CN109189095A - A kind of miniature underwater robot video detection and control system - Google Patents
A kind of miniature underwater robot video detection and control system Download PDFInfo
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- CN109189095A CN109189095A CN201811130565.6A CN201811130565A CN109189095A CN 109189095 A CN109189095 A CN 109189095A CN 201811130565 A CN201811130565 A CN 201811130565A CN 109189095 A CN109189095 A CN 109189095A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The present invention relates to a kind of miniature underwater robot video detection and control systems, including controller main body, ARM embedded system is equipped in controller main body, ARM embedded system connects power supply, ARM embedded system connects video camera and headlamp, STM32 Series of MCU is equipped in ARM embedded system, STM32 Series of MCU passes through video transmitting line and video reception circuit connection video camera, video transmitting line includes AD8131 driver, AD8131 driver passes through Differential Input to difference output, transmission for analog video signal and the transmission for digital signal；Receiving circuit includes AD8130 differential receiver amplifier, and the input terminal of AD8130 differential receiver amplifier is a differential input video signals, carries out the display of video to the display screen of remote operation controller by the Single-end output of output end.The system accurately solves robot migration, position detection, gesture stability under water, provides conveniently for work such as undersea detection, water-bed measurement, the salvagings of underwater article.
Description
Technical field
The present invention relates to signal detection processing and control technology field, especially a kind of miniature underwater robot video detections
With control system.
Background technique
Country puts into a large amount of funds in the monitoring of seabed undersea detection in recent years, has built many seabed artificial fishing banks and coral
Hu Chong growth protecting area, so that the movable frequency and anthozoic specific growing state of the underwater shoal of fish, Jin Erfen can be observed daily
Analyse the recovery extent of marine ecology.Compare shortage however, this respect can be used for and do the product monitored, some submerged depths are inadequate
(less than 50 meters), some costs are very high (500,000 or more), and some performances are simple, can only do auxiliary to fishing fan and use, and extra large
The work of foreign undersea detection is sought after capable of slipping into 100 meters of depth or more again, migration is reliable and stable, transmission of video clearly underwater
People's product.Therefore, the controller for researching and developing a kind of underwater video sniffing robot has good current demand and realistic meaning.
Summary of the invention
The purpose of the present invention is to solve defects of the existing technology, provide a kind of miniature underwater robot video spy
Survey and control system.
To achieve the goals above, the technical solution adopted by the present invention is that:
It is embedding to be equipped with ARM in controller main body for a kind of miniature underwater robot video detection and control system, including controller main body
Embedded system passes through communication interface in ARM embedded system and connects remote operation controller on ground, ARM embedded system
Power supply is connected, ARM embedded system connects video camera and headlamp, is equipped with STM32 series microcontroller in ARM embedded system
Device, STM32 Series of MCU handle the collected data of the sensor and the communication between host computer, STM32 system
Column microcontroller connects PWM high speed timer；
The STM32 Series of MCU passes through video camera described in video transmitting line and video reception circuit connection, video hair
Power transmission road includes AD8131 driver, and AD8131 driver passes through Differential Input to difference output, for analog video signal
Transmission and for digital signal transmission；
The reception circuit includes AD8130 differential receiver amplifier, and the input terminal of AD8130 differential receiver amplifier is one
A differential input video signals are carried out the display of video by the Single-end output of output end to the display screen of remote operation controller.
A kind of above-mentioned miniature underwater robot video detection and control system, the video transmitting line and video reception
Circuit connects power supply by NCP1117ST50T3G three terminal regulator, LM2663 switching capacity electric pressure converter, and video sends electricity
Difference output end in road needs the voltage source of ± 5 V, and the voltage source of -5V is by NCP1117ST50T3G three terminal regulator pressure stabilizing
The voltage of -5V is obtained at the regulated power supply of+5V, then by LM2663 switching capacity electric pressure converter reversion input supply voltage, from
And the voltage of the output end offer -5V to video transmitting line and video reception circuit.
A kind of above-mentioned miniature underwater robot video detection and control system, the headlamp are LED light, and headlamp is logical
Underwater lighting circuit connection ARM embedded system is crossed, underwater lighting circuit has photoelectrical coupler PC817, works as photoelectrical coupler
When the LEDPWM of PC817 input terminal exports low level, so that input terminal is connected, photophore emits beam, is radiated on light-receiving device,
Light-receiving device is connected after receiving light, generates photoelectric current and exports from output end, realizes the conversion of " electrical-optical-electrical ", output end is connected
LED light.
