CN103439894B - A kind of shallow small underwater robot deck control system - Google Patents
A kind of shallow small underwater robot deck control system Download PDFInfo
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- CN103439894B CN103439894B CN201310362162.5A CN201310362162A CN103439894B CN 103439894 B CN103439894 B CN 103439894B CN 201310362162 A CN201310362162 A CN 201310362162A CN 103439894 B CN103439894 B CN 103439894B
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Abstract
The invention discloses a kind of shallow small underwater robot deck control system, including: for realizing the collection of two rocking bar data, the collection of deck unit electricity and the master control borad module communicated with underwater robot；Sending module, the one 485 communication module, the 2nd 485 communication module is divided to be connected with master control borad module by video differential received module, video difference, it is achieved communication, for the deck unit main control module that the deck control system of underwater robot is controlled；For continuous three-frame difference figure is split, and the moving target that obtains of segmentation is carried out morphology processing, it is transmitted with discontinuous and hole the video occurred after eliminating image segmentation and the video differential received module and the video difference that receive divide sending module；For judging 0 or 1 by low and high level, each agreement simply definition 01 arrangement mode and the one 485 communication module of meaning and the 2nd 485 communication module.Additionally, lighter weight of the present invention, it is simple to carry easy with attended operation.
Description
Technical field
The invention belongs to underwater robot technical field, particularly relate to a kind of shallow small underwater machine
People deck control system.
Background technology
Recent decades underwater robot has obtained significant progress.Underwater robot is from 20th century
Start the fifties to develop, start from the unmanned submersible of development and application the earliest, nineteen sixty the world
Upper First underwater robot is born, and is named as " CURV1 ".First is used for business in the world
Underwater robot be the RCV-225 of the U.S., it is mainly used in the development operation in coastal waters, it
Volume little, light weight, its long 66cm, wide 51cm, high 51cm, have 82kg.It
There are four propellers can realize the advance of submerged body, retreat and rise, declining, Alternating Current Power Supply,
220V/440V, 50～60Hz, initially form, through decades from this underwater robot industry
Development, underwater robot industry is the most ripe, and the producer of underwater robot is engaged in the whole world
Have upper hundred, it is provided that include complete machine, parts produce, the suite of services such as after sale.Miniature water
Lower robot all has been realized in commercialization in a lot of countries, but occurs mainly in flourishing state
Family.U.S., day, meaning, method, E Deng developed country robotics research aspect under water is in
Leading position.The observation type underwater robot that such as U.S. SeaBotix company develops
LBV150, its weight is 10.4Kg, and depth capacity is 150m under water, and body accessory is main
There are depth finder, sonar, shooting first-class and respective sensor, are mainly used for river dykes and dams
Check and bay police regards.It is exactly the microminiature underwater robot of Inuktun company production again:
VideoRayPro, specification is 35 × 22.5 × 21cm, weight 4kg, and maximum diving depth is 75m,
It is loaded with the equipment such as photographic head and scanning sonar.
China starts to develop underwater robot from the beginning of the eighties, and can produce and come from
Oneself underwater robot, some underwater robot has been applied to petroleum pipeline prospecting, military
Etc. aspect.The most famous surely belong to Harbin Engineering University and Shenyang China automation research water
Lower robot product.Wherein underwater robot " the dyke safety detection water of Harbin Engineering University
Lower robot " can realize the detection for embankment safety, the location of damage location and other
Hidden danger superintend and direct inspection.The microminiature underwater robot that Shenyang automation research is developed, it is possible to achieve
Autonomous depthkeeping, the basic function such as orientation, it is investigated some extraordinary underwater robots simultaneously and comes real
Existing special assignment.Wherein Shenyang automation research underwater robot have extra large people No.,
RECON.IV-SIAAA, Carassius auratus No. three etc., No. one in people from sea and RECON.IV-SIAAA belong to
In operation type underwater robot, Carassius auratus No. three belongs to observation type underwater robot.No. Hai Renyi long
2.7m, wide 1.59m, high 1.95m, in air, quality is 2198kg, it is possible to achieve depthkeeping,
Orientation, and have 6 function Two-way Feedback master slave manipulator arms, visual aspects is binocular vision.
The long 2.12m of RECON.IV-SIAAA, wide 1.03m, high 0.96m, in air, quality is
800kg, it is possible to achieve depthkeeping, orientation, and have 6/5 function master slave manipulator arm, vision
Aspect is monocular vision.A length of 0.6m of Carassius auratus No. three, wide 0.58m, high 0.35m, air
Middle quality is 34kg, and visual aspects is monocular vision.
Due to developing rapidly of underwater robot, it may apply to a lot of field, pipeline
Check: just with underwater robot, petroleum pipeline can be examined as in Bohai Sea leakage of oil event
Repair.
Scientific research: aquatic organism is observed, archaeology etc..
Amusement: underwater camera underwater photography etc..
Safety inspection: dam, the maintenance at harbour, the detection etc. of river pollution.
But the research of control station waterborne for underwater robot is less both at home and abroad, constrains under water
Machine man-based development.
Summary of the invention
The purpose of the embodiment of the present invention is to provide a kind of shallow small underwater robot deck to control
System, it is intended to the research solving control station waterborne for underwater robot both at home and abroad is less, restriction
The problem of underwater man-based development.
