CN102692882A - Wireless video control device for servo motor - Google Patents
Wireless video control device for servo motor Download PDFInfo
- Publication number
- CN102692882A CN102692882A CN2012102072109A CN201210207210A CN102692882A CN 102692882 A CN102692882 A CN 102692882A CN 2012102072109 A CN2012102072109 A CN 2012102072109A CN 201210207210 A CN201210207210 A CN 201210207210A CN 102692882 A CN102692882 A CN 102692882A
- Authority
- CN
- China
- Prior art keywords
- wireless
- video
- module
- wireless video
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a wireless video control device for a servo motor. A video signal of the motor operation condition is collected by a camera module, and is sent by a wireless video sending module; the video signal is received by a wireless video receiving module in an upper computer, and is sent to a PC (Personal Computer) machine through an AV (Audio-Video)/USB (Universal Serial Bus) port; the video signal is collected by the PC machine, and is displayed by a video window; a motor control instruction is output by the PC machine, and is transmitted by a wireless sending module; a control instruction is received by a control signal wireless receiving module of an actuator, is displayed on an LCD (Liquid Crystal Display) after being processed through an ARM (Advanced RISC Machines) controller, and is sent to a servo driver through an RS-232 serial port, so as to drive the motor to operate. The wireless video control device can carry out wireless video remote control on the servo motor within a range of 100m in a barrier manner. An operator can be far from a working field. With the adoption of upper computer monitoring software developed by the inventor, not only can an actual operation video of the servo motor in the working field be observed, but also switching-on/off and operation speeds of the motor can be controlled by inputting the instruction.
Description
Technical field
The present invention relates to a kind of mechanical motion control technology, particularly a kind of servomotor wireless video control device.
Background technology
Servomotor has precision height, noise is low, high speed performance is good characteristics, and at accurate medicine equipment, precision optical machinery motion control field such as silicon wafer transferring robot and Laser Processing have important application.Under above-mentioned occasion; Accuracy requirement in order to ensure the precision optical machinery motion control; Generally do not hope that operating personnel carry out the start and stop of motor continually at the scene, operations such as rotating speed adjustment are necessary to develop a kind of wireless video monitoring method and apparatus to servomotor for this reason.
Summary of the invention
The present invention be directed to the high-precision servo motor needs wireless monitor more to bring into play the problem of its advantage; A kind of servomotor wireless video control device has been proposed; Utilize PC, ARM, less radio-frequency, video to obtain and technology such as servo-drive, realized having the function of 100 meters wireless video remote controls of obstacle servomotor.
Technical scheme of the present invention is: a kind of servomotor wireless video control device, comprise execution machine and host computer, and the execution machine comprises the ARM controller; The wireless video sending module, control signal wireless receiving module and DC servo motor driver, host computer comprises PC; The wireless video receiver module, control signal wireless sending module, AV/USB interface; Camera module is gathered the vision signal of motor ruuning situation, is seen off by the wireless video sending module, and the wireless video receiver module receiving video signals in the host computer passes to PC through the AV/USB interface; PC is gathered vision signal and is shown the running status of real time monitoring remote motor, PC output motor steering order at video window; By the wireless sending module emission, the control signal wireless receiving module of carrying out machine receives steering order again, and steering order shows on LCD after the ARM controller is handled; And send to servo-driver through the RS-232 serial ports, the drive motor operation.
Camera is selected the camera of night vision function for use in the said camera module; Wireless video transmission/receiver module is selected 1.2GHZ frequency range 700mW wireless video transport module for use; Steering order wireless transmission/receiver module is selected the NRF24L01+ wireless data transfer module of 2.4GHz frequency range 100mW power for use.
Said AV/USB interface is converted into the USB form with the AV vision signal that receives, and selects model EasyCAP001 for use.
Beneficial effect of the present invention is: servomotor wireless video control device of the present invention, realized having the function of 100 meters wireless video remote controls of obstacle servomotor.Operating personnel can through our independently developed host computer monitoring software, can observe the actual motion video of working site servomotor away from the working site, but the start and stop and the travelling speed of input instruction control motor again.
