CN110933814A - Self-adaptive adjustment method for LED illuminating lamp of underwater robot - Google Patents
Self-adaptive adjustment method for LED illuminating lamp of underwater robot Download PDFInfo
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Abstract
The invention discloses a self-adaptive adjusting method for an LED illuminating lamp of an underwater robot, which is characterized in that the duty ratio of deviation is obtained by calculating the ratio of the difference value between an expected value of illumination intensity and a measured value of the illumination intensity to the expected value of the illumination intensity, neglecting the influence caused by a unit, and multiplying the duty ratio by the period of PWM to obtain the duty ratio which needs to be changed correspondingly in the period. In order to enable the LED illuminating lamp to change rapidly and smoothly, a coefficient is multiplied on the basis, and the PWM duty ratio can be changed to the expected PWM speed through the adjusted value. The invention aims at stepless regulation, and realizes self-adaptive regulation by measuring the error between a measured value and an expected value. The invention establishes the relation between the environmental measurement value and the timing counter of the microprocessor, and adjusts the changing speed of the count value by using the deviation between the actual measurement value and the expected value, thereby achieving the purpose of quickly, stably and smoothly changing the LED end voltage and improving the intelligence of the LED dimming system.
Description
Technical Field
The invention belongs to the field of intelligent light adjustment of LED illuminating lamps of underwater robots, and particularly relates to an environment self-adaptive adjusting method.
Background
The underwater robot plays an important role in military affairs and detection of underwater resource environment. For an underwater robot, the underwater LED illuminating lamp can provide good illumination for the underwater robot, and the provision of suitable illumination is particularly important for underwater environment observation and underwater target identification.
LEDs are short for light emitting diodes. It is made by using the visible light generated when electrons and holes are combined in the diode. Unlike conventional incandescent lamps and other resistive light sources, LED lighting lamps can be turned on and off rapidly. Currently, the main dimming methods include analog dimming, thyristor dimming, and PWM dimming (i.e., pulse width modulation). For regulation of LED lighting light of an underwater robot, a Pulse Width Modulation (PWM) mode is mostly adopted, and the duty ratio of PWM waves is changed through an upper computer to change terminal voltages loaded at two ends of an LED, so that the output power of the LED is changed, and the intensity of the lighting light is adjusted.
For the self-adaptive adjustment of the LED illuminating lamp of the underwater robot, the brightness of the LED illuminating lamp light is adjusted by changing the count value in a PWM wave timing counter generated in a microprocessor according to the illumination intensity of the environment and changing the duty ratio of PWM waves under the condition of not changing the period duration of the PWM waves.
The lighting system of the conventional underwater robot uses single brightness and is not adjusted. Or the operator sends an instruction to the underwater robot through the upper computer according to subjective observation and image recognition conditions to manually adjust the brightness of the LED illuminating lamp. Because the visibility in water is different in different depths and different water areas, when an operator observes and distinguishes underwater conditions and autonomously identifies underwater targets through a camera of the underwater robot, the operator needs certain illumination intensity to provide proper illumination for the underwater robot. The problem that intelligent adjustment cannot be achieved by adjusting the brightness of the LED illuminating lamp of the underwater robot is solved.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a self-adaptive adjusting method for an LED illuminating lamp of an underwater robot, which can realize self-adaptive stepless adjustment by eliminating the error between an environment measured value and an expected value.
In order to achieve the above purpose, the design idea of the invention is as follows: when the brightness of the environment where the underwater robot is located cannot meet the requirements of observation of the underwater environment and identification of targets, the brightness of the LED illuminating lamp needs to be adjusted to meet the requirements of underwater operation. Aiming at the light regulation of the LED illuminating lamp of the underwater robot, the brightness of the LED illuminating lamp is changed by changing the terminal voltage of two ends of the LED illuminating lamp. As shown in fig. 3, different duty cycles correspond to different output voltages. In a PWM waveform, the amplitude of each pulse is equal, and since the switching time is fast, the effective value of the output voltage can be varied by varying the width of the pulse within a fixed switching period. The LED on-time can thus be varied by varying the PWM duty cycle.
