An underwater robot control system based on mobile phone bluetooth technology
An underwater robot and control system technology, applied in three-dimensional position/channel control and other directions, can solve the problems of inability to obtain underwater information and control the robot in real time, insufficient flexibility, etc., to enhance movement flexibility and avoid cable dragging , the effect of improving reliability
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Embodiment 1
[0025] Such as figure 1 As shown, a kind of underwater robot control system based on the bluetooth technology of the mobile phone in this embodiment includes: a processing system located in the carrier of the underwater robot 5, a bluetooth device encapsulated in the buoy 2, and an underwater robot control terminal on the mobile phone 1 wherein the underwater robot control terminal on the mobile phone 1 communicates with the underwater robot 5 located below the water surface 3 through a bluetooth device packaged in the buoy 2, the underwater robot 5 is connected with the buoy 2 with a zero-buoyancy cable 4, and the underwater robot 5 It is connected with the watertight connector of the zero-buoyancy cable 4 to realize dry plugging and unplugging. The distance between buoy 2 and mobile phone 1 is not more than 30 meters, which can be checked in actual operation image 3 The bluetooth status icon 13 on the main interface of the underwater robot control terminal on the mobile ph...
Embodiment 2
[0027] Such as figure 2 As shown, the processing system located in the carrier of the underwater robot 5 includes: a main control board, an attitude control board, a depth sensor, a power supply module, a propulsion module, etc., wherein: the main control board processor passes the serial port and the analog-to-digital conversion A / D Obtain the attitude information and depth signal calculated by the processor of the attitude control board.
[0028] Described main control board, as the control center of system, is made up of embedded microprocessor STM32F103VCT6 and peripheral circuit thereof, comprises: embedded microprocessor STM32F103VCT6, serial communication UART, analog-to-digital conversion A / D, input and output IO port, Power circuit, etc., in which: the serial communication UART is connected to the Bluetooth module and the attitude control board in the buoy 2, the analog-to-digital conversion A / D is connected to the depth sensor, the input and output IO ports are con...
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