The embodiment of the present invention is achieved in that a kind of shallow small underwater robot deck controls system
System, this shallow small underwater robot deck control system includes: master control borad module, deck unit
Main control module, video differential received module, video difference divide sending module, the one 485 communication mould
Block, the 2nd 485 communication module；
For realizing the collection of two rocking bar data, the collection of deck unit electricity and with under water
The master control borad module that robot communicates；
With master control borad module by video differential received module, video difference divide sending module, first
485 communication modules, the 2nd 485 communication module connect, it is achieved communication, for underwater
The deck unit main control module that the deck control system of people is controlled；
For splitting continuous three-frame difference figure, and the moving target obtaining segmentation is carried out
Morphology processing, enters with discontinuous and hole the video occurred after eliminating image segmentation
Video differential received module and video difference that row sends and receives divide sending module；
For judging 0 or 1 by low and high level, each agreement simply definition 01 arrangement mode
And the one 485 communication module of meaning and the 2nd 485 communication module.
Further, deck unit main control module also includes: the 2nd AD acquisition module, second
485 communication modules, OSD character adding module, video differential received module, Voltage stabilizing module,
AC-DC module, the second battery charging module, Keysheet module, image storage module；
For analogue signal being converted into the 2nd AD acquisition module of digital signal, and for second
AD acquisition module provides the lithium voltage of voltage to connect；
With deck unit main control module, it is used for judging 0 or 1, each agreement by low and high level
Simply definition 01 arrangement mode and the 2nd 485 communication module of meaning；
Deck unit main control module is connected, for realizing what photographic head came by serial communication
The OSD character adding mould of the character Chinese character Time of Day information of needs it is superimposed with on AV video
Block；
It is connected with OSD character adding module, for continuous three-frame difference figure is split, and
The moving target obtaining segmentation carries out morphology processing, to go out after eliminating image segmentation
The video differential received module that existing discontinuous and hole video is received, by video information
It is sent to OSD character adding module；
It is connected with deck unit main control module, for providing power supply for deck unit main control module
Voltage stabilizing module；
Being connected with Voltage stabilizing module, being used for DC conversion is the AC-DC module of alternating current；
It is connected with AC-DC module, with the second battery charging module charged for battery；
It is connected with deck unit main control module, for carrying out the Keysheet module of information input；
It is connected with OSD character adding module, for carrying out the image storage mould of image information storage
Block, receives the superposed signal that OSD character adding module connects；
2 rocking bars are connected to the 2nd AD acquisition module through 6 road AD samplings.
Further, master control borad module also includes: video frequency switching module, video difference divide sending module,
One 485 communication module, an AD acquisition module, main board power supply module, DC-AC mould
Block, LED luminance control module, the first battery charging module；
It is all connected with 700 line black and white photographic head and 700 line colour imagery shots, is used for selecting video
The video frequency switching module of picture signal；
It is connected with video frequency switching module, for continuous three-frame difference figure is split, and to dividing
Cut the moving target obtained and carry out morphology processing, with occur after eliminating image segmentation
The video difference that discontinuous and hole video is transmitted divides sending module, receives video switching mould
The video signal of the selection of block；
Being connected with master control borad module, for judging 0 or 1 by low and high level, each agreement is only
It is definition 01 arrangement mode and the one 485 communication module of meaning, accepts master control borad module
Control；
It is connected with master control borad module, for analogue signal being converted into an AD of digital signal
Acquisition module；
It is connected with master control borad module, for providing the main board power supply mould of the energy for the work of mainboard
Block；
For being galvanic DC-AC module by AC conversion；
It is connected with power panel, controls mould for the LED luminance that the brightness of LED is controlled
Block；
It is connected with DC-AC module, for the first battery charging module for battery charging, connects
Receive the conversion signal of DC-AC module；
Master control borad module controls 2 photographic head The Cloud Terrace steering wheels, master control template die by PPM signal
Block controls 3 electric machine controllers by USART signal and reaches to control 3 brushed DCs
The purpose of motor, electronic compass is connected to underwater robot master control borad by IIC, temperature, deep
Degree and voltage signal are connected to an AD acquisition module of underwater robot master control borad.
Further, the one 485 communication module and the concrete connection of the one 485 communication module circuitry
For: 1 pin of chip U2 is connected to resistance R1,2 pins and 3 pins and is connected, 5 pins
Ground connection, 6 pins and 7 pins are connected respectively to 1 pin and 2 pins of P3, and 6 draw simultaneously
Connect between foot and 7 pins and have resistance R5,8 pins to connect+5V power supply ,+5V power supply and ground
Between connect have electric capacity C3.
Further, the design of Keysheet module circuit: by with the drawing of master chip ATmega128
Foot carries out configuring and carrying out communication with underwater portion, realizes corresponding function by corresponding button,
Each button is all connected to the corresponding port of Atmega128 chip, by scanning keyboard, presses
Obtain corresponding return value.