A kind of above-mentioned miniature underwater robot video detection and control system, the communication interface are RS-485 communication electricity
Road, RS-485 telecommunication circuit design communication interface using ADM2483 chip, and ADM2483 chip is the enhanced RS- with isolation
485 transceivers, RXD, EN, TXD are to receive output, transmitting-receiving enable end, send input respectively, when EN is high level, are all forbidden
Receive and forbid sending, VDD1 be logical end power supply, PV be Power Supply Monitoring foot, when this pin level be higher than 2.0V,
ADM2483 chip operation does not work lower than 2.0V chip；
GND1 is logical end power ground, and GND2 is bus end power ground, and A is input/output in-phase end, and B is input/output reverse phase
End, VDD2 are bus end power supply, connect a bidirectional transient voltage protection diode respectively at the end A, B, ADM2483 has heat
Turn-off function, can prevent when the temperature is excessively high chip damaged because of the excessive loss of power supply, when ADM2483 chip operating temperature is higher than
At 150 DEG C, the exclusive Thermal shutdown circuit of ADM2483 chip can turn off driver output；And when temperature returns to 140 DEG C,
ADM2483 chip can enable driver output automatically.
A kind of above-mentioned miniature underwater robot video detection and control system are equipped with figure in the ARM embedded system
As video storage circuit, image/video storage circuit connects the video camera, and image/video storage circuit has SD card, for
When the collected video of the video camera of underwater robot is handled, using the SD card preserving type for adapting to large capacity, it can pass through
Program is read out and stores to the content stored in SD card.
A kind of above-mentioned miniature underwater robot video detection and control system, the remote operation controller include setting
Control cabinet and liquid crystal display on ground, control cabinet are equipped with key.
A kind of above-mentioned miniature underwater robot video detection and control system, connect 4 core cables in controller main body, and 2
External high pressure stand-by power supply of the core cable as underwater robot, 2 core cables are as RS-485 communication line.
The invention has the benefit that the system accurately solves robot migration, position detection, gesture stability under water,
It is provided conveniently for work such as undersea detection, water-bed measurement, the salvagings of underwater article.
Detailed description of the invention
Fig. 1 is system schematic of the invention；
Fig. 2 is the circuit diagram of STM32 Series of MCU of the present invention；
Fig. 3 is video transmitting line figure of the invention；
Fig. 4 is video reception circuit diagram of the invention；
Fig. 5 is the circuit theory of NCP1117ST50T3G three terminal regulator of the present invention and LM2663 switching capacity electric pressure converter
Figure；
Fig. 6 is underwater lighting circuit diagram of the invention；
Fig. 7 is RS-485 telecommunication circuit figure of the invention；
Fig. 8 is image/video storage circuit figure of the present invention.
Specific embodiment
As shown in Figure 1 and Figure 2, a kind of miniature underwater robot video detection and control system, including controller main body 1, control
It is equipped with ARM embedded system 2 in device main body 1 processed, connects the long-range behaviour on ground in ARM embedded system 2 by communication interface 3
Make controller 4, ARM embedded system 2 connects power supply, and power supply is lithium battery 5, and ARM embedded system 2 connects video camera 6 and shines
Bright lamp 7, ARM embedded system 2 is interior to be equipped with STM32 Series of MCU, and the STM32 Series of MCU processing sensor is adopted
The data collected and the communication between host computer, STM32 Series of MCU connect PWM high speed timer.The height of STM32
Fast performance makes the execution speed of algorithm and code efficiency have higher level, and message transmission rate is very fast.Possess PWM high
Fast timer, being capable of controlling to motor easily and fast.The working condition of its low-power consumption consumes 2uA under ideal case,
It can be applicable in the requirement of underwater robot low-power consumption enough.
The basic circuit of STM32 as shown in Fig. 2, the clock circuit that 25MHz crystal oscillator is constituted, possess electrification reset and manually by
Key resets two kinds of forms.The power supply of 3.3V constitutes the minimum system of controller.
Further, underwater robot needs for underwater complex environment to be transmitted to upper when facing complicated undersea detection
Machine, to control the operating status of underwater robot, it is therefore desirable to design the transmission and reception circuit of video.In transmission of video electricity
In the design on road, the driving work of transmission and reception circuit is completed by using AD8130 cooperation AD8131, in twisted-pair cable cable
The upper transmission for realizing high speed signal.In the circuit of transmission of video, AD8131 is mainly used for the transmitting line of video, defeated by difference
Enter the transmission that can be not only used for analog video signal to difference output driving device, and can be used for the transmission of digital signal.Without outer
Portion's device can obtain fixed gain.The video transmitting line of underwater robot is as shown in Figure 3.Difference in video transmitting line
The voltage source for dividing output end to need ± 5 V, and the voltage source of -5V is by NCP1117ST50T3G three terminal regulator pressure stabilizing into+5V
Regulated power supply, then by LM2663 switching capacity electric pressure converter reversion input supply voltage obtain the voltage of -5V.To view
The voltage of the output end offer -5V of frequency transmitting line and reception circuit, circuit are as shown in Figure 5；
The video reception circuit of underwater robot is mainly completed by AD8130, circuit as shown in figure 4, AD8130 input terminal
It is a differential input video signals, carries out the display of video to display by the Single-end output of output end.
