Research On The Control System Based On ARM Of Water Surface Robot

In recent years,the water pollution problem is increasingly serious in China.Floating garbage in rivers,lakes,reservoirs and other waters can be seen everywhere.Floating garbage has become an important source of water pollution,it not only seriously affects the health of people's life and the beauty of the environment,but also poses serious threats to waterways and dams.At present,most of the cleaning methods of floating rubbish in water are mainly artificial salvage and mechanical cleaning.In response to these problem,an ARM based surface robot control system is designed in this paper.Combined with the research background and carefully studied the domestic and foreign research development present situation,the overall of the system is designed and choice the i Top4412 core board,which is the core of samsung's high-performance embedded Exynos 4412 microprocessor as the hardware development platform and the the software development platform is built with the embedded Linux operating system.The main works of this paper are as follows: The surface robot control system mainly completes the system hardware design and software design.First of all,overall scheme of the system were analyzed,and then completed the selection of the key modules which included battery,GPS module,camera,propeller and servo in the system,and introduced related technologies which the system design would be applied.Then the system hardware circuit is introduced,including i Top4412 core board,the system power supply circuit,Ethernet circuit,serial communication circuit,USB interface circuit,signal acquisition circuit;System software design mainly includes platform construction,driver design,Data acquisition,network transmission and motor control.The system firstly constructs the cross-compilation environment and transplant system of the software,then completes the ADC and PWM device drivers program,and then realizes the data acquisition program design of the control system,Including GPS signal acquisition,battery power AD signal acquisition,video image acquisition,electronic compass signal acquisition,and completed the video and data network transmission program design.Finally,the motor control program and the client is designed for the system.After finishing the research and development of the surface robot control system,the system is debugged experimentally.The GPS module,electronic compass module,USB camera network transmission,power collection and PWM device driver in the system are debugged.Finally,the system is assembled and validated by experiment in the pool.The experimental results show that each module in the system can work normally,and the whole system which reaching the expected requirements can control by remote,the video and data can transmit by remote.