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ROV/AUV航行器控制中心 水下机器人（STM32 & Raspberry Pi）

C 90.75% Assembly 2.72% C++ 1.54% Objective-C 0.29% HTML 0.73% Makefile 0.63% Batchfile 0.01% Python 1.52% DIGITAL Command Language 0.04% Module Management System 0.01% Roff 0.01% RPC 0.04% CMake 0.38% Ruby 0.01% Shell 1.20% Perl 0.03% CSS 0.03% TeX 0.01% Pawn 0.01% M4 0.05%

underwater-vehicle's Introduction

ROV/AUV航行器控制中心

个人主页🕺| 软件说明💻| 硬件说明📚| 机械说明🎮

C Python Size Raspberry

1、简介

硬件 主控制器(STM32) 视频与数据服务器(树莓派3B+)
芯片型号 STM32F407ZGT6 BCM2837B0
CPU 32位 Cortex-M4(ARMv7) 64位 Cortex-A53(ARMv8)
主频 168MHz 1.4GHz
RAM 192KB 1GB
外存 1MB(FLASH) 32GB(SD)
单元 FPU、DSP 千兆以太网
操作系统 RT-Thread Liunx
  • 系统结构简图： 系统结构简图

2、目录说明

+——Underwater_vehicle
|---- docs: 【设计文档】
|---- hardware:【电路设计】      
|---+ software:【软件设计】
|       ├──README.md
|       ├──rt-thread-master
|            └──bsp
|               └──stm32f407【控制程序】
|---- graphic_model:【机械模型】
|---- raspberry_server:【树莓派服务】
|---- tools:【调试工具】
|---- README.md

3、机械结构

  • 3维模型 ROV 3D

  • 实物图 Entity

4、软件结构

Connect Flow

  • Computer Connectlanguage
  • Raspberry Pi language
  • MCU Controller language

5、硬件结构

Controller PCB 3D

  • 核心板(Core Controller)拥有外设：
外设名称 RGB LED Key Buzzer Dial Switch MS5837 OLED W25Q128 Voltage Detection Current Detection Zigbee JY901 USR-C216 CP2102 OV2640 Camera Servo Motor Searchlights Perpellers
控制(通讯)方式 GPIO GPIO GPIO GPIO I2C SPI SPI ADC ADC USART USART USART USART DCMI-DMA PWM PWM PWM
功能描述 指示灯 按键 蜂鸣器 拨码开关 深度传感器 显示屏 闪存芯片 电压检测 电流检测 2.4G无线通信 九轴 WiFi模块 串口转USB 摄像头 舵机 探照灯 ESC

Hardware PCB 3D

  • 树莓派拥有有外设：
外设名称 Camera 1 Camera 2 Core Controller PLC / Optical-to-electrical Transducer
控制(通讯)方式 USB USB USB Ethernet
功能描述 外置光学变焦摄像头 内置云台摄像头 核心控制器 电力载波模块/光电转换器

6、Underwater Vehicle 的进展

  • 电路设计

    • Core Controller核心控制板 by @Ian
    • Underwater_Vehicle主板 by @Ian
    • 电源主板设计 by @Ian

  • 控制程序

  • 上位机

    • C#上位机 by [@陈信任] 🆕

  • 机械结构

  • 树莓派

7、使用说明

  • propeller_power_set [parameter]

设置推进器动力 <0~300%>

  • set_depth_sensor_type [parameter]

修改深度传感器 类型<ms5737/spl1301/null> ...

参与贡献

  • Fork 本仓库
  • 新建 Feat_xxx 分支
  • 提交代码
  • 新建 Pull Request
  • 点击联系我

underwater-vehicle's People

Contributors

okurarisona avatar one7struggle avatar zengwangfa avatar

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