Description of drawings
Fig. 1 is for carrying out the machine structured flowchart in the servomotor wireless video control device of the present invention;
Fig. 2 is host computer structured flowchart in the servomotor wireless video control device of the present invention;
Fig. 3 is a servomotor wireless video control device middle controller host computer procedure process flow diagram of the present invention;
Fig. 4 is for carrying out the machine program flow diagram in the servomotor wireless video control device of the present invention.
Embodiment
Wireless camera has the infrared night vision function, is convenient to night monitoring.Select the wireless video transport module of 1.2GHz for use, have penetration power preferably, antijamming capability is strong.Select for use 32 Cortex-M3 processors of a new generation of ARM company as controller, it is fast to have processing speed, the characteristics that cost performance is high.Operating personnel can through our independently developed PC control software, can observe the actual motion video of working site servomotor away from the working site, but the start and stop and the travelling speed of input instruction control motor again.
Utilize PC, ARM, less radio-frequency, video to obtain and technology such as servo-drive, realize that servomotor motion remote wireless video observes and control.Divide hardware designs below, software design and operation steps, experiment effect four parts describe.
Execution machine hardware comprises ARM controller 5, wireless video sending module 1, and control signal wireless receiving module 3 and DC servo motor driver 6, as shown in Figure 1.Wherein, camera module 1 is gathered the vision signal of motor ruuning situation, is seen off by wireless video sending module 2.Wireless data receiver module 3 receives the control command signal that host computer sends, and after ARM controller 5 is handled, on LCD4, shows, and sends to servo-driver 6 through the RS-232 serial ports, realizes the Long-distance Control to servomotor 7.
The host computer structured flowchart is as shown in Figure 2, and host computer hardware then comprises PC 10, wireless video receiver module 8, control signal wireless sending module 11, AV/USB interface 9.Wherein, wireless video receiver module 8 passes to PC to the vision signal that receives through AV/USB interface 9, utilizes the video control among the Visual Basic to gather vision signal and show that at video window realization is to the telemonitoring of motor 7.In the instruction of control window input Electric Machine Control, launch by wireless sending module 11 again.
Used hardware type selecting principle is summarized as follows:
(1) camera: select 1,000,000 pixel 10m night vision function cameras for use.The working site light source there is not specific (special) requirements.
(2) wireless video transmission/receiver module: it can not interfere with each other with the 2.4GHz control signal to select 1.2GHZ frequency range 700mW wireless video transport module for use; And its diffraction property is more intense; Totally 15 channels can be selected, and signal to noise ratio (S/N ratio) is up to 48db.Open field can reach 2000m farthest, penetrable one stifled solid wall transmission 200m.
(3) steering order wireless transmission/receiver module: select the NRF24L01+ wireless data transfer module of 2.4GHz frequency range 100mW power for use, open field can transmit 1100m at most.Its is with RF switch, BPF., bi-directional RF power amplifier function harmonic interference is little entirely, supports 125 radio-frequency channels, and is low in energy consumption.
(4) DC servo motor: select day intrinsic safety river YASKAWA 1000 line DC servo motors for use.Kinematic accuracy is high.The present invention supports the control of AC servo motor equally.
(5) DC servo driver: the XH-DCC8005 DC servo driver of selecting for use.Pulse signal through to photoelectric encoder output carries out 4 frequencys multiplication, makes the motion control resolution of motor reach 0.09 °.
(6) AV/USB interface: the AV vision signal that receives is converted into the USB form, makes things convenient for PC to carry out video acquisition.Because the present invention has only one tunnel vision signal, so select stable higher picking rate EasyCAP001 faster for use, maximum demonstration and recorded speed are pal mode 25 frames, and TSC-system formula 30 frames satisfy request for utilization.
