structure is simple, and accuracy is high.
Description of the drawings
Fig. 1 is the overall structure schematic diagram of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of Arduino UNO R3 controllers of the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of CMUcam5 of the embodiment of the present invention (Pixy) machine vision sensor；
Reference numeral in figure is：1Arduino controllers；2 machine vision sensors；3 bluetooth modules；4 motors drive mould
Block；5 direct current generators；11 microprocessors；12 flash memories；13 Static RAM；14 electricallyerasable ROM (EEROM)s；At 21 double-cores
Manage device；22 imaging sensors；23 random access memory；24 flash memories；25 camera lenses.
Specific implementation mode
Present invention is further described in detail with specific implementation mode below in conjunction with the accompanying drawings：
As shown in Figure 1, a kind of underwater robot control system based on Arduino platforms and machine vision module, including
Arduino controllers 1, machine vision sensor 2, bluetooth module 3 and motor drive module 4.
System components position and function connects relationship are：The Arduino controllers 1 use a FC-10P data
Line is connected with each other by ICSP interfaces and machine vision sensor 2 and transmits reception data, and Arduino controllers 1 pass through 8 numbers
Word I/O interfaces are connect with two motor drive modules 4.Distance of the machine vision sensor 2 to target object location and between the two
It is calculated, Arduino controllers 1 read the scanning result of visual sensor 2 every 50 milliseconds, can rapidly obtain and be known
Number, the coordinate of center and the width of object and height of other object complete underwater ginseng by bluetooth module 3
Number setting, order transmission and feedback of status, to control the pose adjustment that motor drive module 4 completes underwater robot.
As shown in Fig. 2, the Arduino UNO R3 controllers 1 are the simple input/output interfaces of one piece of USB interface
Plate, it possesses 14 railway digital I/O pins, wherein 6 pass feet can be used as PWM outputs, 6 tunnel simulation inputs, 1 16MHz crystal shakes
Swing device, 1 USB connection, 1 supply hub, 1 ICSP connector and 1 reset button.Including ATmega328 microprocessors 11,
32KB flash memories 12,2KB Static RAM 13 and 1KB electricallyerasable ROM (EEROM)s 14.Microprocessor 11 is controlled and is read
Memory write (12-14), completes the data transmission of high speed, transmission rate is up to 9600bit/s.
As shown in figure 3, described CMUcam5 (Pixy) machine vision sensor 2 is a machine vision sensing increased income
Device supports 50 frame pictures of processing per second.Vision system can carry camera number according to it and be divided into single camera vision system and binocular
Vision system, the sensor by NXP LPC4330 dual core processors 21, deposit by OV9715 imaging sensors 22,264Kb arbitrary accesses
Reservoir 23,1Mb flash memories 24 and standard M12 camera lenses 25 form.The control of dual core processor 21 and read-write memory 23, camera lens 25 will
The image collected is placed into memory 23 and is stored, the useful information of the processing that imaging sensor 22 can be selective, because
It uses the method centered on color, and the vision data of the object of particular color is only sent to mutually matched miniature control
Device 21 processed, rather than all vision datas are exported to carry out image procossing.Using unique color filtration algorithm, and can be simultaneously
7 kinds of different color marks and more than 100 a target objects are remembered, to complete to be tracked to painted target object.
The HC-05 bluetooth modules 3 are a embedded Bluetooth serial communication modules, and it is that 6pin arranges needle to draw interface,
Respectively VCC, GND, TXD, RXD, KEY, STATE.LED indication bluetooth connection status thereon, quick flashing indicate that no bluetooth connects
It connects, slow flash indicates entry into AT patterns, and double sudden strains of a muscle indicate that bluetooth has connected and open port, make as full duplex serial ports after pairing
With 8 data bit of support, 1 stop position, the communication format that even-odd check can be arranged.It supports from 4800bps-1382400bps
Between standard baud rate.By bluetooth, the parameter setting of each serial ports low and high level and PWM values can be completed；Order transmission, packet
Include forward-reverse, turn left turn right, floating of sinking, start/stop tracking；State feedback report, including operating status, whether find
Target, target object location size.
The L298N motor drive modules 4 are a kind of high voltage, high current motor drive module, are encapsulated using 15 feet.
