Multi-source control switching realization method, realization device and system

Abstract

The invention relates to the technical field of analog simulation of ditching and cable laying robots, and particularly discloses a multi-source control switching implementation method, implementation device and system, and the method comprises the steps: obtaining an original signal of an input source; converting an original signal of an input source to obtain an input source control instruction in a standard format; determining whether an input source corresponding to the current input source control instruction in the standard format can be used as a to-be-executed input source or not according to a preset input source priority sequence; if the input source corresponding to the current input source control instruction in the standard format can serve as a to-be-executed input source, checking instruction execution security content of the current input source control instruction in the standard format; and when the instruction execution security content meets an instruction execution security standard, determining that the input source to be executed is an execution input source, and sending a current input source control instruction in a standard format to an executor. According to the multi-source control switching implementation method provided by the invention, the efficiency and the response real-time performance can be improved.

Description

Technical Field

[0001] The present invention relates to the field of simulation technology of trenching and cable-laying robots, and in particular to a method for implementing multi-source control switching, an implementation device for multi-source control switching, a multi-source control switching subsystem, and a simulation system of a trenching and cable-laying robot. Background Art

[0002] In current submarine pipeline construction, trenching and cable-laying robots are widely used due to their efficiency and precision. However, operating trenching and cable-laying robots requires high professional skills. Traditional trenching and cable-laying robot training methods rely on hands-on practice, resulting in high costs, high risks, and low efficiency. To address the shortcomings of traditional trenching and cable-laying robot training methods, a simulation system for trenching and cable-laying robots has been proposed. This simulation system simulates trenching and cable-laying robot scenarios and rehearses construction plans, thereby enabling operator training.

[0003] However, the existing simulation systems of trenching and cable-laying robots often have multiple input sources. When performing multi-source control switching, the coupling degree between the multiple input sources is relatively high, resulting in the inability to achieve fast switching, thus affecting the efficiency of multi-source control; in addition, the existing multi-source switching mechanism has mixed control, that is, lacks corresponding response priority control, which also leads to response delays.

[0004] Therefore, how to improve the efficiency of multi-source control switching and improve the real-time response in the simulation system of the trenching and cable-laying robot in the existing technology has become a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the Invention

[0005] The present invention provides a method for implementing multi-source control switching, an implementation device for multi-source control switching, a multi-source control switching subsystem and a simulation system for a trenching and cable laying robot, which solve the problems of low efficiency and poor real-time response of multi-source control switching in related technologies.

[0006] As a first aspect of the present invention, a method for implementing multi-source control switching is provided, which includes: Get the original signal of the input source; Converting the original signal of the input source to obtain an input source control instruction in a standard format, wherein the structure of the input source control instruction in the standard format includes at least an instruction type, an instruction priority, and an instruction parameter; Determine, based on a preset input source priority order, whether the input source corresponding to the current standard format input source control instruction can be used as the input source to be executed; If the input source corresponding to the current standard format input source control instruction can be used as the input source to be executed, then checking the instruction execution security content of the current standard format input source control instruction, the instruction execution security content at least including instruction conflict; When the instruction execution security content meets the instruction execution security standard, the input source to be executed is determined to be the execution input source, and the input source control instruction in the current standard format is sent to the executor, so that the execution input source controls the executor through the input source control instruction in the current standard format.

[0007] Furthermore, determining whether the input source corresponding to the current standard format input source control instruction can be used as the input source to be executed according to the preset input source priority order includes: Determining whether the priority of the current input source control instruction in the standard format is higher than the priority of the currently executed input source according to the preset input source priority order; If the priority of the current standard format input source control instruction is higher than the priority of the currently executed input source, then determining that the input source corresponding to the current standard format input source control instruction can be used as the input source to be executed; Otherwise, it is determined that the input source corresponding to the current standard format input source control instruction cannot be used as the input source to be executed.

[0008] Furthermore, if the input source corresponding to the current standard format input source control instruction cannot be used as the input source to be executed, the subsequent operation of the current standard format input source control instruction is interrupted.