(7) Switching Power Supply: this power supply mainly is to slave computer controller, servo-driver and servomotor power supply; Select the peaceful T-50D 5V3A of bright spy, 12V1A, 24V1A three tunnel output Switching Power Supplies for use; Wherein 5V gives the power supply of ARM controller; 24V supplies power to driver, and this product rated power is 50W, if loaded words can be selected the Switching Power Supply of bigger power for use.
Software design mainly comprises: video monitoring program, controller host computer procedure and the machine of execution program.
The video monitoring program mainly comprises two parts: video display part and for the serial communication part.First adopts the ezdivcap control, and this control is that an audio-video signal based on the DirectShow technological development of Microsoft is caught ActiveX control.It is based on DirectShow filter assemblies technical design, adopts complete ActiveX encapsulation, can be used for the various software development platform, supports 1394, the hot-swappable digital video capture equipment of USB comprehensively.Second portion adopts MSComm serial communication control.
Controller host computer process flow diagram is as shown in Figure 3, mainly comprises each application module initialization, and serial ports interrupts the supervisor module.Wherein the most important thing is serial ports interrupt routine, SPI function, NRF24L01 driver.Because the data transmission of NRF24L01 is with the SPI mode, thus at first must the SPI of STM32 be configured, and write and send and receiver function.The NRF24L01 driver comprises: the initialization of 24L01, detect whether 24L01 exists, the configuration of sending/receiving formula, packet size, send and accept the address, data are sent and receiver function etc.Wherein important is exactly the definition of transmission and receiver address, because whether it can have influence on transmission and receive successful:
Const u8 TX_ADDRESS [TX_ADR_WIDTH]={ 0x34,0x43,0x10,0x10,0x01}; // transmission address
Const u8 RX_ADDRESS [RX_ADR_WIDTH]={ 0x34,0x43,0x10,0x10,0x01}; // receiver address
The serial ports interrupt routine at first need define the reception buffering array USART_RX_BUF [64] and the receive status agreement of one 64 byte---accepting state sign USART_RX_STA; Wherein the 7th for accepting the complement mark position; The 0-5 position is the data number that receives; Wherein each data of transmitting with special character "? " Be end mark, every instruction with character "; " be end mark.
The data maximum cushioning that at every turn receives is 64 bytes; And wireless data transfer module can only send the packet of 32 bytes at most at every turn, moreover considers the processing of slave computer to data, if be divided into 2 32 bit data to 64 data; Data are overflowed; So before master routine sends, will be divided into 4 16 data TX_BUF0～3 [16] to the data USART_RX_BUF of 64 bytes [64], could guarantee that like this data of wireless transmit can not lost, after each emission 16 bit data, certain delay_ms time delay (50) to be arranged; The time of this delay can not be oversize; Just do not covered by new data in the data otherwise can cause below also sending, time delay is short too, and execution will have certain execution time because slave computer sends instructions to servomotor; Sent after the data time delay through test repeatedly 50ms is good at every turn; Then the byte that receives is beamed back serial ports and carry out echo, and send a packet LED lamp at every turn and glimmer, can indicate the whether state that sends of success and display radio of operation like this.
Execution machine program flow diagram as shown in Figure 4 in carrying out the machine controller master routine, mainly comprises: Cortex-M3 system initialization, each application module initialization, LCD show and the serial ports character sends the supervisor module.Because the control command to servomotor is a character format, be the data of 16 systems and serial ports sends, transform so before transmission, must carry out the ascii sign indicating number.
Operation steps is following:
(1) the hardware line connects, switches on, and the frequency range that transmits and receives wireless video at end all is provided with identical.
(2) open monitoring application program, select " source dialog box " to select the passage of video signal collective, can see that video window has the static video of motor this moment.
(3) passage of selecting the ARM controller to be connected at " com mouth " with PC, for example, com1, com2 ... Button is opened in click; Pilot lamp is green by red stain, explains that serial ports correctly opens, and does not just operate and can eject a dialog box prompting user and open serial ports if open serial ports.
