Under water-robot control device using distributed node network

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, ...

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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