The PWM duty ratio is generated by that the microprocessor counts overflow to generate interruption and changes the high and low levels of an IO pin through the value set in the timing counter to generate PWM waveforms. Therefore, the time length of the existence of the high and low levels in the PWM wave can be changed by changing the value set in the timing counter, and the PWM duty ratio is further changed.
The technical scheme of the invention is as follows: an LED illuminating lamp self-adaptive adjusting method of an underwater robot is adjusted through an LED illuminating lamp self-adaptive adjusting system of the underwater robot, the LED illuminating lamp self-adaptive adjusting system of the underwater robot is a closed-loop negative feedback control system and comprises a microprocessor, an illumination sensor and an LED illuminating lamp, the microprocessor obtains an illumination intensity measured value from the surrounding environment through the illumination sensor and compares the illumination intensity measured value with an illumination intensity expected value to obtain a deviation value between the measured value and the expected value, and the terminal voltage of the LED illuminating lamp is changed by changing the PWM duty ratio so as to control the brightness of the LED illuminating lamp;
the adjusting method comprises the following steps:
A. the method comprises the steps that a light sensor obtains a measured value of the light intensity of the surrounding environment;
B. the microprocessor calculates the difference between the measured value and the expected value and compares the difference, and turns to step C when the measured value is larger than the expected value, turns to step D when the measured value is smaller than the expected value, and turns to step D2 when the measured value is equal to the expected value;
C. judging whether the current count value is less than zero, if so, turning to the step C1, if so, turning to the step C2, and if not, turning to the step D2;
c1, setting the duty ratio to be 0, turning off the LED illuminating lamp, and turning to the step E;
c2, the microprocessor calculates and reduces the count value through a formula, reduces the duty ratio, reduces the brightness of the LED illuminating lamp, and goes to step E;
D. comparing the difference between the current count value and the preset maximum count value, if the difference is greater than the preset maximum count value, turning to the step D1, if the difference is equal to the preset maximum count value, turning to the step D2, and if the difference is less than the preset maximum count value, turning to the step D3;
d1, setting the counter value as the maximum count value, setting the duty ratio as 1, and setting the brightness of the LED illuminating lamp to be maximum; turning to step E;
d2, keeping the duty ratio unchanged, and keeping the brightness of the LED illuminating lamp unchanged; turning to step E;
d3, calculating an increasing count value by the microprocessor through a formula, increasing the duty ratio, increasing the brightness of the LED illuminating lamp, and turning to the step E;
E. the microprocessor outputs a voltage signal to the output end of the LED illuminating lamp;
F. turning to the step A;
the formula in the above steps is as follows:
in the formula:
TIM (t + 1): counting the value in the timer for the next state;
tim (t): counting the value in a timer for the current state;
k: is a control coefficient;
xd: an expected value;
x: actual measured values;
t: the value set in the timing counter corresponding to one PWM period.
The working principle of the invention is as follows:
the duty ratio which needs to be changed correspondingly in the period is obtained by calculating the ratio of the difference value between the expected value of the illumination intensity and the measured value of the illumination intensity to the expected value of the illumination intensity, neglecting the influence caused by units, obtaining the ratio of the deviation and multiplying the ratio by the period of PWM. In order to enable the LED illuminating lamp to change rapidly and smoothly, a coefficient is multiplied on the basis, and the PWM duty ratio can be changed to the expected PWM speed through the adjusted value.
When the expected value is larger than the measured value, the brightness of the environment is not favorable for an operator to observe the underwater environment and identify underwater objects, and the brightness of the LED needs to be improved. In the formula, when the expected value is greater than the measured value, the PWM duty ratio is increased, and the voltage of the LED lighting lamp terminal is increased, thereby increasing the brightness thereof.
When the expected value is smaller than the measured value, the environment illumination intensity is represented to meet the observation of the underwater environment and the recognition of underwater objects, and the brightness of the LED illuminating lamp can be reduced so as to save energy. In the formula, when the expected value is smaller than the measured value, xdX < 0 and TIM (t +1) become smaller, i.e. the duty cycle becomes smaller, the LED terminal voltage decreases, and the LED lamp brightness decreases.