[0009] Furthermore, the instruction execution security content of the input source control instruction in the current standard format is checked, including: Determine whether there is an instruction timing conflict between the current standard format input source control instruction and the currently running instruction according to the current system operation status; If there is an instruction timing conflict, determining that the instruction execution security content does not meet the execution security standard and feeding back a conflict notification to the user; If there is no instruction timing conflict, it is determined that the instruction execution security content meets the execution security standard.

[0010] Furthermore, it also includes: A security check is performed on the execution effect after the execution input source controls the executor through the input source control instruction in the current standard format.

[0011] Furthermore, a security check is performed on the execution effect after the execution input source controls the executor through the input source control instruction in the current standard format, including: Obtaining the execution effect of the executor; Determining whether the execution effect meets the preset standards; If the execution effect meets the preset standard, determining that the current input source control instruction in the standard format issued by the execution input source is a normal operation instruction; If the execution effect does not meet the preset standard, an early warning signal is sent to the execution input source, so that the execution input source can adjust the input source control instruction of the current standard format sent according to the early warning signal.

[0012] Furthermore, if, after issuing a warning signal to the execution input source, the execution effect of the actuator still does not meet the preset standard, and the gap between the execution effect of the actuator and the preset standard increases, an alarm signal is issued to enable the execution input source to be reset according to the alarm signal and issue a normal operation instruction; If the execution effect of the actuator reaches a dangerous threshold after an alarm signal is sent to the execution input source, an emergency stop command is issued and the current system is locked.

[0013] As another aspect of the present invention, a device for implementing multi-source control switching is provided, which is used to implement the multi-source control switching implementation method described above, and includes: The acquisition module is used to obtain the original signal of the input source; a conversion module, configured to convert the original signal of the input source to obtain an input source control instruction in a standard format, wherein the structure of the input source control instruction in the standard format includes at least an instruction type, an instruction priority, and an instruction parameter; A determination module, configured to determine, based on a preset input source priority order, whether the input source corresponding to the current standard format input source control instruction can be used as an input source to be executed; a checking module configured to check, if the input source corresponding to the current standard format input source control instruction is capable of being used as the input source to be executed, the instruction execution security content of the current standard format input source control instruction, the instruction execution security content including at least instruction conflict, instruction timing, and instruction authority; A sending module is used to determine that the input source to be executed is an execution input source when the instruction execution security content meets the instruction execution security standard, and to send the input source control instruction in the current standard format to the executor, so that the execution input source controls the executor through the input source control instruction in the current standard format.

[0014] As another aspect of the present invention, a multi-source control switching subsystem is provided, which includes: an actuator layer, an input adaptation layer and a user input layer that are communicatively connected in sequence, the actuator layer includes multiple actuators, the user input layer includes multiple input sources, the input adaptation layer includes the multi-source control switching implementation device mentioned above, and the input source control instructions issued by the input sources control the actuators through the multi-source control switching implementation device.

[0015] As another aspect of the present invention, a simulation system for a trenching and cable-laying robot is provided, comprising: a configuration subsystem, a simulation subsystem, a display and control subsystem, and the aforementioned multi-source control switching subsystem, wherein the configuration subsystem is communicatively connected to the simulation subsystem, the display and control subsystem and the multi-source control switching subsystem are both communicatively connected to the simulation subsystem, and the multi-source control switching subsystem is communicatively connected to the display and control subsystem; The configuration subsystem is used to configure simulation parameters for the simulation subsystem; The simulation subsystem is used to perform simulation according to the simulation control instructions of the multi-source control switching subsystem and feed back the simulation status to the multi-source control switching subsystem; The display and control subsystem is used to display the simulation parameters of the simulation subsystem and to realize the human-computer interaction of the multi-source control switching subsystem; The multi-source control switching subsystem is used to implement execution control of the actuator by switching control of the input source to form a simulation control instruction.

