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STM32-based control circuit of cabled underwater robot and control method of STM32-based control circuit

An underwater robot and control circuit technology, which is applied in the field of robots to eliminate false alarms, save costs, and improve diving durability.

Active Publication Date: 2020-11-20
NANJING INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a control circuit and control method for a cable-type underwater robot based on STM32, which solves the technical problems of low-power consumption detection of battery power and automatic control of the diving depth of the underwater robot

Method used

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  • STM32-based control circuit of cabled underwater robot and control method of STM32-based control circuit
  • STM32-based control circuit of cabled underwater robot and control method of STM32-based control circuit
  • STM32-based control circuit of cabled underwater robot and control method of STM32-based control circuit

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Embodiment 1

[0040] Such as Figure 1-Figure 3 The control circuit of a cabled underwater robot based on STM32 is shown, including MCU module, camera module, gyroscope module, magnetometer module, acceleration module, drive module, battery detection module, power module, lithium battery pack BAT1, Constant current source power supply module, AD module, pressure sensor unit, temperature and humidity transmitter and hybrid cable, the camera module is connected to the MCU module through the BNC interface, the gyroscope module is connected to the AD interface of the MCU, and the magnetometer module is connected to the IIC of the MCU module Interface connection, the acceleration module is connected to the IIC module of the MCU module, the drive module is connected to the MCU module through the USB interface, the drive module is used to drive the external thruster, the temperature and humidity transmitter is connected to the MCU module through the serial port, and the output port of the pressure ...

Embodiment 2

[0067] The control method of a cabled underwater robot based on STM32 described in Embodiment 2 is realized on the basis of the control circuit of a cabled underwater robot based on STM32 described in Embodiment 1, including the following steps:

[0068] Step 1: Establish the control circuit of the cabled underwater robot based on STM32; the MCU module communicates with the host computer through a hybrid cable;

[0069] Step 2: The MCU module reads the video data, attitude data, magnetic force data and speed data of the underwater robot collected by the camera module, gyroscope module, magnetometer module and acceleration module, and uploads them to the host computer through the hybrid cable;

[0070] Step 3: The MCU module controls the external propeller through the drive module, thereby controlling the movement of the underwater robot;

[0071] Step 4: The battery alarm circuit detects pin 2 of the lithium battery management chip IC1, and monitors the temperature of the lith...

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Abstract

The invention discloses an STM32-based control circuit of a cabled underwater robot and a control method of the STM32-based control circuit. The invention belongs to the technical field of robots, thesystem comprises an MCU module, a camera module, a gyroscope module, a magnetometer module, an acceleration module, a driving module, a battery detection module, a power supply module, a lithium battery pack BAT1, a constant current source power supply module, an AD module, a pressure sensor unit, a temperature and humidity transmitter and a hybrid cable. The technical problems of low-power-consumption detection of the electric quantity of a battery and automatic control of the submergence depth of the underwater robot are solved. According to the invention, the temperature of the battery pack is detected by detecting the pin 2 of the lithium battery management chip IC1; the cost is saved, the voltage value of the battery is discriminated through the battery voltage discrimination circuit; the battery voltage discrimination is controlled through the field effect transistor Q3, the monitoring of the battery voltage is realized under the condition of low power consumption, the diving durability of the underwater robot is improved, and the underwater robot is ensured not to be uncontrollable due to too low electric quantity of the battery.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a control circuit and a control method of a cable-type underwater robot based on STM32. Background technique [0002] Since entering the 21st century, with the continuous progress of modern computer technology and science and technology, robot technology has been improved by leaps and bounds compared with the past. In an environment where the production technology of enterprises continues to improve and the requirements for automation technology continue to deepen, underwater robots emerge as the times require. At present, many universities and companies at home and abroad are actively investing manpower and financial resources in research and development for observation under special underwater conditions. ,working system. [0003] At present, most underwater robots are powered by batteries, which requires that underwater robots must implement a low-power supply mode. Contents o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/04G05B19/042G01D21/02H02J7/00
CPCG05D1/048G05B19/042G01D21/02H02J7/0047H02J7/0063
Inventor 陈国军陈巍史金飞陈丝雨
Owner NANJING INST OF TECH
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