When the expected value is equal to the measured value, the environment illumination intensity can meet the observation of the underwater environment and the identification of underwater objects, and no change is needed. In the equation, the difference between the expected value and the measured value is zero, TIM (t +1) ═ TIM (t), that is, the PWM duty ratio is constant, the LED terminal voltage is constant, and the LED maintains the original brightness.
The on-time of the next state can thus be changed from the on-time of the current cycle and on the basis of the difference between the expected value and the measured value. The LED lighting lamp can change along with the change of the surrounding environment and is in a dynamic balance state. The invention can provide LED lighting illumination which is changed along with the change of the required illumination intensity for the target identification of the underwater robot because the actual environment of the underwater robot is changed.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention aims at stepless regulation, and realizes a self-adaptive regulation method by measuring the error between a measured value and an expected value; a relation between the measured value and a count value of a timing counter generating PWM waves in the microprocessor is established, and when the measured value deviates from an expected value, namely the ambient light intensity changes, the PWM duty ratio is changed by increasing or decreasing the count value, and the brightness of the LED is increased or decreased to adapt to the change of the ambient light intensity. Therefore, the invention can provide a smooth, quick and stable adjusting mode for the device.
2. The invention establishes the relation between the environmental measurement value and the microprocessor timing counter, lists out the corresponding formula to specifically explain the relation between the environmental measurement value and the microprocessor timing counter, and adjusts the speed of changing the count value by using the deviation between the actual measurement value and the expected value, thereby achieving the purpose of quickly, stably and smoothly changing the LED end voltage and improving the intelligence of the LED dimming system.
Drawings
Fig. 1 is a structure diagram of an underwater robot LED lighting lamp control system.
Fig. 2 is a flow chart of the underwater robot LED lighting lamp control.
Fig. 3 is a graph of terminal voltage waveforms under different PWMs.
FIG. 4 is a graph of system tuning simulation results for the case where the initial measured value is less than the expected value.
FIG. 5 is a graph of system tuning simulation results for the case where the initial measured value is greater than the expected value.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
In order to illustrate the effectiveness and feasibility of the process,the invention was verified by performing a MATLAB simulation according to the flow shown in fig. 1-2. Assume that the value T set in the timer counter corresponding to one PWM period is 5000, the initial count value is tim (T) 2000, T is 1, and the expected value x isd200, 120 initial measurement value x, 0.01 control coefficient K. In fig. 4, the counter value starts to increase after the microprocessor has counted because the initial measurement value is less than the expected value. Since the brightness of the environment changes slowly as the underwater robot sinks slowly, a sine wave signal is applied to the measured values in order to simulate this change. As the measured value increases, the count value TIM also increases smoothly, with the TIM increasing slowly near point a; TIM is not increasing until the measured value equals the expected value at point a; when point a is exceeded, the measured value is greater than the expected value, and the TIM changes slowly when the measured value initially approaches the expected value; TIM changes rapidly when measured values deviate significantly from expected values. When the measured value (ambient brightness) is higher than the expected value for a period of time, the TIM will continue to decrease during this period of time until it reaches zero, turning off the LED lamp. When the ambient brightness starts to decrease, the TIM starts to increase slowly beyond point b, approaching point b, and starts to increase rapidly when the deviation is large. The case of point c is the same as the case of point a and is not repeated. Fig. 5 is identical in principle to fig. 4, with the only difference that the initial measured value in fig. 5 is greater than the expected value, and that the state in which the LED reaches the brightest occurs.
In summary, the TIM will vary depending on the magnitude of the deviation whenever the expected value deviates from the measured value. The larger the deviation, the faster the change speed, the smaller the deviation, the slower the TIM changes speed, and the TIM does not change until the expected value equals the measured value.
The present invention is not limited to the embodiment, and any equivalent idea or change within the technical scope of the present invention is to be regarded as the protection scope of the present invention.
