基于双轴运动水下探测机器人摄像云台系统设计  

Design of camera pan-tilt system for underwater detection robot based on dual-axis motion

作　　者：盖超会[1] 高泽宇 王成刚[2] 汪潇 GAI Chaohui;GAO Zeyu;WANG Chenggang;WANG Xiao(Wuhan Vocational College of Software and Engineering,Wuhan 430205,China;Wuhan Institute of Technology,Wuhan 430205,China;Mute Measurement and Control Technology Co.,Ltd.,Wuhan 430205,China)

机构地区：[1]武汉软件工程职业学院,武汉430205 [2]武汉工程大学,武汉430205 [3]穆特测控科技有限公司,武汉430205

出　　处：《自动化与仪器仪表》2023年第8期277-280,285,共5页Automation & Instrumentation

基　　金：湖北省中华职业教育社课题“依托产教融合特色产业学院的智能光电专业群建设研究”(课题编号:HBZJ2022.9)。

摘　　要：介绍摄像机器人应用在水下探测的状况,提出一种双轴运动云台系统。详细地阐述了该系统的硬件设计跟软件设计。采用STM32F103C8T8作为主控芯片,CMOS工业相机作为图像采集装置。采用步进电机作为运动控制机构,对云台进行水平旋转和垂直旋转。硬件电路设计实现对云台的主控电路控制。在关节连接处设置密封件。采用正交迭代算法提高图像捕捉的稳定性。根据实验结果表明,本水下摄像云台在水下能够有效在湍流区域工作,具有操作可靠、结构紧凑、多角度旋转、定位可靠、实时性、可靠性强且防护精度高等特点。Introduces the application of camera robot in underwater detection,and presents a two-axis moving head system.The hardware design and software design of the system are described in detail.This design uses STM32F103C8T8 as the main control chip,CMOS industrial camera as an image acquisition device.The step motor is used as the motion control mechanism to rotate the head horizontally and vertically.The hardware circuit is designed to control the main control circuit of the head.A seal is arranged at the joint joint.The orthogonal iteration algorithm is used to improve the stability of image capture.According to the experimental results,the underwater camera pan can work effectively in the turbulent region under water,the utility model has the advantages of reliable operation,compact structure,multi-angle rotation,reliable positioning,real-time performance,strong reliability and high protection precision.

关 键 词：水下双轴云台 STM32 CMOS图像传感器 正交迭代算法 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]