[0016] The multi-source control switching implementation method provided by the present invention converts the original signal of the input source to obtain a standard format input source control instruction. Upon receiving the current standard format input source control instruction, the input source that issued the control instruction is judged to be switchable. When it is determined that the input source that issued the control instruction can be used as the input source to be executed, the instruction execution security content of the input source to be executed is also required to be checked to ensure the operational security of the input source control instruction. Therefore, the multi-source control switching implementation method not only improves the switching efficiency of the input source through format conversion and facilitates the expansion of the input source, but also determines whether to switch the input source through a preset priority order, thereby achieving a fast response and reducing response delay. In addition, the security check of the instruction can also effectively improve the security of the instruction operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention.

[0018] Figure 1This is a flow chart of the method for implementing multi-source control switching provided by the present invention.

[0019] Figure 2 This is a flowchart of determining an input source to be executed provided by the present invention.

[0020] Figure 3 A flowchart of executing security content check for instructions provided by the present invention.

[0021] Figure 4 This is a flow chart of instruction conflict judgment provided by the present invention.

[0022] Figure 5 This is a hierarchical response flow chart for the security verification provided by the present invention.

[0023] Figure 6 This is a structural block diagram of the device for implementing multi-source control switching provided by the present invention.

[0024] Figure 7 This is an architectural diagram of the multi-source control switching subsystem provided by the present invention.

[0025] Figure 8 This is a structural block diagram of the simulation system of the trenching and cable-laying robot provided by the present invention.

[0026] Figure 9 This is a functional architecture diagram of the simulation system of the trenching and cable-laying robot provided by the present invention.

[0027] Figure 10 This is a hardware architecture diagram of the simulation system of the trenching and cable-laying robot provided by the present invention. DETAILED DESCRIPTION

[0028] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0029] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first," "second," and the like in the specification and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate for the embodiments of the present invention described herein. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatuses.

[0031] In this embodiment, a method for implementing multi-source control switching is provided. Figure 1 FIG. 1 is a flow chart of a method for implementing multi-source control switching according to an embodiment of the present invention. Figure 1 As shown, including: S100, obtaining the original signal of the input source; In the embodiment of the present invention, the input source may include multiple types, for example, specifically including etc.

[0032] S200, converting the original signal of the input source to obtain an input source control instruction in a standard format, wherein the structure of the input source control instruction in the standard format includes at least an instruction type, an instruction priority, and an instruction parameter; It should be understood that in order to improve the switching efficiency of input sources, in an embodiment of the present invention, the original signal of the input source is converted to obtain input source control instructions in a standard format. In this way, regardless of how the type of input source changes, the subsequent switching control of the input source can be quickly implemented without the need for corresponding adaptation for each input source. In addition, by converting the original signal of the input source into a unified standard format, it is also possible to expand the type of input source without modifying the core logic. For example, if a new VR handle type input source is added, it only needs to inherit the basic adapter.

[0033] S300, determining whether the input source corresponding to the current standard format input source control instruction can be used as the input source to be executed according to the preset input source priority order; In an embodiment of the present invention, a preset input source priority order can be used to determine whether the input source corresponding to a currently received standard-format input source control instruction is eligible to be executed. Specifically, when a new input source is connected, the preset input source priority order is used to determine whether an immediate switch can be made. It should be understood that if the priority of the newly connected input source is higher than that of the currently executing input source, the switch can be made directly; otherwise, the switch cannot be made. It should also be understood that traditional control schemes involve hybrid control with multiple control sources, such as using a joystick to fine-tune the heading during GUI route execution. Hybrid control relies on complex weight calculations and command fusion algorithms, which can lead to command response delays. Furthermore, the input devices are highly coupled, making single fault detection difficult. However, the embodiments of the present invention, by determining whether to switch input sources based on a preset priority order, enable rapid response, eliminate steps such as weight calculation and command fusion, reduce CPU overhead, and ensure zero-delay command execution, thereby reducing input source response latency. Furthermore, decoupling control sources reduces the fault detection dimensionality, effectively improving anomaly detection efficiency.

