摘要
介绍目前隧道排水管沟机器人在巡检过程中的不足之处,指出摄像头云台系统的研发对管沟机器人工作的重要意义。根据实际需求,设计了满足要求的二自由度摄像头云台三维模型,对该系统的硬件设计和控制程序进行详细阐述。硬件设计以STM32系统板作为主控,将具有SDI接口的索尼机芯作为视频图像采集装置,选用步进电机作为轴向转动执行机构,使用舵机和同步带的传动组合代替一般的齿轮传动,供能和通信电路设计保证了系统的稳定运行。软件部分先构建该系统的整体控制逻辑,对该系统的轴向转动、俯仰控制、LED模组代码逻辑进行详细阐述。实验表明,这里设计的摄像头云台系统具有高控制精度、结构简单、稳定可靠、防水防尘等优点。
It introduces the shortcomings of the current tunnel drainage robot in the inspection process,and points out the important significance of the research and development of the camera pan-head system for the work of the tunnel drainage robot.According to the actual requirements,the 3D model of the 2-DOF camera head is designed to meet the requirements,and the hardware design and control program of the system are elaborated in detail.The hardware design takes the STM32 system board as the main control,the Sony movement with SDI interface as the video image acquisition device,selects the stepping motor as the axial rotation actuator,uses the transmission combination of the steering gear and the synchronous belt to replace the general gear transmission,and the energy supply and communication circuit design to ensure the stable operation of the system.In the software part,the overall control logic of the system is constructed,and the axial rotation,pitch control and LED module code logic of the system are elaborated in detail.The experimental results show that the camera head system designed in this paper has the advantages of high control precision,simple structure,stability and reliability,waterproof and dustproof.
作者
侯凡
孟祥印
唐志锋
谢江鹏
HOU Fan;MENG Xiang-yin;TANG Zhi-feng;XIE Jiang-peng(School of Mechanical Engineering,Southwest Jiaotong University,Sichuan Chengdu 610036,China;Technology and Equipment of Rail Transmit Operation and Maintenance Key Laboratory of Sichuan Province,Sichuan Chengdu 610036,China)
出处
《机械设计与制造》
北大核心
2023年第11期263-267,272,共6页
Machinery Design & Manufacture