The full-bridge type driver of two H bridges is included, can be used for driving the perception such as direct current generator 5 and stepper motor, relay coil negative
It carries.It is controlled using standard logic levels signal, tool allows there are two enabled control terminal in the case where not influenced by input signal
Or forbid logic power input terminal there are one device work, make internal logic circuit part work under the low-voltage of+5V~+7V
Make, variable quantity can be fed back into control circuit with external detection resistance.It can be answered respectively from IN1, IN2, IN3, IN4 the input phase
Pwm signal control rotating speed and the direction of two motors respectively, wherein tetra- interfaces of IN1, IN2, IN3, IN4 are connected respectively to
Four number I/O interfaces of Arduino controllers control the positive and negative rotation of motor by level height, pass through pulse width tune
Make the rotating speed of (PWM) control motor.
In present example, the characteristic of increasing income of Arduino platforms has creatively been used so that the expansion of the control system
Malleability is improved, and is promoted code reuse, is enhanced the maintainability in its later stage, at the same time, development cost and development difficulty are all
It is minimized.
Finally it should be noted that listed above is only specific embodiments of the present invention.It is clear that the invention is not restricted to
Above example can also have many variations.Those skilled in the art can directly lead from present disclosure
All deformations for going out or associating, are considered as protection scope of the present invention.
Claims (4)
1. a kind of underwater robot control system based on Arduino platforms and machine vision module, including motor drive module,
It is characterized in that, the control system further includes Arduino controllers, machine vision sensor, bluetooth module and power supply；Each component
Connection relation be：Arduino controllers are connected to machine vision sensor by FC-10P data lines by ICSP interfaces,
Arduino controllers are connect by 8 number I/O interfaces with two motor drive modules, and power supply is connected to each component and realizes confession
Electricity；
The machine vision sensor is for acquiring image and being handled to obtain tracking target, including processor, image biography
Sensor, random access memory, flash memory and camera lens；Camera lens, random access memory, imaging sensor and processor connect successively
It connects, processor is also connected with flash memory；Number of shots is one or two.
2. system according to claim 1, which is characterized in that the Arduino controllers are Arduino UNO R3 controls
Device processed；The controller includes an input/output interface board, and the microprocessor, flash memory, the static random that load thereon are deposited
Reservoir and electricallyerasable ROM (EEROM), microprocessor respectively with the read-only storage of flash memory, Static RAM and electric erasable
Device is connected；
The input/output interface board has 14 railway digital I/O pins, wherein 6 pass feet are exported as PWM；It is additionally provided with 6 road moulds
Quasi- input, 1 16MHz crystal oscillator, 1 USB interface, 1 supply hub, 1 ICSP connector and 1 reset button.
3. system according to claim 1, which is characterized in that the bluetooth module is embedded Bluetooth serial communication mould
Block, it is that 6pin arranges needle, respectively VCC, GND, TXD, RXD, KEY, STATE to draw interface；Bluetooth module is equipped with LED indication
Lamp can be used for showing bluetooth connection status after completing to match as full duplex serial ports, support 8 data bit, 1 stopping
The communication format of even-odd check can be arranged in position, support from the standard baud rate between 4800bps-1382400bps.
4. system according to claim 1, which is characterized in that the motor drive module is encapsulated using 15 feet, includes two
The full-bridge type driver of a H bridges can be used for driving direct current generator, stepper motor and relay coil；Motor drive module uses
Standard logic levels signal controls, and tool allows or forbidden in the case where not influenced by input signal there are two enabled control terminal
There are one logic power input terminals for device work, so that internal logic circuit part is worked under the low-voltage of+5V~+7V, and energy
Variable quantity is fed back to control circuit by external detection resistance, and the motor drive module is corresponding from IN1, IN2, IN3, IN4 input
Pwm signal controls rotating speed and the direction of two motors respectively, and wherein tetra- interfaces of IN1, IN2, IN3, IN4 are connected respectively to
Four number I/O interfaces of Arduino controllers control the positive and negative rotation of motor by level height, pass through pulse width tune
The rotating speed of system control motor.
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| CN107315418A (en) * | 2017-04-20 | 2017-11-03 | 杭州电子科技大学 | A kind of helicopter under water and control method based on mobile phone control |
| CN107908196A (en) * | 2017-11-14 | 2018-04-13 | 青岛乐爱创意科技有限公司 | A kind of method and system of the underwater submarine action control mechanism based on machine vision |
| CN110840671A (en) * | 2019-09-23 | 2020-02-28 | 天津市艾维金属制品有限公司 | Nursing bed system based on distributed sensing array |
| CN110744541A (en) * | 2019-10-08 | 2020-02-04 | 哈尔滨工程大学 | Vision-guided underwater mechanical arm control method |
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