Further, video differential received module and video difference distribution send the connection of modular circuit to be:
1 pin of chip U15 and 2 pins are connected and are followed by+5V power supply, and 3 pins pass through resistance R22
Being connected to COM end, 3 pins are also connected to 2 pins of P18, the 6 of chip U15 simultaneously
Pin connects 1 pin of P18, and 7 pins of chip U15 and 8 pins are connected and are followed by-5V power supply,
9 pins connect-5V power supply, and 10 pins connect COM end, 11 pins, 12 pins and 13 pins
Being connected and be followed by-5V power supply, 15 pins are followed by COM end by series resistance R23 with R29,
16 pins connect COM end, are parallel with electric capacity C42 and electric capacity C44 between-5V power supply and ground.
Further, the connection of video frequency switching module circuit is: chip U14 Yu U16 is biserial
16 foot encapsulation chips, it includes three groups of video switching switches and one group of blanking buffering or door amplifies
Device, provides RGB conversion, RGB television set socket, internal RGB as integrated circuit
Connection between generator and video processor.
Further, the electric quantity of power supply display circuit of shallow small underwater robot deck control system
It is connected as: the electricity of battery shows to be exactly a road AD sampling, by this simulation of the electricity of battery
Signal is converted to digital signal, and 1 pin of chip U6 and 2 pins are connected, and 3 pins connect
Between resistance R13 and R14,3 pins are by ground connection after electric capacity C23,4 pins simultaneously
Being directly grounded, 8 pins connect+5V power supply, be parallel with between+5V power supply and ground electric capacity C24 with
C25。
The shallow small underwater robot deck control system that the present invention provides, by controlling for deck
The type selecting of the modules device of system processed, main control module, power module, man-machine interaction mould
The design of block, thus design a deck control system that can meet primary demand.This
The bright one that mainly have studied is for controlling the small-sized first having cable underwater robot (underwater robot)
Panel control system, is directed to both at home and abroad that nobody has the underwater robot (underwater robot) of cable remote control
State of development, the small underwater robot designed by cumulated volume laboratory, develop a kind of use
In controlling the small-sized deck control system having cable underwater robot (underwater robot).Additionally,
Small volume of the present invention, lighter weight, it is simple to carry easy with attended operation.
Accompanying drawing explanation
Fig. 1 is the shallow small underwater robot deck control system that the embodiment of the present invention provides
The structured flowchart of main control module；
Fig. 2 is the structured flowchart of the deck unit main control module that the embodiment of the present invention provides；
Fig. 3 is that the one 485 communication module that the embodiment of the present invention provides communicates with the 2nd 485 mould
The control circuit figure of block；
Fig. 4 is the control circuit figure of the Keysheet module that the embodiment of the present invention provides；
Fig. 5 be the embodiment of the present invention provide video differential received module and video difference distribution give
The circuit diagram of module；
Fig. 6 is the circuit diagram of the video conversion module that the embodiment of the present invention provides；
Fig. 7 is the circuit diagram that the electric quantity of power supply that the embodiment of the present invention provides shows；
Fig. 8 is the circuit diagram of the supply voltage conversion that the embodiment of the present invention provides；
Fig. 9 is the circuit diagram of the three-dimensional potentiometer that the embodiment of the present invention provides；
Figure 10 is the circuit diagram of the clock simulation that the embodiment of the present invention provides；
In figure: 1, master control borad module；1-1, video frequency switching module；The distribution of 1-2, video difference is sent
Module；1-3, the one 485 communication module；1-4, an AD acquisition module；2, mainboard supplies
Electricity module；3, DC-AC module；4, LED luminance control module；5, the first battery charging
Module；6, deck unit main control module；；6-1, the 2nd AD acquisition module；6-2, second
485 communication modules；7, OSD character adding module；8, video differential received module；9、
Voltage stabilizing module；10, AC-DC module；11, the second battery charging module；12, keyboard mould
Block；13, image storage module.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with
Embodiment, is further elaborated to the present invention.Should be appreciated that tool described herein
Body embodiment only in order to explain the present invention, is not intended to limit the present invention.
Fig. 1 shows the shallow small underwater robot deck Control system architecture that the present invention provides.
For convenience of description, illustrate only part related to the present invention.
The shallow small underwater robot deck control system of the present invention, this shallow small underwater robot
Deck control system includes: master control borad module, deck unit main control module, video differential received
Module, video difference divide sending module, the one 485 communication module, the 2nd 485 communication module；
For realizing the collection of two rocking bar data, the collection of deck unit electricity and with under water
The master control borad module that robot communicates；
With master control borad module by video differential received module, video difference divide sending module, first
485 communication modules, the 2nd 485 communication module connect, it is achieved communication, for underwater
The deck unit main control module that the deck control system of people is controlled；
For splitting continuous three-frame difference figure, and the moving target obtaining segmentation is carried out
Morphology processing, enters with discontinuous and hole the video occurred after eliminating image segmentation
Video differential received module and video difference that row sends and receives divide sending module；
For judging 0 or 1 by low and high level, each agreement simply definition 01 arrangement mode
And the one 485 communication module of meaning and the 2nd 485 communication module.
