A method for internal communication of a portable autonomous underwater vehicle
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An underwater vehicle and internal communication technology, applied to underwater ships, underwater operating equipment, data exchange through path configuration, etc., can solve the problems of no CAN bus communication mode report, no use of CAN bus, etc., and achieve structural Simple and easy to implement, low hardware system requirements, and the effect of improving utilization
Active Publication Date: 2020-02-14
NORTHWESTERN POLYTECHNICAL UNIV
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[0003] At present, in the internal communication of portable underwater vehicles, there is no report on the method of using CAN bus, and there is no specific report on the communication method of CAN bus according to the specific composition of portable underwater vehicles.
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Embodiment 1
[0055] Embodiment 1: The motor controller node sends a status feedback message to the control microcomputer node, the wireless communication module node and the safety insurance module node at the same time, and the data content is: speed -300 revolutions per second, current 3.52A.
[0056] For the specific process of CAN message communication, please refer to figure 1 :
[0057] 1: The motor controller sends a message, which is a data message, so the priority of the identifier D28~D26=011.
[0058] 2: The data receiving node is the control microcomputer node, the wireless communication module node and the safety insurance module node, and the sending node is the motor controller node, refer to Figure 4 It can be seen that: D25~D16=0111010111, D15~D12=0011. The default value of D11~D6 is 000000.
[0059] 3: The message numbers are D5~D0=000001. Therefore, the 29 flag bits D28-D0=0110111010111001100000 0000001, that is, the message ID=0xDD73001.
[0060] 4: See Figure 6...
Embodiment 2
[0066] Embodiment 2: The wireless communication module node sends a coordinate position data message to the control microcomputer node, and the data content is: east longitude 128.5742 degrees, north latitude 34.6712 degrees.
[0067] For the specific process of CAN message communication, please refer to figure 1 :
[0068] 1: The wireless communication node sends a message, and the message is a data message, so the priority of the identifier D28-D26=011.
[0069] 2: The data receiving node is the control microcomputer node, and the sending node is the wireless communication node, refer to Figure 4 It can be seen that: D25~D16=0111111111, D15~D12=0101. The default value of D11~D6 is 000000.
[0070] 3: The message numbers are D5~D0=000001. Therefore, the 29 flag bits D28-D0=0110111111111010100000 0000001, that is, the message ID=0xDFF5001.
[0071] 4: See Figure 12 It can be seen that: data field 1~4 bytes long int=(128.5742×2 31 ) / 180=1533949955, converted into hexad...
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Abstract
The invention provides an internal communication method of a portable autonomous underwater vehicle. The internal communication method comprises the following steps: adopting bus communication based on CAN2.0b, and firstly generating messages; setting a priority flag bit according to the type of the messages, allocating a receiving node flag bit and a sending node flag bit to each node, using message serial numbers to distinguish the messages, and performing preprocessing on the data of the messages; then sending the messages by using a CAN bus; and finally, obtaining a communication message by modules on the CAN bus, and processing the message information according to a reverse sequence of generating the messages so as to determine a receiving and sending node, the message type, the serial numbers of the messages, the data field original data and other information to obtain to-be-received information. By adoption of the internal communication method, with the change of the nodes configured to the whole AUV system, the receiving node flag bit and the sending node flag bit of a protocol can be conveniently set, the subsequent development and improved expandability demands of the system are satisfied, and the portability is relatively high; and the mature CAN bus communication technology is adopted, the message utilization rate is relatively high, the transmission speed is high, and the reliability and the instantaneity are relatively good.
Description
technical field [0001] The invention relates to the technical field of bus communication, in particular to an internal communication method of a portable autonomous underwater vehicle. Background technique [0002] Autonomous underwater autonomous vehicle (AUV, Autonomous Underwater Vehicle), as an underwater autonomous vehicle, relies on its own energy to navigate, and can complete tasks such as underwater measurement and item delivery. As an important means of ocean exploration, AUV It plays a vital role in the development and utilization of the ocean. Due to the needs of ocean exploration tasks, the AUV platform is required to have the characteristics of multi-function, high reliability, real-time and strong versatility, and the complexity of its system composition and tasks is getting higher and higher. Unit) control system has been unable to meet the demand due to its difficulty in expansion and poor portability. In contrast, distributed control system has incomparable...
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