CN113759989B - Underwater electric cradle head control device and method - Google Patents
Underwater electric cradle head control device and method Download PDFInfo
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- CN113759989B CN113759989B CN202011411210.1A CN202011411210A CN113759989B CN 113759989 B CN113759989 B CN 113759989B CN 202011411210 A CN202011411210 A CN 202011411210A CN 113759989 B CN113759989 B CN 113759989B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 19
- 238000004891 communication Methods 0.000 claims abstract description 17
- 238000012795 verification Methods 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 4
- 230000004927 fusion Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 3
- 238000011161 development Methods 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 4
- 239000010720 hydraulic oil Substances 0.000 description 3
- GSFCOAGADOGIGE-UHFFFAOYSA-N 2-amino-2-methyl-3-phosphonooxypropanoic acid Chemical compound OC(=O)C(N)(C)COP(O)(O)=O GSFCOAGADOGIGE-UHFFFAOYSA-N 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 2
- 239000013078 crystal Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The invention relates to the field of ocean engineering, in particular to an underwater electric cradle head control device and method, comprising the following steps: the power converter A, the stepping motor B, the embedded controller and the rotary potentiometer, the communication port, the power converter B and the driving chip which are connected with the embedded controller are arranged in the underwater electric cradle head filled with hydraulic compensation oil; one port of the communication ports is connected with the water surface controller through a watertight cable, and any other port is connected with the embedded controller; the power adapter A converts external power supply voltage of the underwater electric cradle head into power supply rotary potentiometer; the power converter B respectively converts external power supply voltage of the underwater electric cradle head into voltage for the embedded controller and a driving chip; the driving chip is connected with the stepping motor A and the stepping motor B, controls the stepping motor to work and detects and collects the state data of the stepping motor in real time. The device is suitable for the underwater cradle head with different depths, and secondary development and design are not needed.
Description
Technical Field
The invention relates to the field of ocean engineering, in particular to an underwater electric cradle head control device and method.
Background
On deep sea underwater robots or manned submersibles, many viewing devices are often used, such as underwater cameras, underwater lights, etc. for viewing and recording underwater conditions, and on manned submersibles, it also provides convenience for the operators in the cabin to operate the submersibles. The viewing and passing equipment needs to be installed on the cradle head, so that the rotation in the upper, lower, left and right directions of the viewing and passing equipment is realized, the viewing and passing equipment can meet the requirements of scientific investigation, and the viewing and passing equipment is the main function of the cradle head. The electric cradle head can realize accurate rotation and speed regulation requirements in the working process, and has the characteristics of small volume, small power, high rotation control precision and the like. The deep sea electric cradle head can work in the full sea depth range by means of hydraulic oil compensation.
The traditional electric cradle head control device has the problems of no pressure resistance, overlarge power resistance heat, easy damage during long-time work and the like, and the existing deep sea electric cradle head which can work under the condition of full sea deep pressure does not exist, and the existing electric cradle head control method has the defects of low rotation control precision, incapability of carrying out subdivision configuration and current magnitude configuration on a stepping motor, low operation efficiency, complicated instructions and the like. Furthermore, it is necessary to develop an underwater electric pan-tilt control device capable of driving the pan-tilt to rotate in a high-pressure environment filled with compensation oil.
Disclosure of Invention
The invention aims to develop an underwater electric cradle head control device and method, which can normally work in a high-pressure environment filled with hydraulic oil. The problems that an electric cradle head control device is not pressure-resistant, power resistance is overlarge in heat, and the electric cradle head control device is easy to damage during long-time work are solved, and meanwhile the defects that the existing electric cradle head control method is low in rotation control precision, incapable of conducting subdivision configuration and current size configuration on a stepping motor, low in operation efficiency, complex in instruction and the like are overcome.