[0034] S400: If the input source corresponding to the current standard format input source control instruction can be used as the input source to be executed, then check the instruction execution security content of the current standard format input source control instruction, where the instruction execution security content at least includes instruction conflict; In an embodiment of the present invention, when it is determined that the input source corresponding to the current standard format input source control instruction can be used as the input source to be executed, in order to improve the operation security of the control instruction, the instruction execution security content needs to be checked so that subsequent control instructions can safely execute the input source control operation.

[0035] S500. When the instruction execution security content meets the instruction execution security standard, the input source to be executed is determined to be an execution input source, and the input source control instruction in the current standard format is sent to the executor, so that the execution input source controls the executor through the input source control instruction in the current standard format.

[0036] In an embodiment of the present invention, when the above-mentioned instruction execution security content meets the instruction execution security standard, it can be determined that the input source to be executed is the execution input source, that is, it is determined that the input source can be switched, so the current standard format input source control instruction can be sent to the executor to enable the executor to execute the control instruction of the input source.

[0037] It should be noted that the actuator may specifically be a sensor controller, a robot controller, or a work tool controller. The actuator performs corresponding actions based on control instructions from an input source. For example, when an Xbox controller is used as the input source, a control instruction to raise the robot controller's mechanical arm issued by the Xbox controller may cause the robot controller to control the robot to raise its mechanical arm, and so on.

[0038] Therefore, the implementation method of multi-source control switching provided by the present invention converts the original signal of the input source to obtain a standard format input source control instruction, and upon receiving the current standard format input source control instruction, determines whether the input source that issued the control instruction can be switched. When it is determined that the input source that issued the control instruction can be used as the input source to be executed, it is also necessary to perform an instruction execution security content check on the input source to be executed, thereby ensuring the operational security of the input source control instruction. Therefore, the implementation method of multi-source control switching not only improves the switching efficiency of the input source through format conversion and facilitates the expansion of the input source, but also determines whether to switch the input source through a preset priority order, thereby achieving a fast response and reducing the response delay. Moreover, the security check of the instruction can also effectively improve the security of the instruction operation.

[0039] In the embodiment of the present invention, it is determined whether the input source corresponding to the current standard format input source control instruction can be used as the input source to be executed according to the preset input source priority order, such as Figure 2 As shown, including: S310, determining whether the priority of the current input source control instruction in the standard format is higher than the priority of the currently executed input source according to the preset input source priority order; In an embodiment of the present invention, for example, the input source may specifically include an emergency stop button, an Xbox controller, a touch GUI, and a professional control station, and the preset input source priority order may be, for example: emergency stop button > professional control station > touch GUI > Xbox controller.

[0040] S320: If the priority of the current standard format input source control instruction is higher than the priority of the currently executed input source, determine that the input source corresponding to the current standard format input source control instruction can be used as the input source to be executed; Specifically, for example, the input source currently being executed is a touch GUI. If the current standard format input source control instruction is issued by a professional control station, the priority of the professional control station is higher than the touch GUI, and the professional control station can be determined as the input source to be executed; and if the current standard format input source control instruction is issued by an Xbox controller, the control instruction issued by the Xbox controller can be considered invalid, that is, the original touch GUI is still maintained as the input source.

[0041] S330 : Otherwise, it is determined that the input source corresponding to the current standard format input source control instruction cannot be used as the input source to be executed.

[0042] In an embodiment of the present invention, if the input source corresponding to the current input source control instruction in the standard format cannot be used as the input source to be executed, the subsequent operation of the current input source control instruction in the standard format is interrupted.

