Under water-robot control device using distributed node network

A technology of underwater robots and distributed nodes, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc. It can solve the problems that cannot meet the needs of the development of underwater robot control systems, it is difficult to add equipment or sensors, and the system has poor scalability, etc. problems, to achieve the effect of reducing the probability of water leakage and line failure, good software versatility, and high reliability

Inactive Publication Date: 2005-08-24
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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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 t

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  • Under water-robot control device using distributed node network
  • Under water-robot control device using distributed node network
  • Under water-robot control device using distributed node network

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[0031] The present invention will be further described in detail below with reference to the drawings and embodiments.

[0032] The invention uses CAN network as the core of distributed control. The hardware consists of a computer host node and a CAN network node composed of multiple single-chip computers. The computer host node includes a computer host and a CAN interface. The CAN network node mainly includes a system state detection node and equipment. Power control node, power management node, motor control node, emergency processing node, data acquisition node, serial device node; computer host node and all CAN network nodes are connected through CAN interface to form a CAN network; software is composed of computer host program It is composed of the MCU program of each CAN network node. The program includes CAN interface driver, each CAN network node driver, and CAN user interface library functions. The CAN user interface library functions are provided to the user’s upper-leve...

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Abstract

A control unit using distributed node network for underwater robot features that the CAN network is used as the core of distributed control. It is composed of the master node consisting of computer host and CAN interface, and the CAN network nodes based no single-chip computer and including system state detecting node, device power supply control mode, power supply managing node, motor control node, emergency treating node, data acquisition node, and serial-pore device node.

Description

technical field [0001] The invention relates to an underwater robot control technology, in particular to an underwater robot control device using a distributed node network, which belongs to computer control equipment used for 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, ...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J11/00B25J13/00
Inventor 马骥李一平李硕
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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