Claims (1)
1. A self-adaptive adjusting method for an LED illuminating lamp of an underwater robot is characterized by comprising the following steps: the self-adaptive adjusting system of the LED illuminating lamp of the underwater robot is a closed-loop negative feedback control system and comprises a microprocessor, an illumination sensor and the LED illuminating lamp, wherein the microprocessor acquires an illumination intensity measured value from the surrounding environment through the illumination sensor and compares the illumination intensity measured value with an illumination intensity expected value to calculate so as to obtain a deviation value between the measured value and the expected value, and changes the terminal voltage of the LED illuminating lamp by changing the PWM duty ratio so as to control the brightness of the LED illuminating lamp;
the adjusting method comprises the following steps:
A. the method comprises the steps that a light sensor obtains a measured value of the light intensity of the surrounding environment;
B. the microprocessor calculates the difference between the measured value and the expected value and compares the difference, and turns to step C when the measured value is larger than the expected value, turns to step D when the measured value is smaller than the expected value, and turns to step D2 when the measured value is equal to the expected value;
C. judging whether the current count value is less than zero, if so, turning to the step C1, if so, turning to the step C2, and if not, turning to the step D2;
c1, setting the duty ratio to be 0, turning off the LED illuminating lamp, and turning to the step E;
c2, the microprocessor calculates and reduces the count value through a formula, reduces the duty ratio, reduces the brightness of the LED illuminating lamp, and goes to step E;
D. comparing the difference between the current count value and the preset maximum count value, if the difference is greater than the preset maximum count value, turning to the step D1, if the difference is equal to the preset maximum count value, turning to the step D2, and if the difference is less than the preset maximum count value, turning to the step D3;
d1, setting the counter value as the maximum count value, setting the duty ratio as 1, and setting the brightness of the LED illuminating lamp to be maximum; turning to step E;
d2, keeping the duty ratio unchanged, and keeping the brightness of the LED illuminating lamp unchanged; turning to step E;
d3, calculating an increasing count value by the microprocessor through a formula, increasing the duty ratio, increasing the brightness of the LED illuminating lamp, and turning to the step E;
E. the microprocessor outputs a voltage signal to the output end of the LED illuminating lamp;
F. turning to the step A;
the formula in the above steps is as follows:
in the formula:
TIM (t + 1): counting the value in the timer for the next state;
tim (t): counting the value in a timer for the current state;
k: is a control coefficient;
xd: an expected value;
x: actual measured values;
t: the value set in the timing counter corresponding to one PWM period.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114630468A (en) * | 2020-12-09 | 2022-06-14 | 艾尔默斯半导体欧洲股份公司 | Biosafety Control of LED Light Sources |
| CN119653543A (en) * | 2025-02-19 | 2025-03-18 | 上海彪狼照明电器有限公司 | Intelligent control method and system for LED lighting |
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| US20040114396A1 (en) * | 2002-10-29 | 2004-06-17 | Fujitsu Display Technologies Corporation | Illumination device and liquid crystal display device using the same |
| CN101578917A (en) * | 2006-11-09 | 2009-11-11 | 苹果公司 | Brightness control of a status indicator light |
| CN107833568A (en) * | 2017-10-30 | 2018-03-23 | 青岛海信电器股份有限公司 | A kind of screen luminance adjustment method, device and display terminal |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040114396A1 (en) * | 2002-10-29 | 2004-06-17 | Fujitsu Display Technologies Corporation | Illumination device and liquid crystal display device using the same |
| CN101578917A (en) * | 2006-11-09 | 2009-11-11 | 苹果公司 | Brightness control of a status indicator light |
| CN107833568A (en) * | 2017-10-30 | 2018-03-23 | 青岛海信电器股份有限公司 | A kind of screen luminance adjustment method, device and display terminal |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114630468A (en) * | 2020-12-09 | 2022-06-14 | 艾尔默斯半导体欧洲股份公司 | Biosafety Control of LED Light Sources |
| CN119653543A (en) * | 2025-02-19 | 2025-03-18 | 上海彪狼照明电器有限公司 | Intelligent control method and system for LED lighting |
| CN119653543B (en) * | 2025-02-19 | 2025-06-20 | 上海彪狼照明电器有限公司 | Intelligent control method and system for LED illuminating lamp |
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