(4) selecting the mode of operation of driver is " speed control mode "; Import PID, acceleration, reduction gear ratio, speed and location parameter respectively; Motor " parameter affirmation " then; This moment, control command just sent to the ARM controller by the PC serial ports, was launched by the wireless data sending module then.At this moment, not only can see the motor operation, and can see the order of having sent, on the LCD of slave computer ARM controller screen, can see order and the total number thereof that has received simultaneously at the control window at video window.
(5) at " sending area " input " #1 SV:100, SOPS:1000; " can see this moment after motor turns over 90 ° with the speed of 100rpm and stopping; because the servomotor that native system uses is 1000 lines; driver at most can 4 frequencys multiplication; the motion control precision of institute's native system is 0.09 °, and through testing of electric motors is under the situation of zero load repeatedly, movement effects is best when P, I, D are respectively 100,5,1000.
(6) click the Reset button, the then current absolute position of motor is set to 0, and " suddenly stopping " button can make motor no matter when can both stop rapidly, but this button can not often use, otherwise can cause damage to driver and motor.
One stifled solid wall, communication distance is arranged in the middle of being 100m; Have on every side under the situation such as wireless network interference; Stability of the present invention and anti-interference are good, can receive vision signal clearly, stably emission control orders; Servomotor can run well according to the control command that receives, and the kinematic accuracy of motor is 0.09 °.If at a distance from 3 walls, the transmission range of 20m, control signal are sent and are received normally; But vision signal is fluctuation a bit; Reason estimates it is that wireless network is a bit big to system interference on every side, but 4 walls are at interval 25m the time, and the control command of transmission will obliterated data; In view of this, barrier is still bigger to the influence of wireless data transmission.But generally at commercial Application pulpit and the general only interval of industry spot one wall, and the transmission range of 100m also can meet the demands basically.
Claims (3)
1. a servomotor wireless video control device is characterized in that, comprises execution machine and host computer; The execution machine comprises the ARM controller, wireless video sending module, control signal wireless receiving module and DC servo motor driver; Host computer comprises PC, wireless video receiver module, control signal wireless sending module; The AV/USB interface, camera module is gathered the vision signal of motor ruuning situation, is seen off by the wireless video sending module; Wireless video receiver module receiving video signals in the host computer passes to PC through the AV/USB interface, and PC is gathered vision signal and shown PC output motor steering order at video window; By the wireless sending module emission, the control signal wireless receiving module of carrying out machine receives steering order again, and steering order shows on LCD after the ARM controller is handled; And send to servo-driver through the RS-232 serial ports, the drive motor operation.
2. according to the said servomotor wireless video of claim 1 control device, it is characterized in that camera is selected the camera of night vision function for use in the said camera module; Wireless video transmission/receiver module is selected 1.2GHZ frequency range 700mW wireless video transport module for use; Steering order wireless transmission/receiver module is selected the NRF24L01+ wireless data transfer module of 2.4GHz frequency range 100mW power for use.
3. according to the said servomotor wireless video of claim 1 control device, it is characterized in that said AV/USB interface is converted into the USB form with the AV vision signal that receives, and selects model EasyCAP001 for use.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102072109A CN102692882A (en) | 2012-06-21 | 2012-06-21 | Wireless video control device for servo motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102072109A CN102692882A (en) | 2012-06-21 | 2012-06-21 | Wireless video control device for servo motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102692882A true CN102692882A (en) | 2012-09-26 |
Family
ID=46858424
