水中巡检机器人的控制模块设计  

Design of the control module of the inspection robot in the water

作　　者：姜海 张凤涛 钟晨 赵伟鹏 陈垲格 JIANG Hai;ZHANG Fengtao;ZHONG Chen;ZHAO Weipeng;CHEN Kaige

机构地区：[1]长春师范大学工程学院,吉林长春130032

出　　处：《现代机械》2022年第1期88-91,共4页Modern Machinery

基　　金：第七届全国大学生工程训练综合能力大赛吉林省选拔赛。

摘　　要：本设计是基于单片机ATATMEGA2560与OpenMV机器视觉模块合作控制的船体系统。船体以OpenMV机器视觉模块作为信息采集传感器,ATMEGA2560为控制核心,彩色LED灯作为信息显示及报警提示装置,使船体在水中能够实现循迹、信息采集及播报的功能。在OpenMV机器视觉模块对需要的信息进行采集后将收集的信息发送给单片机,单片机对信息进行分析判断后驱使电机使小船在水中能实现沿白色管道行进,并且对管道上的物块(模拟管道上出现的垃圾及管道外产生的腐蚀)进行识别及判断,实现船体在水中自动巡检的功能。This design is based on the single chip microcomputer ATATMEGA2560 and the OpenMV machine vision module.The boat uses the OpenMV machine vision module as the information collecting sensor, the single chip microcomputer ATMEGA2560 as the core control unit, and colored LED lights as the information display and alarm device to realize the functions of tracking, information collecting and broadcasting in the water.After the OpenMV machine vision module collects the required information, the information is sent to the single chip microcomputer.The single-chip computer analyzes and judges the information, and then drives the boat to travel along the white pipeline in the water, and to identify and judge the blocks on the pipeline(simulating the garbage and corrosion on the pipeline).In this way the automatic inspection of the boat in the water is realized.

关 键 词：单片机ATATMEGA2560 OpenMV机器视觉模块 直流电机 水中循迹 

分 类 号：TP224[自动化与计算机技术—检测技术与自动化装置]