CN106541413A - Based on Arduino platforms and the underwater robot control system of machine vision module - Google Patents
Based on Arduino platforms and the underwater robot control system of machine vision module Download PDFInfo
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- CN106541413A CN106541413A CN201610887641.2A CN201610887641A CN106541413A CN 106541413 A CN106541413 A CN 106541413A CN 201610887641 A CN201610887641 A CN 201610887641A CN 106541413 A CN106541413 A CN 106541413A
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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
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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
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- 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
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- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present invention relates to machine vision and underwater robot field, it is desirable to provide a kind of based on Arduino platforms and the underwater robot control system of 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 ICSP interfaces by FC 10P data wires, and Arduino controllers are connected with two motor drive modules by 8 numeral I/O interfaces, and power supply is connected to each part and realizes power supply.In the present invention based on Arduino platforms and the robot control system of machine vision module, be with Arduino controllers as core, coordinate CMUcam5 machine vision modules target tracking function, the system possesses low cost, development difficulty is easier to, and system architecture is simple, and accuracy it is high the advantages of.
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 consumption of the mankind to natural resources is continued to increase, land resources engenders exhaustion, and sight is turned to by the mankind
Ocean, includes abundant living resources, mineral resources and marine energy, and underwater robot is to explore sea in wide ocean
The important tool in ocean.The research of underwater robot is related to hydrodynamics, bionics, electric mechanical, signal transacting, computer section
Numerous subjects such as, machine vision, strengthen underwater robot technology and will be helpful to the exploitation to marine resources, so as to solve instantly
The problem of shortage of resources.Meanwhile, go to explore Sea World using underwater robot, our understanding to ocean will be deepened, opened
Its mysterious veil.
Machine vision technique is belonging to a great branch of artificial intelligence, and it is referred to by optical, non-contacting biography
Sensor automatically obtains the image with one real-world object of interpretation process, with obtain information needed or for control machine movement or
Process；Machine vision technique be related to digital image processing techniques, pattern-recognition, automatically control, light source and optical imagery knowledge, mould
The multidisciplinary theory and technology such as plan 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..
At present, underwater robot control system has Control system architecture complexity, development difficulty greatly and development cost
High the problems such as, and the integration capability requirement generally to developer is higher, needs to grasp the knowwhy of correlation in advance, leads
Cause the whole construction cycle longer, have a strong impact on underwater robot development efficiency.
Undersea search task species is various, and it is a kind of typical mission therein to find and follow the trail of object, such as track up,
Find and follow the trail of specific aquatic organism, searching lost objects under water etc..The mode for finding tracking object has many kinds, such as 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 and explore etc.
Environment, is had the advantages that by the way of the image recognition based on machine vision module low cost, accuracy are high, is easily extended.
The problem for existing is developed for current underwater robot, need to further explore and study a kind of flat 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, realizes code reuse, and simplied system structure improves set expandability, significantly reduces development difficulty and develop into
This, provides strong technical support for national marine strategy.
The content of the invention
The technical problem to be solved in the present invention is to overcome deficiency of the prior art, there is provided a kind of to be based on Arduino platforms
With the underwater robot control system of machine vision module.
To solve technical problem, the solution of the present invention is：
There is provided a kind of based on Arduino platforms and the underwater robot control system of machine vision module, including motor drives
Dynamic model block, the control system also include Arduino controllers, machine vision sensor, bluetooth module and power supply；The company of each part
The relation of connecing is：Arduino controllers are connected to machine vision sensor, Arduino by ICSP interfaces by FC-10P data wires
Controller is connected with two motor drive modules by 8 numeral I/O interfaces, and power supply is connected to each part 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 thereon, flash memory, SRAM and electricallyerasable ROM (EEROM) are loaded,
Microprocessor is connected with flash memory, SRAM and electricallyerasable ROM (EEROM) respectively；
The input/output interface board has 14 railway digital I/O pins, wherein 6 pass pin are exported as PWM；It is additionally provided with 6
Road simulation input, 1 16MHz crystal oscillators, 1 USB interface, 1 supply hub, 1 ICSP joint and 1 reset are pressed
Button.