As a prioritization scheme of the embodiment of the present invention, deck unit main control module also includes: the
Two AD acquisition modules, the 2nd 485 communication module, OSD character adding module, video difference
Divide receiver module, Voltage stabilizing module, AC-DC module, the second battery charging module, keyboard mould
Block, image storage module；
For analogue signal being converted into the 2nd AD acquisition module of digital signal, and for second
AD acquisition module provides the lithium voltage of voltage to connect；
With deck unit main control module, it is used for judging 0 or 1, each agreement by low and high level
Simply definition 01 arrangement mode and the 2nd 485 communication module of meaning；
Deck unit main control module is connected, for realizing what photographic head came by serial communication
The OSD character adding mould of the character Chinese character Time of Day information of needs it is superimposed with on AV video
Block；
It is connected with OSD character adding module, for continuous three-frame difference figure is split, and
The moving target obtaining segmentation carries out morphology processing, to go out after eliminating image segmentation
The video differential received module that existing discontinuous and hole video is received, by video information
It is sent to OSD character adding module；
It is connected with deck unit main control module, for providing power supply for deck unit main control module
Voltage stabilizing module；
Being connected with Voltage stabilizing module, being used for DC conversion is the AC-DC module of alternating current；
It is connected with AC-DC module, with the second battery charging module charged for battery；
It is connected with deck unit main control module, for carrying out the Keysheet module of information input；
It is connected with OSD character adding module, for carrying out the image storage mould of image information storage
Block, receives the superposed signal that OSD character adding module connects；
2 rocking bars are connected to the 2nd AD acquisition module through 6 road AD samplings.
As a prioritization scheme of the embodiment of the present invention, master control borad module also includes: video switches
Module, video difference divide sending module, the one 485 communication module, an AD acquisition module,
Main board power supply module, DC-AC module, LED luminance control module, the first battery charging mould
Block；
It is all connected with 700 line black and white photographic head and 700 line colour imagery shots, is used for selecting video
The video frequency switching module of picture signal；
It is connected with video frequency switching module, for continuous three-frame difference figure is split, and to dividing
Cut the moving target obtained and carry out morphology processing, with occur after eliminating image segmentation
The video difference that discontinuous and hole video is transmitted divides sending module, receives video switching mould
The video signal of block；
Being connected with master control borad module, for judging 0 or 1 by low and high level, each agreement is only
It is definition 01 arrangement mode and the one 485 communication module of meaning, accepts master control borad module
Control；
It is connected with master control borad module, for analogue signal being converted into an AD of digital signal
Acquisition module；
It is connected with master control borad module, for providing the main board power supply mould of the energy for the work of mainboard
Block；
For being galvanic DC-AC module by AC conversion；
It is connected with power panel, controls mould for the LED luminance that the brightness of LED is controlled
Block；
It is connected with DC-AC module, for the first battery charging module for battery charging, connects
Receive the conversion signal of DC-AC module；
Master control borad module controls 2 photographic head The Cloud Terrace steering wheels, master control template die by PPM signal
Block controls 3 electric machine controllers by USART signal and reaches to control 3 brushed DCs
The purpose of motor, electronic compass is connected to underwater robot master control borad by IIC, temperature, deep
Degree and voltage signal are connected to an AD acquisition module of underwater robot master control borad.
As a prioritization scheme of the embodiment of the present invention, the one 485 communication module and the 1st
Specifically being connected as of communication module circuitry: 1 pin of chip U2 is connected to resistance R1, and 2 draw
Foot and 3 pins are connected, and 5 pin ground connection, 6 pins and 7 pins are connected respectively to the 1 of P3
Pin and 2 pins, connect between 6 pins and 7 pins simultaneously and have resistance R5,8 pins to meet+5V
Power supply, is connected between+5V power supply and ground and has electric capacity C3.
As a prioritization scheme of the embodiment of the present invention, the design of Keysheet module circuit: by with
The pin of master chip ATmega128 carries out configuring and carrying out communication with underwater portion, by right
Answering button to realize corresponding function, each button is all connected to the respective end of Atmega128 chip
Mouthful, by scanning keyboard, press and obtain corresponding return value.
As a prioritization scheme of the embodiment of the present invention, video differential received module and video difference
The connection of sending module circuit is: 1 pin of chip U15 and 2 pins are connected and are followed by+5V
Power supply, 3 pins are connected to COM end by resistance R22, and 3 pins are also connected to P18 simultaneously
2 pins, 6 pins of chip U15 connect 1 pin of P18,7 pins of chip U15
Being connected with 8 pins and be followed by-5V power supply, 9 pins connect-5V power supply, and 10 pins connect COM end,
11 pins, 12 pins and 13 pins are connected and are followed by-5V power supply, and 15 pins pass through series electrical
Resistance R23 Yu R29 is followed by COM end, and 16 pins connect COM end, between-5V power supply and ground
It is parallel with electric capacity C42 and electric capacity C44.
As a prioritization scheme of the embodiment of the present invention, the connection of video frequency switching module circuit is:
Chip U14 Yu U16 is that biserial 16 foot encapsulates chip, its include three groups of videos switching switch and
One group of blanking buffering or gate amplifier, provide RGB conversion, RGB electricity as integrated circuit
Depending on machine transplanting of rice mouth, the connection between internal RGB generator and video processor.
As a prioritization scheme of the embodiment of the present invention, shallow small underwater robot deck controls system
The connection of the electric quantity of power supply display circuit of system is: the electricity of battery shows to be exactly that a road AD adopts
Sample, is converted to digital signal by this analogue signal of the electricity of battery, 1 pin of chip U6
Being connected with 2 pins, 3 pins are connected between resistance R13 and R14, and 3 pins pass through simultaneously
Ground connection after electric capacity C23,4 pins are directly grounded, and 8 pins connect+5V power supply ,+5V power supply with
Electric capacity C24 and C25 it is parallel with between ground.