[0043] In the embodiment of the present invention, the instruction execution security content of the input source control instruction in the current standard format is checked, such as Figure 3 As shown, including: S410, judging whether there is an instruction timing conflict between the current input source control instruction in the standard format and the currently running instruction according to the current system operation state; Specifically, if Figure 4 As shown, for the motion state in the current system, that is, the motion state of the dynamic simulation being executed by the current simulation system, it is judged whether the current standard format input source control instruction has an instruction timing conflict with the instruction in the motion state, so as to feedback the conflict notification to the user when it is determined that there is a conflict. In the case of a conflict, it is determined that the execution safety standard is not met, that is, the input source switching cannot be performed at present.

[0044] S420: If there is an instruction timing conflict, determine that the instruction execution security content does not meet the execution security standard, and feedback a conflict notification to the user; S430: If there is no instruction timing conflict, determine whether the instruction execution security content meets the execution security standard.

[0045] In order to further ensure the operational security of the control instructions of the input source, the implementation method of multi-source control switching provided by the embodiment of the present invention further includes: A security check is performed on the execution effect after the execution input source controls the executor through the input source control instruction in the current standard format.

[0046] Specifically, in an embodiment of the present invention, performing a security check on the execution effect after the execution input source controls the executor through the input source control instruction in the current standard format includes: 1) Obtaining the execution effect of the actuator; 2) Determine whether the execution effect meets the preset standards; 3) If the execution effect meets the preset standard, determining that the current input source control instruction in the standard format issued by the execution input source is a normal operation instruction; 4) If the execution effect does not meet the preset standard, a warning signal is sent to the execution input source, so that the execution input source can adjust the input source control instruction of the current standard format sent according to the warning signal.

[0047] 5) If, after issuing a warning signal to the execution input source, the execution effect of the actuator still does not meet the preset standard, and the gap between the execution effect of the actuator and the preset standard increases, an alarm signal is issued to enable the execution input source to reset according to the alarm signal and issue a normal operation instruction; 6) If the execution effect of the actuator reaches a dangerous threshold after an alarm signal is sent to the execution input source, an emergency stop command is issued and the current system is locked.

[0048] Specifically, if Figure 5 As shown, the implementation method of multi-source control switching in the embodiment of the present invention performs a graded response when performing a safety check. First, when the execution effect does not meet the preset standard, a warning signal is sent to the execution input source to enable the execution input source to resume normal operation; if the execution input source does not respond to the warning signal, that is, the execution effect of the actuator continues to deteriorate, an alarm level signal is sent to the execution input source, and a manual reset can be performed under the alarm level signal to enable the execution input source to resume normal operation; if the execution effect of the actuator further deteriorates and reaches the dangerous threshold, the emergency stop instruction will be used to perform an emergency stop input source action, and the system will be locked to ensure the safety of the system operation.

[0049] In summary, the implementation method of multi-source control switching provided by the present invention converts the original signal of the input source to obtain the input source control instruction of the standard format, and when receiving the current input source control instruction of the standard format, it judges whether the input source that issued the control instruction can be switched. When it is determined that the input source that issued the control instruction can be used as the input source to be executed, it is also necessary to perform an instruction execution security content check on the input source to be executed, so as to ensure the operation security of the control instruction of the input source. Therefore, the implementation method of multi-source control switching not only improves the switching efficiency of the input source by format conversion and facilitates the expansion of the input source, but also can decide whether to switch the input source by presetting the priority order, thereby achieving fast response and reducing response delay, and can also effectively improve the safety of instruction operation by checking the safety of the instruction; finally, the implementation method of multi-source control switching provided by the present invention can effectively ensure the safety of system operation due to the setting of a multi-dimensional fault tolerance mechanism.