In the present invention, the machine vision sensor includes processor, imageing sensor, random access memory, sudden strain of a muscle
Deposit and camera lens；Camera lens, random access memory, imageing 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 pin which draws interface, point
Wei not VCC, GND, TXD, RXD, KEY, STATE；Bluetooth module is provided with LED light for showing bluetooth connection state,
Can use 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, supports from the standard baud rate between 4800bps-1382400bps.
In the present invention, the motor drive module is encapsulated using 15 pin, 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 end when two, is allowed in the case where not affecting by input signal or is forbidden device work to have a logic power input
End, makes internal logic circuit part work under the low-voltage of+5V～+7V, and variable quantity is fed back to by the external detection resistance of energy
Control circuit, the motor drive module are input into corresponding pwm signal from IN1, IN2, IN3, IN4 to control turning for two motors respectively
Speed and direction, wherein tetra- interfaces of IN1, IN2, IN3, IN4 are connected respectively to four numeral I/O interfaces of Arduino controllers,
By level height come the rotating of controlled motor, by the rotating speed of pulse width modulation controlled motor.
Inventive principle is described：
The Arduino controllers adopt UNO R3 models, support various interactive softwares, it is possible to easily with various biographies
Sensor and electronic building brick connection.Arduino UNO R3 controllers are the simple input/output interface boards of one piece of USB interface, by which
Microprocessor control read-write memory, complete the data transfer of high speed, and its transfer rate is up to 9600bit/s.
In the present invention, the machine vision sensor adopts CMUcam5 (Pixy), supports SPI, I2C, USB, UART, mould
Fit the multiple communication interfaces such as numeral to carry out data transmission, can use cooperatively with various controller, such as Arduino controllers.
Distance of the machine vision sensor to target object location and between the two is calculated, and Arduino controllers are read every 50 milliseconds
The scanning result of vision sensor is taken, the numbering of identified object, the coordinate of center and object can be rapidly obtained
Width and height, by bluetooth module complete underwater robot parameter setting, order transmission and feedback of status, so as 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
Process 50 frame pictures.Vision system can carry camera number according to which and be divided into single camera vision system and binocular vision system, should
Sensor by NXP LPC4330 dual core processors, OV9715 imageing sensors, 264Kb random access memory, 1Mb flash memories with
And standard M12 camera lens composition.The image for collecting is placed into memory and is entered by dual core processor control read-write memory, camera lens
Row storage, imageing sensor can selectively process useful information, because it adopts the method centered on color, simply will
The vision data of the object of particular color is sent to the microcontroller for cooperating, rather than exports all vision datas to enter
Row image procossing.Using unique color filtration algorithm, it is possible to while remembering 7 kinds of different color marks and more than 100 mesh
Mark object, so as to complete to be tracked to painted target object.
In the present invention, the motor drive module adopts L298N, is a kind of high voltage, high current motor drive module,
Encapsulated using 15 pin.The full-bridge type driver of two H bridges is included, can be used to drive direct current generator and stepper motor, relay
The inductive loads such as coil.Controlled using standard logic levels signal, with two enable control ends, do not affected by input signal
In the case of allow or forbid device work have a logic power input, make internal logic circuit part work at lower voltages
Make, variable quantity can be fed back to by control circuit with external detection resistance.Can be corresponding from IN1, IN2, IN3, IN4 input respectively
Pwm signal controlling rotating speed and the direction of two motors respectively, wherein tetra- interfaces of IN1, IN2, IN3, IN4 are connected respectively to
Four numeral I/O interfaces of Arduino controllers, by level height come the rotating of controlled motor, are adjusted by pulse width
The rotating speed of system (PWM) controlled motor.
The bluetooth module adopts HC-05, is a embedded Bluetooth serial communication module, possesses connection Working mould automatically
Formula and command response mode of operation, can realize bluetooth module work shape by control module external pin PIO11 incoming levels
The dynamic translation of state.When module is in connection mode of operation automatically, will connect automatically according to the mode being previously set and complete number
According to transmission；When module is in command response mode of operation, following all AT orders can be performed, user can send various to module
AT orders are module setting control parameter or issue control command.