The technical scheme adopted by the invention for achieving the purpose is as follows: an underwater electric cradle head control device connected with a water surface controller, comprising: the power converter A, the stepping motor B, the embedded controller and the rotary potentiometer, the communication port, the power converter B and the driving chip which are connected with the embedded controller are arranged in the underwater electric cradle head filled with hydraulic compensation oil;
one port of the communication ports is connected with the water surface controller through a watertight cable, and any other port is connected with the embedded controller; the power adapter A converts external power supply voltage of the underwater electric cradle head into power supply rotary potentiometer; the power converter B respectively converts external power supply voltage of the underwater electric cradle head into voltage for the embedded controller and a driving chip;
the embedded controller is used for receiving a control command sent by the water surface controller and position data of the rotary potentiometer in the current pitching direction or the left-right direction of the current electric cradle head, sending a configuration command to the driving chip, receiving state data of the stepping motor of the driving chip, judging the state of the stepping motor, and sending operation data of the stepping motor to the water surface controller through the communication port;
the rotary potentiometer is used for acquiring current position data of the electric pan-tilt direction or the left-right direction and sending the current position data to the embedded controller, and meanwhile, a voltage value returned by the rotary potentiometer is also used as a judging condition of a rotation instruction;
the driving chip is connected with the stepping motor A and the stepping motor B and is used for receiving a configuration command of the embedded controller to control the stepping motor to work, and meanwhile, state data of the stepping motor are detected and collected in real time.
And a resistor is arranged between the rotary potentiometer and the embedded controller, so that the current input into the embedded controller falls into a specified setting range.
The power converter A and the power converter B are both linear stabilized voltage power converters.
The two driving chips are respectively connected with the stepping motor A and the stepping motor B to control the underwater electric cradle head to transversely rotate and longitudinally rotate.
A control method of an underwater electric cradle head control device comprises the following steps:
1) The device is electrified, the embedded controller receives a control command sent by the water surface controller in a serial port interrupt mode, the control command type is obtained, the control command is stored, and the current position of the current electric pan-tilt direction or the current position of the left-right direction, which is acquired by the rotary potentiometer, is received;
2) After the embedded controller receives the control command, reading the control command and checking the control command;
3) Analyzing the type of the control command passing the verification, and fusing the current position of the current electric pan-tilt direction or the left-right direction acquired by the rotary potentiometer according to the analyzed control command;
4) The embedded controller sends a configuration command to the driving chip, and meanwhile receives and analyzes the state data of the stepping motor sent back by the driving chip;
5) The embedded controller feeds the judged state of the stepping motor back to the water surface controller through the communication port.
The control instruction type in the step 1) comprises any one of a configuration instruction, an action instruction and a useless instruction.
After the embedded controller receives the control command, the embedded controller reads the control command and checks the control command, and the method specifically comprises the following steps:
the embedded controller verification includes: judging whether the length and the numerical value of the control instruction are in a preset range, if so, checking to pass, otherwise, checking to fail;
if the control command fails to pass the verification, discarding the control command to wait for the next control command; and otherwise, waiting for data fusion with the current position of the current electric pan-tilt direction or the current left-right direction acquired by the rotary potentiometer.
In step 3), the analyzing the type of the control command passing the verification specifically includes:
judging whether the configuration instruction is in a set range or whether the current pitching direction or the left-right direction of the underwater electric pan-tilt is configured currently or not according to the type of the control instruction obtained in the step 1), if the control instruction is the configuration instruction, outputting a control signal, namely, a configuration instruction;
if the control instruction is a rotation instruction, judging whether the pitch direction or the left-right direction of the current underwater electric pan-tilt is within a set range, and if so, outputting a control signal, namely a rotation command; if not, the control signal is not output, i.e. the rotation command is not executed.
In step 3), the current position of the current electric pan-tilt direction or the left-right direction collected by the rotary potentiometer is fused according to the analyzed control command, specifically:
when the control instruction is a rotation instruction, determining that the rotation direction is a pitching or left-right direction according to the instruction, and then collecting the value of the rotary potentiometer in the direction; if the value of the currently acquired rotary potentiometer is larger than or equal to the maximum value of the preset value or smaller than or equal to the minimum value of the preset value, the rotary control command is not executed; otherwise, executing a rotation instruction;
if the configuration instruction is the configuration instruction, determining the configuration pitch or the left-right direction according to the instruction, judging whether the configuration value of the configuration instruction is in a preset range, and if the configuration value is beyond the preset range, not executing; otherwise, executing the configuration instruction.