Since underwater robot is often in a complicated underwater environment, different answer will be faced while operation
Heterocycle border is likely to be in the environment for being unfavorable for shooting during shooting, therefore in order to guarantee that underwater robot is in one
A good shooting environmental ensure that the observation and shooting of underwater environment so devising underwater robot underwater lighting circuit,
Its circuit diagram as shown in fig. 6, effect photoelectrical coupler PC817 completely isolated as the superior and the subordinate's circuit in underwater lighting circuit,
It does not have an impact mutually, make controller part and loads completely isolated, it is therefore intended that increase safety, reduce circuit interference.When
When the LEDPWM of input terminal exports low level, so that input terminal is connected, photophore emits beam, is radiated on light-receiving device, light
Device is connected after receiving light, generates photoelectric current and exports from output end, to realize the conversion of " electrical-optical-electrical ", output end is connected
LED light provides good environment for underwater robot shooting.
PC817 is a kind of precision photoelectric coupler, can transmit the analog voltage or current signal of consecutive variations, in this way with
The strong and weak variation of input signal can generate corresponding optical signal, to keep the conducting degree of photistor also different, export
Voltage or electric current it is also different therewith.
Under water in the operation process of robot, it usually needs by some collected data backs and show, therefore,
It needs to be communicated with host computer in data transmission procedure, communication interface 3 is RS-485 telecommunication circuit, and RS-485 telecommunication circuit is adopted
Communication interface is designed with ADM2483 chip, ADM2483 chip is the enhanced RS-485 transceiver with isolation, highest transmission speed
Rate is up to 500Kbps, the compatible 3V/5V working power of logical end, bus end 5V power supply, as shown in fig. 7, RXD, EN, TXD are respectively
It receives output, transmitting-receiving enable end, send input, when EN is high level, all forbids receiving and forbid sending, VDD1 is logical end
Power supply, PV are Power Supply Monitoring foot, and when this pin level is higher than 2.0V, chip operation does not work lower than 2.0V chip.GND1
For logical end power ground, GND2 is bus end power ground, and A is input/output in-phase end, and B is input/output reverse side, VDD2
For bus end power supply.A bidirectional transient voltage protection diode is connect respectively at the end A, B.ADM2483 has Thermal shutdown function
Can, can prevent when the temperature is excessively high chip damaged because of the excessive loss of power supply.When chip operating temperature is higher than 150 DEG C,
ADM2483 exclusive Thermal shutdown circuit can turn off driver output；And when temperature returns to 140 DEG C, ADM2483 can be enabled automatically
Driver output.
Further, image/video storage circuit is equipped in ARM embedded system 2, described in the connection of image/video storage circuit
Video camera 6, when video collected for underwater robot is handled, using adapt to large capacity SD card preserving type,
As shown in figure 8, the content stored in SD card can be read out and be stored by program.The pin of SD card has dual function,
Both it can work in SD mode, can also work in SPI mode, under unused mode, the function of pin is different.SD mode is chiefly used in pair
The more demanding occasion of SD card read or write speed, hardware connection are relatively easy.The command list (CLIST) of SD card is opened with CMD and ACMD
Head respectively refers to generic command and specific command, behind connect the number of order, for example, CMD is exactly a generic command, for reading
Monolithic data.When most of single-chip microcontroller is connected with SD card, it is compatible to be able to achieve operating voltage, therefore can directly connect with SD card,
Without level shifting circuit.
Remote operation controller 4 includes the control cabinet and liquid crystal display that ground is arranged in, and control cabinet is equipped with key, liquid
Crystal display screen mainly shows the state of underwater robot, as the real time electrical quantity of underwater robot, the date, the time, temperature, the depth of water,
The information such as temperature and state.
Controller uses 4 core cable connection underwater robot controllers, external high pressure of the 2 core electric wires as underwater robot
Stand-by power supply, 2 core wires are as RS-485 communication line；It is communicated using RS-485 and the state transfer of underwater robot is shown to above
Show, it is accurate to solve robot migration, position detection, gesture stability under water, it is undersea detection, the bottom measures, underwater article is salvaged
It is convenient that equal work provide.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these variation and
Improvement is both fallen in the range of claimed invention.The present invention claims protection scope by appended claims and its
Equivalent defines.
