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基于STM32兩軸深水觀測云臺控制系統(tǒng)設(shè)計
2021年電子技術(shù)應(yīng)用第8期
任福深1,,王 茜1,,劉 均1,張 園2
1.東北石油大學(xué) 機械科學(xué)與工程學(xué)院,,黑龍江 大慶163318,;2.陜西安然能源科技有限公司,陜西 西安710000
摘要: 隨著水下機器人在海洋能源勘探領(lǐng)域研究的深入,,其需要借助云臺實時監(jiān)測水下環(huán)境,、保證安全高效的作業(yè)。因此設(shè)計了基于STM32主控板的兩自由度深水觀測云臺及其控制系統(tǒng),,在FreeRTOS上設(shè)置不同優(yōu)先級的任務(wù),,實現(xiàn)CPU資源的高效利用。采用RS485實現(xiàn)云臺和上位機通信,,上位機按照Modbus雙向通信協(xié)議向云臺下位機發(fā)送控制命令,。在實現(xiàn)兩軸云臺電機轉(zhuǎn)動的同時,,上位機實時接收檢測到的數(shù)據(jù)。采用PID算法控制云臺轉(zhuǎn)動角度,,通過分析實驗結(jié)果,,該系統(tǒng)可以實現(xiàn)云臺兩自由度控制和高質(zhì)量圖片視頻采集。
中圖分類號: TP391.9
文獻標識碼: A
DOI:10.16157/j.issn.0258-7998.211557
中文引用格式: 任福深,,王茜,,劉均,等. 基于STM32兩軸深水觀測云臺控制系統(tǒng)設(shè)計[J].電子技術(shù)應(yīng)用,,2021,,47(8):110-115.
英文引用格式: Ren Fushen,Wang Xi,,Liu Jun,,et al. Design of PTZ control system based on STM32 two-axis deep water observation[J]. Application of Electronic Technique,2021,,47(8):110-115.
Design of PTZ control system based on STM32 two-axis deep water observation
Ren Fushen1,,Wang Xi1,Liu Jun1,,Zhang Yuan2
1.School of Mechanical Science and Engineering,,Northeast Petroleum University,Daqing 163318,,China,; 2.Shaanxi Anran Energy Technology Co.,Ltd.,,Xi′an 710000,,China
Abstract: With the deepening of research on underwater robots in the field of marine energy exploration, they need to use the PTZ to monitor the underwater environment in real time to ensure safe and efficient operations. Therefore, a two-degree-of-freedom deep-water observation PTZ and its control system based on the STM32 main control board are designed. FreeRTOS to divide the application into multiple tasks with different priorities and allocate CPU system resources reasonably. RS485 is used to realize the communication between the PTZ and the upper computer. The upper computer sends control commands to the lower computer of the PTZ according to the Modbus two-way communication protocol. While realizing the rotation of the two-axis pan/tilt motor, the upper computer receives the detected data in real time. The PID algorithm is used to control the rotation angle of the PTZ. By analyzing the experimental results, the system can achieve two-degree-of-freedom control of the PTZ and the collection of high-quality pictures and videos.
Key words : two degrees of freedom head;STM32,;control system,;ROV;FreeRTOS

0 引言

    智能視頻監(jiān)控技術(shù)結(jié)合圖像,、視頻處理等技術(shù),,是實現(xiàn)運動目標自動檢測和跟蹤的關(guān)鍵技術(shù)[1-2]。水下機器人是海洋能源開采的重要裝備,,常代替人工在危險環(huán)境和人類視覺受阻的環(huán)境工作,,需要借助云臺實時監(jiān)測水下環(huán)境、保證其安全高效的作業(yè),。

    國內(nèi)外云臺多為單自由度或固定式,,且常見的云臺微控制器多為單核或雙核,數(shù)據(jù)傳輸速度和存儲量不高[3],。2014年,,中國海洋石油總公司設(shè)計了一款移動式云臺,,只適用于淺海水下場景的實時監(jiān)控[4]。2016年,,殷莉甜針對水下云臺結(jié)構(gòu)的密封性和圖像檢測要求,,設(shè)計了一款應(yīng)用于水下焊接機器人的雙目視覺系統(tǒng),但其檢測精度不高[5-6],?;谏鲜鱿嚓P(guān)研究,本文設(shè)計了基于STM32兩軸深水觀測云臺結(jié)構(gòu)及其控制系統(tǒng),,不但能實現(xiàn)回轉(zhuǎn)和俯仰兩自由度的運動,,而且降低了水下機器人系統(tǒng)的開發(fā)成本,是水下機器人智能化研究的關(guān)鍵技術(shù),。




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作者信息:

任福深1,,王  茜1,,劉  均1,張  園2

(1.東北石油大學(xué) 機械科學(xué)與工程學(xué)院,,黑龍江 大慶163318,;2.陜西安然能源科技有限公司,陜西 西安710000)



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