In step 4), the step motor state data sent back by the driving chip is received for analysis, specifically:
the embedded controller receives the character string of the state data of the stepping motor returned by the driving chip and receives the character string into the array through the bus, and refers to the SPI return value data table of the driving chip of the motor according to each flag bit of the character string to judge the state of the stepping motor.
The invention has the following beneficial effects and advantages:
1. the invention has high integration level, adopts a universal design, is suitable for the underwater cradle head with different depths, and can be adopted without secondary development and design.
2. The invention can work in a high pressure environment filled with hydraulic oil.
3. The torque, the rotation smoothness and the vibration of the cradle head can be adjusted according to different use requirements. Meanwhile, the high-precision rotating control can meet the rotating requirement of the high-precision cradle head. The simple and easy-to-understand instruction also reduces the learning cost of the secondary development cradle head control device.
Drawings
FIG. 1 is a schematic view of the apparatus of the present invention;
FIG. 2 is a flow chart of the method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1, the invention is provided with a power converter A, a stepping motor B, an embedded controller, a rotary potentiometer, a communication port, a power converter B and a driving chip which are connected with the power converter A, the stepping motor B and the embedded controller which are arranged in an underwater electric cradle head filled with hydraulic compensation oil;
one port of the communication ports is connected with the water surface controller through a watertight cable, and any other port is connected with the embedded controller; the power adapter A converts external power supply voltage of the underwater electric cradle head into power supply rotary potentiometer; the power converter B respectively converts external power supply voltage of the underwater electric cradle head into voltage for the embedded controller and a driving chip;
the embedded controller is used for receiving a control command sent by the water surface controller and the current position data of the rotary potentiometer in the current pitching direction or the left-right direction of the electric pan-tilt, sending a configuration command to the driving chip, receiving the state data of the stepping motor of the driving chip, judging the state of the stepping motor, and sending the operation data of the stepping motor to the water surface controller through the communication port;
the rotary potentiometer is used for acquiring current position data of the electric pan-tilt direction or the left-right direction and sending the current position data to the embedded controller, and meanwhile, the voltage value returned by the rotary potentiometer is also used as a judging condition of a rotation instruction;
the driving chip is connected with the stepping motor A and the stepping motor B and is used for receiving a configuration command of the embedded controller to control the stepping motor to work, and meanwhile, the state data of the stepping motor is detected and collected in real time.
A resistor is arranged between the rotary potentiometer and the embedded controller, so that the current input into the embedded controller falls into a specified setting range.
The power converter A and the power converter B are both linear stabilized voltage power converters.
The two driving chips are respectively connected with the stepping motor A and the stepping motor B to control the transverse rotation and the longitudinal rotation of the underwater electric cradle head.
The embedded controller is an MCU with SSOP encapsulation of the digital-to-analog conversion interface.
The crystal oscillator of the embedded controller adopts a programmable active crystal oscillator of 8MHz and MSOP package.
The potentiometer with the maximum resistance of 1KΩ mounted on the panel is rotated.
The power converter is a linear stabilized voltage power converter adopting MSOP packaging.
The driving chip is a two-phase stepping motor driving chip with a power tube and packaged by QFP.
The device adopts a digital communication technology and performs data interaction with the outside through a serial communication port; and adopting an embedded controller to analyze and check the data packet transmitted by the serial communication port to obtain a control instruction. Can be operated in a high pressure environment filled with oil.
The power converter B is a linear stabilized voltage power converter and converts an externally provided 24V direct current voltage into a 5V direct current voltage required by an embedded controller and other chips.
The power converter a is a linear regulated power converter, and converts an externally supplied 24V dc voltage into a 16V dc voltage required for rotating the potentiometer.
The underwater electric cradle head control device provided by the invention can normally work under a high-pressure environment of 127MPa through testing.
As shown in fig. 2, a flow chart of the method of the present invention comprises the following steps:
1) The device is electrified, the embedded controller receives a control command sent by the water surface controller in a serial port interrupt mode, the control command type is obtained, the control command is stored, and the current position of the current electric pan-tilt direction or the current position of the left-right direction, which is acquired by the rotary potentiometer, is received;
2) After the embedded controller receives the control command, reading the control command and checking the control command;
3) Analyzing the type of the control command passing the verification, and fusing the current position of the current electric pan-tilt direction or the left-right direction acquired by the rotary potentiometer according to the analyzed control command;
4) The embedded controller sends a configuration command to the driving chip, and meanwhile receives and analyzes the state data of the stepping motor sent back by the driving chip;
5) The embedded controller feeds the judged state of the stepping motor back to the water surface controller through the communication port.