Claims (7)
1. a kind of miniature underwater robot video detection and control system, including controller main body, controller main body is interior to be equipped with ARM
Embedded system passes through communication interface in ARM embedded system and connects remote operation controller on ground, the embedded system of ARM
System connection power supply, which is characterized in that ARM embedded system connects video camera and headlamp, is equipped in ARM embedded system
STM32 Series of MCU, STM32 Series of MCU handle the collected data of the sensor and between host computers
Communication, STM32 Series of MCU connect PWM high speed timer；
The STM32 Series of MCU passes through video camera described in video transmitting line and video reception circuit connection, video hair
Power transmission road includes AD8131 driver, and AD8131 driver passes through Differential Input to difference output, for analog video signal
Transmission and for digital signal transmission；
The reception circuit includes AD8130 differential receiver amplifier, and the input terminal of AD8130 differential receiver amplifier is one
A differential input video signals are carried out the display of video by the Single-end output of output end to the display screen of remote operation controller.
2. a kind of miniature underwater robot video detection according to claim 1 and control system, which is characterized in that described
Video transmitting line and video reception circuit are converted by NCP1117ST50T3G three terminal regulator, LM2663 switching capacity voltage
Device connects power supply, and the difference output end in video transmitting line needs the voltage source of ± 5 V, the voltage source of -5V be by
The pressure stabilizing of NCP1117ST50T3G three terminal regulator at+5V regulated power supply, then by LM2663 switching capacity electric pressure converter invert
Input supply voltage obtains the voltage of -5V, thus the electricity of the output end offer -5V to video transmitting line and video reception circuit
Pressure.
3. a kind of miniature underwater robot video detection according to claim 1 or 2 and control system, which is characterized in that
The headlamp is LED light, and headlamp has light by underwater lighting circuit connection ARM embedded system, underwater lighting circuit
Electric coupler PC817, so that input terminal is connected, shines when the LEDPWM of photoelectrical coupler PC817 input terminal exports low level
Device emits beam, and is radiated on light-receiving device, and light-receiving device is connected after receiving light, generates photoelectric current and exports from output end, realizes
The LED light of output end is connected in the conversion of " electrical-optical-electrical ".
4. a kind of miniature underwater robot video detection according to claim 3 and control system, which is characterized in that described
Communication interface is RS-485 telecommunication circuit, and RS-485 telecommunication circuit designs communication interface, ADM2483 core using ADM2483 chip
Piece is the enhanced RS-485 transceiver with isolation, and RXD, EN, TXD are to receive output, transmitting-receiving enable end, send input respectively,
When EN is high level, all forbids receiving and forbid sending, VDD1 is logical end power supply, and PV is Power Supply Monitoring foot, when this
Pin level is higher than 2.0V, and ADM2483 chip operation does not work lower than 2.0V chip；
GND1 is logical end power ground, and GND2 is bus end power ground, and A is input/output in-phase end, and B is input/output reverse phase
End, VDD2 are bus end power supply, connect a bidirectional transient voltage protection diode respectively at the end A, B, ADM2483 has heat
Turn-off function, can prevent when the temperature is excessively high chip damaged because of the excessive loss of power supply, when ADM2483 chip operating temperature is higher than
At 150 DEG C, the exclusive Thermal shutdown circuit of ADM2483 chip can turn off driver output；And when temperature returns to 140 DEG C,
ADM2483 chip can enable driver output automatically.
5. a kind of miniature underwater robot video detection according to claim 1 and control system, which is characterized in that described
Image/video storage circuit is equipped in ARM embedded system, image/video storage circuit connects the video camera, and image/video is deposited
Storage road has SD card, when the collected video of video camera for underwater robot is handled, using adaptation large capacity
SD card preserving type, the content stored in SD card can be read out and be stored by program.
6. a kind of miniature underwater robot video detection according to claim 1 and control system, which is characterized in that described
Remote operation controller includes the control cabinet and liquid crystal display that ground is arranged in, and control cabinet is equipped with key.
7. a kind of miniature underwater robot video detection according to claim 1 and control system, which is characterized in that control
4 core cables are connected in device main body, external high pressure stand-by power supply of the 2 core cables as underwater robot, 2 core cables are as RS-485
Communication line.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110061776A (en) * | 2019-04-16 | 2019-07-26 | 中国地质大学（武汉） | The illumination of submarine navigation device and sensor and communication integrated system and device |
| CN110061776B (en) * | 2019-04-16 | 2023-12-05 | 中国地质大学（武汉） | Lighting and sensor and communication integrated system and device for underwater vehicle |
| CN111243253A (en) * | 2020-01-10 | 2020-06-05 | 浙江金华文瑞机电有限公司 | Receiving circuit of conveying equipment controller and remote control method |
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Application publication date: 20190111 |