Below in conjunction with the accompanying drawings and the application principle of the present invention is further described by specific embodiment.
As depicted in figs. 1 and 2, the shallow small underwater robot deck of the embodiment of the present invention controls
System mainly by master control borad module 1, video frequency switching module 1-1, video difference divide sending module 1-2,
One 485 communication module 1-3, an AD acquisition module 1-4, main board power supply module 2, DC-AC
Module 3, LED luminance control module the 4, first battery charging module 5, deck unit master control
Module the 6, the 2nd AD acquisition module 6-1, the 2nd 485 communication module 6-2, OSD character are folded
Add module 7, video differential received module 8, Voltage stabilizing module 9, AC-DC module 10, second
Battery charging module 11, Keysheet module 12, image storage module 13 form；Its control electricity
Road, mainly includes deck unit main control module 6 circuit diagram, underwater robot master control borad module 1
Circuit diagram and power module circuitry figure, wherein deck unit main control module 6 and underwater robot master
Between control plate module 1 by video differential received module 8 and video difference divide sending module 1-2 and
One 485 communication module 1-3 and the 2nd 485 communication module 6-2 are attached communication；Deck
Unit main control module 6 enters with DC-AC module 3 with the AD-DC module 10 of power strip module
Row connects；Underwater robot master control borad module 1 is connected by control line with power module, power supply
Module is powered to underwater robot master control borad by main board power supply module 2.
As in figure 2 it is shown, the connection of deck unit main control module 6 circuit: deck unit master control mould
Block 6 controls OSD character adding module 7, OSD character adding module 7 by serial communication
Receiving the information from video differential received module 8, OSD character adding module 7 connects simultaneously
Receive liquid crystal display screen and image storage module 13；Lithium voltage provides for the 2nd AD acquisition module 6-1
Voltage；2 rocking bars are connected to the 2nd AD acquisition module 6-1, key through 6 road AD samplings
Disk module 12 is directly connected on deck unit master control borad, and AC-DC module 10 is simultaneously to the
Two battery charging module 11 provide unidirectional current with Voltage stabilizing module 9, the second battery charging module 11
Charging for 12V battery, 12V battery provides power supply for Voltage stabilizing module 9, meanwhile, and voltage stabilizing mould
Block 9 provides power supply for deck unit main control module；
For realizing the collection of two rocking bar data, the collection of deck unit electricity and with under water
The master control borad module 1 that robot communicates；Lead to 1 with master control borad module and cross video differential received
Module 8, video difference divide sending module 1-2, the one 485 communication module 1-3, the 2nd 485 lead to
Letter module 6-2 connects, it is achieved communication, for carrying out the deck control system of underwater robot
The deck unit main control module 6 controlled；
For splitting continuous three-frame difference figure, and the moving target obtaining segmentation is carried out
Morphology processing, enters with discontinuous and hole the video occurred after eliminating image segmentation
Video differential received module 8 and video difference that row sends and receives divide sending module 1-2；
For judging 0 or 1 by low and high level, each agreement simply definition 01 arrangement mode
And the one 485 communication module 1-3 of meaning and the 2nd 485 communication module 6-2.
Deck unit main control module 6 also includes: the 2nd AD acquisition module 6-1, the 2nd 485
Communication module 6-2, OSD character adding module 7, video differential received module 8, voltage stabilizing mould
Block 9, AC-DC module the 10, second battery charging module 11, Keysheet module 12, image are deposited
Storage module 13；
For analogue signal being converted into the 2nd AD acquisition module 6-1 of digital signal, with for
2nd AD acquisition module 6-1 provides the lithium voltage of voltage to connect；
With deck unit main control module 6, for judging 0 or 1 by low and high level, respectively assist
View simply definition 01 arrangement mode and the 2nd 485 communication module 6-2 of meaning；
Deck unit main control module 6 is connected, for realizing what photographic head came by serial communication
The OSD character adding module of the character Chinese character Time of Day information of needs it is superimposed with on AV video
7；
It is connected with OSD character adding module 7, for continuous three-frame difference figure is split,
And carry out morphology processing to splitting the moving target obtained, after eliminating image segmentation
Video differential received 8 module that discontinuous and hole the video occurred is received, by video
Information is sent to OSD character adding module 7；It is connected with deck unit main control module 6, is used for
The Voltage stabilizing module 9 of power supply is provided for deck unit main control module 6；It is connected with Voltage stabilizing module 9,
For by AC-DC module 10 that DC conversion is alternating current；With AC-DC module 10 even
Connect, with the second battery charging module 11 charged for battery；With deck unit main control module 6
Connect, for carrying out the Keysheet module 12 of information input；With OSD character adding module 7 even
Connect, for carrying out the image storage module 13 of image information storage, receive OSD character adding
The superposed signal of module 7；2 rocking bars are connected to the 2nd AD through 6 road AD samplings and gather
Module 6-1.