Wherein the control instruction type includes any one of a configuration instruction, an action instruction, and a useless instruction.
The embedded controller receives a control command sent by the water surface controller in a serial port interrupt mode, and specifically comprises the following steps: when the serial port of the embedded controller receives the mark position, the embedded controller enters the serial port interrupt, sequentially puts the received bytes into a group of arrays, sequentially analyzes the arrays, and judges whether the instruction is a configuration instruction or an action instruction or a useless instruction.
After the embedded controller receives the control command, the embedded controller reads the control command and checks the control command, specifically:
the embedded controller verification includes: judging whether the length and the numerical value of the control instruction are in a preset range, if so, checking to pass, otherwise, checking to fail;
if the control command fails to pass the verification, discarding the control command to wait for the next control command; and otherwise, waiting for data fusion with the current position of the current electric pan-tilt direction or the current left-right direction acquired by the rotary potentiometer.
In step 3), the analyzing the type of the control command passing the verification specifically includes:
judging whether the configuration instruction is in a set range or whether the current pitching direction or the left-right direction of the underwater electric pan-tilt is configured currently or not according to the type of the control instruction obtained in the step 1), if the control instruction is the configuration instruction, outputting a control signal, namely, a configuration instruction;
if the control instruction is a rotation instruction, judging whether the pitch direction or the left-right direction of the current underwater electric pan-tilt is within a set range, and if so, outputting a control signal, namely a rotation command; if not, the control signal is not output, i.e. the rotation command is not executed.
In step 3), the current position of the current electric pan-tilt direction or the left-right direction collected by the rotary potentiometer is fused according to the analyzed control command, specifically:
when the control instruction is a rotation instruction, determining that the rotation direction is a pitching or left-right direction according to the instruction, and then collecting the value of the rotary potentiometer in the direction; if the value of the currently acquired rotary potentiometer is larger than or equal to the maximum value of the preset value or smaller than or equal to the minimum value of the preset value, the rotary control command is not executed; otherwise, executing a rotation instruction;
if the configuration instruction is the configuration instruction, determining the configuration pitch or the left-right direction according to the instruction, judging whether the configuration value of the configuration instruction is in a preset range, and if the configuration value is beyond the preset range, not executing; otherwise, executing the configuration instruction.
In step 4), the step motor state data sent back by the driving chip is received for analysis, specifically:
the embedded controller receives the character string of the state data of the stepping motor returned by the driving chip and receives the character string into the array through the bus, and refers to the SPI return value data table of the driving chip of the motor according to each flag bit of the character string to judge the state of the stepping motor.
Claims (8)
1. An underwater electric cradle head control device, which is characterized by being connected with a water surface controller and comprising: the power converter A, the stepping motor B, the embedded controller and the rotary potentiometer, the communication port, the power converter B and the driving chip which are connected with the embedded controller are arranged in the underwater electric cradle head filled with hydraulic compensation oil;
one port of the communication ports is connected with the water surface controller through a watertight cable, and any other port is connected with the embedded controller; the power adapter A converts external power supply voltage of the underwater electric cradle head into use voltage for the rotary potentiometer; the power converter B respectively converts external power supply voltage of the underwater electric cradle head into use voltage for the embedded controller and use voltage for the driving chip;
the embedded controller is used for receiving a control command sent by the water surface controller and position data of the rotary potentiometer in the current pitching direction or the left-right direction of the current electric cradle head, sending a configuration command to the driving chip, receiving state data of the stepping motor of the driving chip, judging the state of the stepping motor, and sending operation data of the stepping motor to the water surface controller through the communication port;
the rotary potentiometer is used for acquiring current position data of the electric pan-tilt direction or the left-right direction and sending the current position data to the embedded controller, and meanwhile, a voltage value returned by the rotary potentiometer is also used as a judging condition of a rotation instruction;
the driving chip is connected with the stepping motor A and the stepping motor B and is used for receiving a configuration command of the embedded controller to control the stepping motor to work, and meanwhile, state data of the stepping motor are detected and collected in real time.