The extraction interface of HC-05 bluetooth modules is that 6pin arranges pin, respectively VCC, GND, TXD, RXD, KEY, STATE.Its
On LED indicate bluetooth connection state, quick flashing represents do not have bluetooth connection, and slow flash indicates entry into AT patterns, and double sudden strains of a muscle represent bluetooth
Port is connected and has opened, used as full duplex serial ports after pairing, supported 8 data bit, 1 stop position, can arrange strange
The communication format of even parity check.Support 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, turns left and turns right, floating of sinking, opens/stop
Only follow the trail of；State feedback report, including running status, whether find target, target object location size.
Compared with prior art, the invention has the beneficial effects as follows：
In the present invention based on Arduino platforms and the robot control system of machine vision module, be with Arduino control
Device processed is core, coordinates the target tracking function of CMUcam5 (Pixy) machine vision module, the system to possess low cost, develops
Difficulty is easier to, and system architecture is simple, and accuracy it is high the advantages of.
Description of the drawings
Fig. 1 is monolithically fabricated schematic diagram for the embodiment of the present invention；
Structural representations of the Fig. 2 for embodiment of the present invention Arduino UNO R3 controllers；
Structural representations of the Fig. 3 for embodiment of the present invention CMUcam5 (Pixy) machine vision sensor；
Reference in figure is：1Arduino controllers；2 machine vision sensors；3 bluetooth modules；4 Motor drive moulds
Block；5 direct current generators；11 microprocessors；12 flash memories；13 SRAMs；14 electricallyerasable ROM (EEROM)s；At 21 double-cores
Reason device；22 imageing sensors；23 random access memory；24 flash memories；25 camera lenses.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
As shown in figure 1, it is a kind of based on Arduino platforms and the underwater robot control system of 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 relation are：Described Arduino controllers 1 use a FC-10P data
Line is connected with each other and transmits receiving data by ICSP interfaces and machine vision sensor 2, and Arduino controllers 1 pass through 8 numbers
Word I/O interfaces are connected with two motor drive modules 4.Distance of the machine vision sensor 2 to target object location and between the two
Calculated, scanning result of the Arduino controllers 1 every 50 milliseconds of reading vision sensors 2 can rapidly be obtained and be known
The width and height of the other numbering of object, the coordinate of center and object, completes underwater ginseng by bluetooth module 3
Number is arranged, order is transmitted and feedback of status, so as to controlled motor drive module 4 completes the pose adjustment of underwater robot.
As shown in Fig. 2 described 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 pin can be exported as PWM, 6 tunnel simulation inputs, 1 16MHz crystal are shaken
Swing device, 1 USB connection, 1 supply hub, 1 ICSP joint and 1 SR.Comprising ATmega328 microprocessors 11,
32KB flash memories 12,2KB SRAMs 13, and 1KB electricallyerasable ROM (EEROM)s 14.Microprocessor 11 is controlled and is read
Memory write (12-14), completes the data transfer of high speed, and its transfer 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 process per second.Vision system can carry camera number according to which and be divided into single camera vision system and binocular
Vision system, the sensor by NXP LPC4330 dual core processors 21, deposit by OV9715 imageing sensors 22,264Kb arbitrary accesses
Reservoir 23,1Mb flash memories 24 and standard M12 camera lens 25 are constituted.The control of dual core processor 21 read-write memory 23, camera lens 25 will
The image for collecting is placed into memory 23 and is stored, and imageing sensor 22 can selectively process useful information, because
It adopts the method centered on color, and the vision data of the object of particular color is simply sent to the miniature control for cooperating
Device processed 21, rather than export all vision datas to carry out image procossing.Using unique color filtration algorithm, it is possible to while
7 kinds of different color marks of memory and more than 100 target object, so as to complete to be tracked to painted target object.
Described HC-05 bluetooth modules 3 are a embedded Bluetooth serial communication modules, and it is that 6pin arranges pin to draw interface,
Respectively VCC, GND, TXD, RXD, KEY, STATE.LED thereon indicates bluetooth connection state, and quick flashing is represented does not have bluetooth to connect
Connect, slow flash indicates entry into AT patterns, double sudden strains of a muscle represent that bluetooth has connected and open port, make as full duplex serial ports after pairing
With supporting 8 data bit, 1 stop position, the communication format of even-odd check can be arranged.Support 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, bag
Include forward-reverse, turn left turn right, floating of sinking, start/stop follow the trail of；State feedback report, including running status, whether find
Target, target object location size.