Master control borad module 1 also includes: video frequency switching module 1-1, video difference divide sending module 1-2,
One 485 communication module 1-3, an AD acquisition module 1-4, main board power supply module 2, DC-AC
Module 3, LED luminance control module the 4, first battery charging module 5；With 700 line black and white
Photographic head and 700 line colour imagery shots are all connected with, for selecting the video of video signal to cut
Die change block 1-1；It is connected with video frequency switching module 1-1, for continuous three-frame difference figure is carried out
Segmentation, and the moving target that obtains of segmentation is carried out morphology processing, divides eliminating image
The video difference that discontinuous and hole the video occurred after cutting is transmitted divides sending module 1-2,
Receive the video signal 1-1 of the selection of video frequency switching module；It is connected 1 with master control borad module, uses
In judging 0 or 1 by low and high level, each agreement simply definition 01 arrangement mode and meaning
The one 485 communication module 1-3, accept the control of master control borad module 1；With master control borad module
1 connects, for analogue signal is converted into an AD acquisition module 1-4 of digital signal；
It is connected with master control borad module 1, for providing the main board power supply module 2 of the energy for the work of mainboard；
For being galvanic DC-AC module 3 by AC conversion；It is connected with power panel, is used for
The LED luminance control module 4 that the brightness of LED is controlled；With DC-AC module 3
Connect, for the first battery charging module 5 for battery charging, receive DC-AC module 3
Conversion signal；
Master control borad module 1 controls 2 photographic head The Cloud Terrace steering wheels, master control borad by PPM signal
Module 1 controls 3 electric machine controllers by USART signal and reaches to control 3 and have brush
The purpose of direct current generator, electronic compass is connected to underwater robot master control borad by IIC, temperature,
The degree of depth and voltage signal are connected to an AD acquisition module 1-4 of underwater robot master control borad.
As it is shown in figure 1, the connection of underwater robot master control borad modular circuit: 700 line black and white are taken the photograph
As head and 700 line colour imagery shots are all connected to the video switching mould of underwater robot master control borad
Block 1-1, underwater robot master control borad controls 2 photographic head The Cloud Terrace steering wheels by PPM signal,
Underwater robot master control borad controls 3 electric machine controllers by USART signal and has reached control
The purpose of 3 brushed DC motors of system, electronic compass is connected to underwater robot master by IIC
Control plate, temperature, the degree of depth and voltage signal are connected to an AD of underwater robot master control borad and adopt
Collection module 4.
As it is shown on figure 3, the one 485 communication module 1-3 and the one 485 communication module 6-2 electricity
Specifically being connected as of road: 1 pin of chip U2 is connected to resistance R1,2 pins and 3 pins
It is connected, 5 pin ground connection, 6 pins and 7 pins are connected respectively to 1 pin and 2 pins of P3,
Connect between 6 pins and 7 pins simultaneously and have resistance R5,8 pins to connect+5V power supply ,+5V electricity
It is connected between source with ground and has electric capacity C3；
As shown in Figure 4, the design of Keysheet module 12 circuit: mainly by with master chip
The pin of ATmega128 carries out configuring and carrying out communication with underwater portion, by corresponding button
Realizing corresponding function, each button is all connected to the corresponding port of Atmega128 chip, logical
Overscanning keyboard, presses and obtains corresponding return value；
As it is shown in figure 5, video differential received module 8 and video difference divide sending module 1-2 circuit
Design: 1 pin of chip U15 and 2 pins are connected and are followed by+5V power supply, and 3 pins pass through
Resistance R22 is connected to COM end, and 3 pins are also connected to 2 pins of P18, chip simultaneously
6 pins of U15 connect 1 pin of P18, after 7 pins of chip U15 and 8 pins are connected
Connecing-5V power supply, 9 pins connect-5V power supply, and 10 pins connect COM end, 11 pins, 12 draw
Foot and 13 pins are connected and are followed by-5V power supply, and 15 pins pass through series resistance R23 and R29
Being followed by COM end, 16 pins connect COM end, are parallel with electric capacity C42 between-5V power supply and ground
With electric capacity C44；
As shown in Figure 6, the design of video frequency switching module 1-1 circuit: chip U14 and U16
That biserial 16 foot encapsulates chip, its include three groups of videos switching switch and one group of blanking buffering or
Gate amplifier, provides RGB conversion, RGB television set socket, inside as integrated circuit
Connection between RGB generator and video processor.
As it is shown in fig. 7, the design of electric quantity of power supply display circuit: the electricity of battery shows to be exactly one
Road AD samples, and this analogue signal of the electricity of battery is converted to digital signal, chip U6
1 pin and 2 pins be connected, 3 pins are connected between resistance R13 and R14, simultaneously 3
Pin is by ground connection after electric capacity C23, and 4 pins are directly grounded, and 8 pins meet+5V power supply ,+5V
Electric capacity C24 and C25 it is parallel with between power supply and ground；
As shown in Figure 8, the design of power supply voltage converting circuit: exchange turns direct current chip, uses
Three relays, including AC relay and DC relay；
DC-AC module 3 in power strip module provides direct current to the first battery charging module 5
Electricity, the first battery charging module 5 can be to six groups of Ni-MH battery chargings；
LED luminance control module 4 in power strip module can control 1 500 lumen LED
With 2 900 lumen LED；
As it is shown in figure 9, the design of the control circuit of three-dimensional potentiometer: P4, P5 are electricity respectively
Position device outlet slot, has five lines with one, is+5V, GND and three signal line respectively.
