摘要海洋是一个富饶而远未得到开发的资源宝库。人类的生存和发展会越多的依赖于海洋。我国人均资源匮乏，海洋开发更具有特殊意义。所以，水下机器人成为一种重要的海洋开发工具。水下机器人的应用领域已经不断扩大，如海洋研究，海洋开发和未来的军事应用。照明控制系统能够引导水下机器人的运动，指导目标的追踪。本系统主要研究和设计水下机器人的照明控制系统。

水下机器人的照明控制系统设计包括硬件系统设计和软件系统设计。照明控制系统的硬件设计包括单片机最小系统，温度采集，液晶显示。软件系统设计包含串行通信程序，定时中断程序，PWM波产生程序和超温保护功能程序。86192

本课题设计可以通过远程智能控制产生一组可变的PWM波，驱动水下机器人的照明灯，进而改变灯光亮度。此外，LCD能不断的显示系统的温度和灯光亮度。

毕业论文关键词： Modbus RTU；调光灯；串口通信；水下机器人；照明控制系统

Abstract    The sea is a rich treasure trove of resources, but it is far from being developed。 In order to survive and develop, human beings will be more and more dependent on the ocean。 China’s per capita are scare, which makes the development of ocean has a special significance。 So, underwater robot becomes an important tool for the development of ocean。 The application field of underwater robot has been continuously expanded, such as, the study of ocean, the development of sea, and military applications in the future。 Lighting control system can guide the movement of underwater robot, and direct target tracking。 This system mainly studies and designs the lighting control system of the underwater robot。

The design of lighting control system of the underwater robot includes hardware system design and software system design。 The hardware design of the lighting control system includes minimum system of SCM, the collection of temperature, and liquid crystal display。 Lighting control system software design, which includes the program of serial communication, timer interrupt, PWM wave and the over temperature protection。

This topic can be designed by remote intelligent control to produce a set of variable PWM wave, which can drive the light of underwater robot, then change the brightness of lamplight。 In addition, LCD can constantly display the temperature and brightness of the system。

Keywords: Modbus RTU; light modulation lamp; serial communication; underwater robot; lighting control system

目录

第一章绪论 1

1意义 1

2背景现状 1

3主要研究内容 2

4研究方法 3

第二章照明控制系统简介 4

2。1通信协议 4

2。1。1数据包 4

2。1。2 通信命令格式 5

2。2 照明控制系统的程序开发 7

2。2。1 PIC单片机 7

2。2。2MPLAB 9

2。2。3 下载编程器 11

2。2。4调试 12

2。2。5烧写（固化）程序 12

2。3 PWM模式 12

第三章照明控制系统的硬件设计 14

3。1照明控制系统的硬件结构