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012102072109A Pending CN102692882A (en) | 2012-06-21 | 2012-06-21 | Wireless video control device for servo motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102692882A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103268238A (en) * | 2013-05-15 | 2013-08-28 | 山东超越数控电子有限公司 | Method for achieving drive of universal serial bus (USB) camera on basis of ReWorks operation system |
| CN114898583A (en) * | 2022-07-13 | 2022-08-12 | 深圳市城市交通规划设计研究中心股份有限公司 | Signal lamp control scheme determining method and data processing method of intelligent traffic equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11136663A (en) * | 1997-10-29 | 1999-05-21 | Kyuunan:Kk | Monitoring device |
| US20030214601A1 (en) * | 2002-05-09 | 2003-11-20 | Yuen Siltex Peter | Remote-control device for video camera |
| CN1731826A (en) * | 2005-08-01 | 2006-02-08 | 北京中星微电子有限公司 | Wireless webcam |
| CN201515344U (en) * | 2009-06-23 | 2010-06-23 | 上海理工大学 | Wireless control system of stepping motor |
| CN202661806U (en) * | 2012-06-21 | 2013-01-09 | 上海理工大学 | Wireless video control device for servo motor |
-
2012
- 2012-06-21 CN CN2012102072109A patent/CN102692882A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11136663A (en) * | 1997-10-29 | 1999-05-21 | Kyuunan:Kk | Monitoring device |
| US20030214601A1 (en) * | 2002-05-09 | 2003-11-20 | Yuen Siltex Peter | Remote-control device for video camera |
| CN1731826A (en) * | 2005-08-01 | 2006-02-08 | 北京中星微电子有限公司 | Wireless webcam |
| CN201515344U (en) * | 2009-06-23 | 2010-06-23 | 上海理工大学 | Wireless control system of stepping motor |
| CN202661806U (en) * | 2012-06-21 | 2013-01-09 | 上海理工大学 | Wireless video control device for servo motor |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103268238A (en) * | 2013-05-15 | 2013-08-28 | 山东超越数控电子有限公司 | Method for achieving drive of universal serial bus (USB) camera on basis of ReWorks operation system |
| CN114898583A (en) * | 2022-07-13 | 2022-08-12 | 深圳市城市交通规划设计研究中心股份有限公司 | Signal lamp control scheme determining method and data processing method of intelligent traffic equipment |
| CN114898583B (en) * | 2022-07-13 | 2022-11-25 | 深圳市城市交通规划设计研究中心股份有限公司 | Signal lamp control scheme determining method and data processing method of intelligent traffic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103085054A (en) | Hot-line repair robot master-slave mode hydraulic pressure feedback mechanical arm control system and method thereof | |
| CN203077287U (en) | Master-slave mode hydraulic pressure feedback mechanical arm controlling system of charged repair robot | |
| CN103034246B (en) | Angular position wireless follow-up control device and method thereof | |
| CN104345678A (en) | Control device and control system used for frequency converter | |
| CN105163510A (en) | Chip mounting machine control system based on Ethernet control automation technology (EtherCAT) bus | |
| CN102692882A (en) | Wireless video control device for servo motor | |
| CN202661806U (en) | Wireless video control device for servo motor | |
| CN102354188B (en) | Full-automatic crown block scheduling system | |
| CN202093383U (en) | Field bus control module of VPC3+C chip-based electric execution mechanism | |
| CN211149265U (en) | Automatic synchronous control system | |
| CN209044344U (en) | A kind of driver control system | |
| CN105022341B (en) | A kind of control device and method of the automatic cloth fibre equipment of optical fiber flexible board | |
| CN105373080A (en) | Collaborative numerical control system based on soft bus | |
| CN202093382U (en) | Field bus control module of electric operating mechanism based on ADM2468 chip | |
| CN202707114U (en) | Visible support control system and coal extraction support with the same | |
| CN209261973U (en) | Digital hydraulic servo control device | |
| CN204679788U (en) | A kind of drone version intelligent machine electro hydraulic valve door actuating mechanism controls device | |
| CN209471361U (en) | AI edge control system | |
| CN107132847A (en) | A kind of AGV embedded control systems navigated based on tape and control method | |
| CN206892636U (en) | A kind of put-put attaching/detaching apparatus electric control system | |
| CN106933181A (en) | A kind of put-put attaching/detaching apparatus electric control system | |
| CN103064362A (en) | Tension machine long-distance cooperative control system and control method | |
| CN203299382U (en) | Multi-laser automatic focusing shooting device | |
| CN105554147A (en) | Three-dimensional virtual measurement and control method based on hybrid communication mode | |
| CN205983218U (en) | AVG control system and vehicle based on drive of CAN bus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120926 |