1 pin of P4 in figure, P5 is all+5V, and 5 pins are that 4 pins of GND, P4 meet mega128
PF5,3 pins meet PF4, and 2 pins meet PF3, and 4 pins of P5 meet PF2, and 3 draw
Foot meets PF1, and 2 pins meet PF0.And the indirect electric capacity of+5V power supply and GND is to filter
Ripple so that it is the signal of potentiometer is more preferable；
As shown in Figure 10, the design of clock module circuit: 2 pins of chip U4 meet+5V
Power supply, 4 pins connect the button of the RESET in master boards, 5 pins, 6 pins, 7
After pin, 87 pins, 9 pins, 10 pins, 11 pins, 12 pins, 13 pins are connected
Being connected with 2 pins and have electric capacity C7,14 pins are by ground connection, 15 pins after battery folder BT1
It is followed by+5V power supply by pull-up resistor R11 and pull-up resistor R12 respectively with 16 pins.
The operation principle of the present invention:
The design of main control circuit is with AVR series A Tmega128 as main control chip, with
This designs debugging modules, mainly on the basis of master chip AVRATmega128
By to each pin input and output and configuration, and coordinate with external circuit, constitute whole together
The main part of body design；Main control module mainly realizes the collection of two rocking bar data, and deck is single
Unit's collection of electricity and communicating with underwater robot, the control of clock chip, and soft
The control of keyboard includes depthkeeping, orientation, constant speed, and underwater robot main part under water
Multistage Control of LED etc..
The power supply of underwater robot under water is mainly controlled by power panel, including using outside 220V
Alternating current power supply turns the conversion of 300V DC source, 300V direct current turn 8V direct current to motor and
Battery charging etc. within underwater robot.From the point of view of coming with regard to the control of whole circuit, P9 is
The input point of power supply is still for the ground connection contrast of 12V and 300V, when switch switchs
After opening, battery can be energized to AXICOM, and thus its electric shock will have original position to get to
On 9 and 8, then energising is got an electric shock in original change in location to 5 and 4 by G2RL, from
And control output, through the ac-dc conversion of FARM by original after P9 connects external power supply
Voltage is converted to 300V thus output is to underwater portion, and underwater portion is through DC-DC
300V being converted to 6V thus directly powers for motor and pass through another modular converter will
It is underwater battery charging that 300V unidirectional current is converted to 12V DC source.And deck control system
Charging be have single charging module by P6 be battery charge thus realize to deck control
The AC/DC conversion of system.Control the charging to deck control system battery.
OSD video module, is the Video Output Modules of design based on QL504A, at PAL
The analog video signal of standard is superimposed with the character of required display, including sensor information,
Power information, clock information etc..
Human-computer interaction module is part the most intuitively on the control station of deck, and the most apparently it can divide
For three-dimensional potentiometer part, soft keyboard part, video module part.By to three being during work
The operation of potentiometer can see that from video section we operate steering wheel intuitively, the effect of motor
Really, and the change of LED can be seen too intuitively by the operation of keyboard, submersible
The information such as position course angle, realize corresponding function by corresponding button, each button connects
Receive the corresponding port of Atmega128 chip, by scanning keyboard, press and returned accordingly
Returning value, not pressing return value is 0, and communicating with by RS485 of return value is sent to
On panel, panel chip is by judging that return value determines function to be realized.So it is right
For the control system of whole deck, interactive mode is a vital part.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention,
All any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention,
Should be included within the scope of the present invention.
Claims (8)
1. a shallow small underwater robot deck control system, it is characterized in that, this shallow small underwater robot deck control system includes: master control borad module, deck unit main control module, video differential received module, video difference divide sending module, the one 485 communication module, the 2nd 485 communication module；
For the collection of deck unit electricity and the master control borad module that communicates with underwater robot；
Sending module, the one 485 communication module, the 2nd 485 communication module is divided to be connected with master control borad module by video differential received module, video difference, it is achieved communication, for the deck unit main control module that the deck control system of underwater robot is controlled；
For continuous three-frame difference figure is split, and the moving target that obtains of segmentation is carried out morphology processing, it is transmitted with discontinuous and hole the video information occurred after eliminating image segmentation and the video difference that receives divides sending module and video differential received module；
For judging 0 or 1 by low and high level, each agreement simply definition 01 arrangement mode and the one 485 communication module of meaning and the 2nd 485 communication module.