2. The underwater electric pan-tilt control device according to claim 1, wherein a resistor is provided between the rotary potentiometer and the embedded controller to sink the current input to the embedded controller into a predetermined setting range.
3. The underwater electric pan-tilt control device of claim 1, wherein the power converter a and the power converter B are linear stabilized power converters.
4. The underwater electric cradle head control device according to claim 1, wherein the number of the driving chips is two, and the driving chips are respectively connected with the stepping motor A and the stepping motor B to control the transverse rotation and the longitudinal rotation of the underwater electric cradle head.
5. The control method of an underwater electric pan-tilt control device according to claim 1, comprising the steps of:
1) The device is electrified, the embedded controller receives a control command sent by the water surface controller in a serial port interrupt mode, the control command type is obtained, the control command is stored, and the current position of the current electric pan-tilt direction or the current position of the left-right direction, which is acquired by the rotary potentiometer, is received;
2) After the embedded controller receives the control command, reading the control command and checking the control command;
3) Analyzing the type of the control command passing the verification, and fusing the current position of the current electric pan-tilt direction or the left-right direction acquired by the rotary potentiometer according to the analyzed control command; the analyzing the type of the control command passing the verification specifically comprises the following steps:
judging whether the configuration instruction is in a set range or whether the current pitching direction or the left-right direction of the underwater electric pan-tilt is configured currently or not according to the type of the control instruction obtained in the step 1), if the control instruction is the configuration instruction, outputting a control signal, namely, a configuration instruction;
if the control instruction is a rotation instruction, judging whether the pitch direction or the left-right direction of the current underwater electric pan-tilt is within a set range, and if so, outputting a control signal, namely a rotation command; if not, the control signal is not output, namely the rotation command is not executed;
the current position of the current electric pan-tilt direction or the left-right direction collected by the rotary potentiometer is fused according to the analyzed control command, and the current position is specifically:
when the control instruction is a rotation instruction, determining that the rotation direction is a pitching or left-right direction according to the instruction, and then collecting the value of the rotary potentiometer in the direction; if the value of the currently acquired rotary potentiometer is larger than or equal to the maximum value of the preset value or smaller than or equal to the minimum value of the preset value, the rotary control command is not executed; otherwise, executing a rotation instruction;
if the configuration instruction is the configuration instruction, determining the configuration pitch or the left-right direction according to the instruction, judging whether the configuration value of the configuration instruction is in a preset range, and if the configuration value is beyond the preset range, not executing; otherwise, executing the configuration instruction;
4) The embedded controller sends a configuration command to the driving chip, and meanwhile receives and analyzes the state data of the stepping motor sent back by the driving chip;
5) The embedded controller feeds the judged state of the stepping motor back to the water surface controller through the communication port.
6. The control method of an underwater electric pan-tilt control device according to claim 5, wherein the control instruction type in step 1) includes any one of a configuration instruction, an action instruction, and a useless instruction.
7. The control method of the underwater electric pan-tilt control device according to claim 5, wherein after the receiving is completed, the embedded controller reads the control command and checks the control command, specifically:
the embedded controller verification includes: judging whether the length and the numerical value of the control instruction are in a preset range, if so, checking to pass, otherwise, checking to fail;
if the control command fails to pass the verification, discarding the control command to wait for the next control command; and otherwise, waiting for data fusion with the current position of the current electric pan-tilt direction or the current left-right direction acquired by the rotary potentiometer.
8. The control method of the underwater electric pan-tilt control device according to claim 5, wherein in step 4), the step motor status data sent back by the receiving driving chip is analyzed, specifically: the embedded controller receives the character string of the state data of the stepping motor returned by the driving chip and receives the character string into the array through the bus, and refers to the SPI return value data table of the driving chip of the motor according to each flag bit of the character string to judge the state of the stepping motor.
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| CN202011411210.1A CN113759989B (en) | 2020-12-03 | 2020-12-03 | Underwater electric cradle head control device and method |
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| CN204887257U (en) * | 2015-07-31 | 2015-12-16 | 中国海洋石油总公司 | Portable monitoring arrangement under water |
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