Described L298N motor drive modules 4 are a kind of high voltage, high current motor drive module, are encapsulated using 15 pin.
The full-bridge type driver of two H bridges is included, can be used to drive the perception such as direct current generator 5 and stepper motor, relay coil negative
Carry.Controlled using standard logic levels signal, with two enable control ends, allowed in the case where not affecting by input signal
Or forbid device work to have a logic power input, make internal logic circuit part work under the low-voltage of+5V～+7V
Make, variable quantity can be fed back to by control circuit with external detection resistance.Can be corresponding from IN1, IN2, IN3, IN4 input respectively
Pwm signal controlling rotating speed and the direction of two motors respectively, wherein tetra- interfaces of IN1, IN2, IN3, IN4 are connected respectively to
Four numeral I/O interfaces of Arduino controllers, by level height come the rotating of controlled motor, are adjusted by pulse width
The rotating speed of system (PWM) controlled 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 lifts code reuse, strengthens the maintainability in its later stage, and 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 embodiment of the invention.It is clear that the invention is not restricted to
Above example, can also have many variations.One of ordinary skill in the art can be directly led from present disclosure
The all deformations for going out or associating, are considered as protection scope of the present invention.
Claims (5)
1. a kind of based on Arduino platforms and the underwater robot control system of machine vision module, including motor drive module,
Characterized in that, the control system also includes Arduino controllers, machine vision sensor, bluetooth module and power supply；Each part
Annexation be：Arduino controllers are connected to machine vision sensor by ICSP interfaces by FC-10P data wires,
Arduino controllers are connected with two motor drive modules by 8 numeral I/O interfaces, and power supply is connected to each part and realizes supplying
Electricity.
2. system according to claim 1, it is characterised in that the Arduino controllers are Arduino UNO R3 controls
Device processed；The controller includes an input/output interface board, and loads microprocessor thereon, flash memory, static random and deposit
Reservoir and electricallyerasable ROM (EEROM), microprocessor respectively with the read-only storage of flash memory, SRAM and electric erasable
Device is connected；
The input/output interface board has 14 railway digital I/O pins, wherein 6 pass pin are exported as PWM；It is additionally provided with 6 road moulds
Intend input, 1 16MHz crystal oscillators, 1 USB interface, 1 supply hub, 1 ICSP joint and 1 SR.
3. system according to claim 1, it is characterised in that the machine vision sensor includes processor, image
Sensor, random access memory, flash memory and camera lens；Camera lens, random access memory, imageing sensor and processor connect successively
Connect, processor is also connected with flash memory；Number of shots is one or two.
4. system according to claim 1, it is characterised in that the bluetooth module is embedded Bluetooth serial communication mould
Block, it is that 6pin arranges pin, respectively VCC, GND, TXD, RXD, KEY, STATE which draws interface；Bluetooth module is provided with LED instructions
Lamp can be used as full duplex serial ports after pairing is completed for showing bluetooth connection state, support 8 data bit, 1 stopping
Position, can arrange the communication format of even-odd check, support from the standard baud rate between 4800bps-1382400bps.
5. system according to claim 1, it is characterised in that the motor drive module is encapsulated using 15 pin, includes two
The full-bridge type driver of individual H bridges, can be used for driving direct current generator, stepper motor and relay coil；Motor drive module is adopted
Standard logic levels signal is controlled, and with two enable control ends, is allowed in the case where not affecting by input signal or is forbidden
Device work has a logic power input, makes internal logic circuit part work 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
Controlling rotating speed and the direction of two motors respectively, wherein tetra- interfaces of IN1, IN2, IN3, IN4 are connected respectively to pwm signal
Four numeral I/O interfaces of Arduino controllers, by level height come the rotating of controlled motor, are adjusted by pulse width
The rotating speed of controlled motor processed.
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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 |
| CN110744541A (en) * | 2019-10-08 | 2020-02-04 | 哈尔滨工程大学 | Vision-guided underwater mechanical arm control method |
| 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 |
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| CN106541413B (en) | 2018-11-02 |
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