Control system and method of modularized autonomous underwater exploration robot

Abstract

The invention discloses a control system and method of a modularized autonomous underwater exploration robot. The control system of the modularized autonomous underwater exploration robot comprises anintelligent bus, an intelligent navigation control node, an intelligent exploration node, an intelligent propulsion node and an intelligent energy node. The intelligent bus is composed of an energy bus, a kilomega network communication bus, a CAN communication bus, a photo-communication bus, a synchronization bus and an emergency bus. According to the control system and method, through the designof the intelligent bus and the intelligent nodes suitable for the exploration type underwater robot, the modularization, reliability and expandability of the control system are fully guaranteed, andmeanwhile the hardware conditions needed for expanding other optics and harmonics exploitation devices applied to underwater environments are met. The design method of the distributed control system of the modularized autonomous underwater exploration robot is provided. When the control system is designed, the factors such as electromagnetic compatibility, acoustic compatibility, high / low-speed data communication, fault detection and self-relief measures are taken into full consideration.

Description

technical field [0001] The invention relates to the technical equipment field of underwater robots, in particular to a control system and method for a modularized autonomous underwater exploration robot; it is suitable for the control system and the method. Background technique [0002] Intelligent unmanned marine exploration equipment is an important direction for the development of marine robots in the future. It is not only of great significance to civilian fields such as underwater archaeology, seabed surveying and mapping, and pipeline inspection. More importantly, intelligent marine exploration equipment has a wide range of uses for national maritime security, waterway safety, and submarine search and rescue. [0003] The autonomous underwater exploration robot control system generally includes: navigation control module, energy module, propulsion module, exploration module and bus module. Among them, the navigation control module mainly completes the high-precision ...

AI Technical Summary

Problems solved by technology

[0004] In the existing technology, traditional modular underwater robot systems generally rarely consider factors such as acoustic compatibility, high / low speed signal transmission, and distributed system emergency. These defects often lead to the expansion of underwater robots, especially micro-sized robots. Poor performance or insufficient system reliability for underwater detection applications

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