[0050] As another embodiment of the present invention, a device 100 for implementing multi-source control switching is provided, which is used to implement the multi-source control switching implementation method described above, wherein: Figure 6 As shown, including: An acquisition module 110 is used to acquire an original signal from an input source; The conversion module 120 is configured to convert the original signal of the input source to obtain an input source control instruction in a standard format, wherein the structure of the input source control instruction in the standard format includes at least an instruction type, an instruction priority, and an instruction parameter; A determination module 130 is configured to determine, based on a preset input source priority order, whether the input source corresponding to the current standard format input source control instruction can be used as an input source to be executed; A checking module 140 is configured to check the instruction execution security content of the input source control instruction in the current standard format if the input source corresponding to the input source control instruction in the current standard format is capable of being used as the input source to be executed, wherein the instruction execution security content includes at least instruction conflict, instruction timing, and instruction authority; The sending module 150 is used to determine that the input source to be executed is an execution input source when the instruction execution security content meets the instruction execution security standard, and send the input source control instruction in the current standard format to the executor, so that the execution input source controls the executor through the input source control instruction in the current standard format.

[0051] The multi-source control switching implementation device provided by the present invention converts the original signal of the input source to obtain a standard format input source control instruction. Upon receiving the current standard format input source control instruction, the device determines whether the input source that issued the control instruction can be switched. When it is determined that the input source that issued the control instruction can be used as the input source to be executed, the device also needs to perform an instruction execution security check on the input source to be executed, thereby ensuring the operational security of the input source control instruction. Therefore, the multi-source control switching implementation method not only improves the switching efficiency of the input source through format conversion and facilitates the expansion of the input source, but also determines whether to switch the input source through a preset priority order, thereby achieving a fast response and reducing response delay. In addition, the security check of the instruction can also effectively improve the security of the instruction operation.

[0052] The specific working principle of the device for implementing multi-source control switching provided by the present invention can be referred to the description of the method for implementing multi-source control switching above, which will not be repeated here.

[0053] As another embodiment of the present invention, a multi-source control switching subsystem is provided, which includes: an actuator layer, an input adaptation layer and a user input layer that are communicatively connected in sequence, the actuator layer includes multiple actuators, the user input layer includes multiple input sources, and the input adaptation layer includes the multi-source control switching implementation device mentioned above, and the input source control instructions issued by the input sources control the actuators through the multi-source control switching implementation device.

[0054] In the embodiment of the present invention, Figure 7 As shown, the multi-source control switching subsystem is used to achieve modular decoupling of input source interfaces, enabling the system to adapt to different operating methods. By default, the robot console is presented in a graphical interface (i.e., a simulated operation interface). Switching also allows users to simulate operating the trenching and cable-laying robot using a mouse and keyboard, Xbox controller, or an external control station.

[0055] The multi-source control switching subsystem provided by the present invention, the input adaptation layer adopts the multi-source control switching implementation device mentioned above, which not only improves the switching efficiency of the input source through format conversion and facilitates the expansion of the input source, but also can decide whether to switch the input source through a preset priority order, thereby achieving rapid response and reducing response delay, and can effectively improve the security of instruction operation through security checks on the instructions.

[0056] As another embodiment of the present invention, a simulation system for a trenching and cable laying robot is provided, wherein Figure 8 As shown, it includes: a configuration subsystem, a simulation subsystem, a display and control subsystem and the multi-source control switching subsystem mentioned above, the configuration subsystem is communicatively connected to the simulation subsystem, the display and control subsystem and the multi-source control switching subsystem are both communicatively connected to the simulation subsystem, and the multi-source control switching subsystem is communicatively connected to the display and control subsystem; The configuration subsystem is used to configure simulation parameters for the simulation subsystem; The simulation subsystem is used to perform simulation according to the simulation control instructions of the multi-source control switching subsystem and feed back the simulation status to the multi-source control switching subsystem; The display and control subsystem is used to display the simulation parameters of the simulation subsystem and to realize the human-computer interaction of the multi-source control switching subsystem; The multi-source control switching subsystem is used to implement execution control of the actuator by switching control of the input source to form a simulation control instruction.

[0057] In this embodiment of the present invention, the core responsibilities of the configuration subsystem are to coordinate system resource allocation, simulation software management, and simulation system startup and shutdown control. Specifically, the configuration subsystem is primarily responsible for server network configuration and time synchronization initialization. Server network configuration is used to automatically detect the IP and port of simulation servers within the local area network and can specifically edit the network configuration of each server. Time synchronization initialization is primarily used to align the simulation clocks of each node and calibrate software and hardware timestamps.

