Distributed underwater robot control system

Abstract

The distributive underwater robot control system has RS-485 network as distributive control kernel and consists of computer system unit nodes and RS-485 network nodes. The computer system unit nodes to disperse the task to the network nodes include computer system unit and RS-232 / RS-485 converter. The RS-485 network nodes with monochip computer as kernel includes mainly state detecting nodes, equipment power supply controlling nodes, power supply controlling nodes, motor controlling nodes, emergency treating nodes, datan acquiring nodes and serial port device nodes. The network nodes are for the tasks of sensor datan acquisition and processing, device control, motor control, fault detection, water leakage detection and emergency treatment. All the nodes are connected together via RS-485 interfaces to constitute RS-485 network; and the software consists of computer system unit programs and monochip computer programs.

Description

technical field [0001] The invention relates to underwater robot control technology, in particular to a distributed underwater robot control method, which belongs to computer control equipment used in underwater robot control. Background technique [0002] Conventional underwater robot control systems, especially autonomous underwater robot control systems, mostly use centralized control methods to realize robot control, that is, the main control computer realizes the data collection and control of all sensors and equipment, and the main control computer through The analog / digital conversion circuit collects analog signals such as voltage and current, collects the switch signal of the device through the digital input circuit, and collects the data of the serial device through the serial port circuit. After the main control computer processes these data, it outputs through the digital / analog conversion circuit. The control quantity drives the motor, and the equipment is contr...

AI Technical Summary

Problems solved by technology

Therefore, under the centralized control mode, the main control computer has heavy tasks and low efficiency; once the main control computer fails, the entire control system will be paralyzed, and the reliability of the system is low; due to the data acquisition channel, address and interrupt resources of the main control computer And the number of cores of the watertight cable is limited, it is difficult to add devices or sensors at will, and the scalability of the system is poor

With the development of electronic technology, sensor technology, and communication technology, more and more sensors can be carried by underwater robots, and the missions completed are becoming more and more complex. Traditional centralized control methods cannot meet the needs of the development of underwater robot control systems.

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