Abstract
The underwater robot (ROV) designed in this paper includes two parts: an underwater actuator and a ground controller. The mechanical parts of ROV include frame, manipulator and pressure cabin, etc., and adopt an open-frame structure. The software part is programmed in C language on the keil platform. The ground controller collects rocker data through ADC for motion control of the underwater actuator. The LCD screen can display the ROV’s attitude angle and various sensor data. The underwater actuator receives the rocker data to drive the brushless DC motor (BLDCM). When there is no rocker to control the ROV movement, the ROV automatically adjusts the attitude according to the attitude angle data of the gyroscope and downloads the program to the STM32 MCU to control the drive program. The controller and the actuator use two STM32 single-chip microcomputers. CAN communication is used between the STM32 MCUs. It is equipped with 6 forward and reverse BLDCMs, electronic speed controller (ESC), lights, manipulators, depth, temperature, water quality and other sensors. There are sensors such as switching power supply, electronic speed controller, camera, gyroscope, etc., which can realize four-degree-of-freedom movement and information collection.
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Acknowledgment
This work is supported by Major Science and Technology Innovation Project of Shandong Province (2019JZZY020703, 2019GGX104016), Science and Technology Support Plan for Youth Innovation in Universities of Shandong Province colleges, and universities (2019KJB014), Shandong Jiaotong University “Climbing” Research innovation Team Program (SDJTUC1805).
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Wang, C., Guan, Z., Wang, W. (2022). Design of Remote Operated Vehicle Based on STM32. In: Liu, Q., Liu, X., Chen, B., Zhang, Y., Peng, J. (eds) Proceedings of the 11th International Conference on Computer Engineering and Networks. Lecture Notes in Electrical Engineering, vol 808. Springer, Singapore. https://doi.org/10.1007/978-981-16-6554-7_134
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DOI: https://doi.org/10.1007/978-981-16-6554-7_134
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