Shallow small underwater robot deck the most as claimed in claim 1 control system, it is characterized in that, including: deck unit main control module, the 2nd AD acquisition module, the 2nd 485 communication module, OSD character adding module, video differential received module, Voltage stabilizing module, AC-DC module, the second battery charging module, Keysheet module, image storage module；
For analogue signal being converted into the 2nd AD acquisition module of digital signal, it is connected with providing the lithium voltage of voltage for the 2nd AD acquisition module；
It is connected with deck unit main control module, for judging 0 or 1 by low and high level, each agreement simply definition 01 arrangement mode and the 2nd 485 communication module of meaning；
Deck unit main control module is connected, for realizing being superimposed with in the AV video information that photographic head comes the OSD character adding module of the character Chinese character Time of Day information of needs by serial communication；
It is connected with OSD character adding module, for continuous three-frame difference figure is split, and carry out morphology processing to splitting the moving target obtained, the video differential received module being received with discontinuous and hole the video occurred after eliminating image segmentation, is sent to OSD character adding module by video information；
It is connected with deck unit main control module, for providing the Voltage stabilizing module of power supply for deck unit main control module；
Being connected with Voltage stabilizing module, being used for DC conversion is the AC-DC module of alternating current；
It is connected with AC-DC module, for the second battery charging module of battery charging；
It is connected with deck unit main control module, for carrying out the Keysheet module of information input；
It is connected with OSD character adding module, for carrying out the image storage module of image information storage, receives the superposed signal that OSD character adding module connects；
2 rocking bars are connected to the 2nd AD acquisition module through 6 road AD samplings.
Shallow small underwater robot deck the most as claimed in claim 1 control system, it is characterised in that including: master control borad module, video frequency switching module, video difference divide sending module, the one 485 communication module, an AD acquisition module, main board power supply module, DC-AC module, LED luminance control module, the first battery charging module；
It is all connected with 700 line black and white photographic head and 700 line colour imagery shots, for selecting the video frequency switching module of video signal；
It is connected with video frequency switching module, for continuous three-frame difference figure is split, and carry out morphology processing to splitting the moving target obtained, with the discontinuous and video information of hole occurred after eliminating image segmentation, and video difference video information being transmitted divides sending module, receive the video signal of the selection of video frequency switching module；
It is connected with master control borad module, for judging 0 or 1 by low and high level, each agreement simply definition 01 arrangement mode and the one 485 communication module of meaning, accept the control of master control borad module；
It is connected with master control borad module, for analogue signal being converted into an AD acquisition module of digital signal；
It is connected with master control borad module, for providing the main board power supply module of the energy for the work of master control borad module；
For being galvanic DC-AC module by AC conversion；
It is connected with master control borad module, for the LED luminance control module that the brightness of LED is controlled；
It is connected with DC-AC module, for the first battery charging module for battery charging, receives the conversion signal of DC-AC module；
Master control borad module controls 2 photographic head The Cloud Terrace steering wheels by PPM signal, master control borad module controls 3 electric machine controllers by USART signal, electric machine controller produces corresponding voltage signal and controls 3 brushed DC motors, electronic compass is connected to underwater robot master control borad module by IIC, and temperature, the degree of depth and voltage signal are connected to an AD acquisition module.
Shallow small underwater robot deck the most as claimed in claim 1 control system, it is characterized in that, specifically being connected as of one 485 communication module circuitry: 1 pin of chip MAX481CSA is connected to resistance R1,2 pins and 3 pins are connected, 5 pin ground connection, 6 pins and 7 pins are connected respectively to 1 pin and 2 pins of P3, connect simultaneously and have resistance R5 between 6 pins and 7 pins, 8 pins connect+5V power supply, and being connected between+5V power supply and ground has electric capacity C3.
Shallow small underwater robot deck the most as claimed in claim 2 control system, it is characterized in that, the design of Keysheet module circuit: carry out configuring and carrying out communication with underwater portion by the pin of master chip ATmega128, and each button of corresponding connection, by scanning keyboard, press and obtain corresponding return value.
nullShallow small underwater robot deck the most as claimed in claim 1 control system，It is characterized in that，The distribution of video differential received module and video difference send the connection of modular circuit to be: 1 pin of chip MAX4444ESE and 2 pins are connected and are followed by+5V power supply，3 pins are connected to COM end by resistance R22，3 pins are also connected to 2 pins of P18 simultaneously，6 pins of chip MAX4444ESE connect 1 pin of P18，7 pins of chip MAX4444ESE and 8 pins are connected and are followed by-5V power supply，9 pins connect-5V power supply，10 pins connect COM end，11 pins、12 pins and 13 pins are connected and are followed by-5V power supply，15 pins are followed by COM end by series resistance R23 with R29，16 pins connect COM end，Electric capacity C42 and electric capacity C44 it is parallel with between-5V power supply and ground.
Shallow small underwater robot deck the most as claimed in claim 3 control system, it is characterized in that, the connection of video frequency switching module circuit is: chip TEA5114A is that biserial 16 foot encapsulates chip, it includes three groups of video switching switches and one group of blanking buffering or gate amplifier, RGB conversion is provided as integrated circuit, RGB television set socket, the connection between internal RGB generator and video processor.
Shallow small underwater robot deck the most as claimed in claim 1 control system, it is characterized in that, the connection of the electric quantity of power supply display circuit of shallow small underwater robot deck control system is: the electricity of battery shows to be exactly a road AD sampling, this analogue signal of the electricity of battery is converted to digital signal, 1 pin of chip AD826AR and 2 pins are connected, 3 pins are connected between resistance R13 and R14,3 pins are by ground connection after electric capacity C23 simultaneously, 4 pins are directly grounded, 8 pins connect+5V power supply, are parallel with electric capacity C24 and C25 between+5V power supply and ground.
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| CN109141539A (en) * | 2018-10-26 | 2019-01-04 | 中国科学院深海科学与工程研究所 | A kind of underwater Multifunctional AC motor control and test device |
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