[0058] Specifically, the simulation subsystem is mainly responsible for the dynamic simulation of the robot and the construction environment. Figure 9 As shown, this specifically includes: dynamic simulation, which uses the AGX physics engine to calculate the robot's motion response and render the trenching and cable-laying robot's form and movements in real time, ensuring realistic visuals. In addition to the robot, the system considers the interaction between the umbilical cable and ocean currents to ensure a realistic simulation of the underwater operating environment. Scenario simulation includes two simulation scenarios: offshore wind power and optical cable laying. The offshore wind power scenario includes three operation scenarios: single pile approach cable laying, pipe rack pile approach cable laying, and mid-section submarine cable laying. The optical cable laying scenario includes repeater cable laying and junction box cable laying. Construction scenarios can be dynamically generated through specific configurations, supporting the simulation of terrain changes and bottom characteristics. Sensor simulation also includes various sensors equipped by the trenching and cable-laying robot, including cameras, sonar, and TSS equipment.

[0059] In an embodiment of the present invention, the display and control subsystem is mainly responsible for the configuration, management of the simulation scene and visual control of the robot. The display and control subsystem can specifically include: a model management function, which provides a 3D model and operating parameters of the trenching and cable-laying robot, can adjust the basic parameters of the robot, and can display the information of the onboard positioning and attitude sensors. Key components such as jet trenching equipment can be controlled; an environmental management function, which supports the creation and editing of virtual construction environments, including the setting of water environment parameters such as weather and wind and wave intensity; supports the configuration of water parameters, including the setting of underwater visibility, flow velocity and direction, particle density and other parameters; can configure the terrain and geology, and select different terrains and bottoms; a window management function, which manages the video link, display perspective, display effect, etc. that can be output in the window management function bar. It supports first-person and scene roaming perspectives, which facilitates users to observe the robot's operating status in real time.

[0060] In the embodiment of the present invention, the multi-source control switching subsystem is used to manage the switching of multiple control sources (such as GUI, console, handle, etc.).

[0061] Therefore, the simulation system of the trenching and cable laying robot provided by the present invention has the following advantages: 1) Closer to real hardware architecture: In actual trenching and cable-laying robot systems, sensors (such as sonar, TSS, and cameras) typically communicate with the main control system as independent modules (e.g., via CAN bus or serial port). By decoupling sensor simulation from the main simulation system, the sensor simulation module can simulate real-world data protocols rather than directly sharing memory, improving simulation realism.

[0062] 2) Compatibility between simulation and physical control: Unified interface abstraction supports transparent replacement of simulation controllers with physical controllers (such as PLCs).

[0063] 3) Modularity and Scalability: Adding or replacing sensors (such as lidar and cameras) does not require modifying the core simulation logic; only standardized interfaces are required. Simulation of sensor failures (such as signal loss and noise injection) is supported without intruding into the dynamics model.

[0064] 4) Multi-scenario control matching: Supports multiple input devices (such as Xbox, touch GUI, professional control stations, etc.), enhancing the diversity of the operating experience. The multi-source control switching subsystem can switch the appropriate control source for different scenarios and needs.

[0065] like Figure 10 As shown in the figure, the hardware components of the present invention include a main simulation server, a sonar simulation server, a camera simulation server, a TSS simulation server, and a video matrix module. The sensor server exchanges data with the main server through a network port, and the video matrix module outputs each simulation window to the display screen.

[0066] The working process of the entire underwater operation robot simulation system is as follows: Step 1: Start the system and enter the system configuration subsystem to confirm the status of each simulation server in the LAN. If it is normal, you can start the simulation software.

[0067] Step 2: When entering the display and control subsystem for the first time, you need to select an operation scene and enter the editing state of the scene after confirmation. In the scene editing state, you can set and adjust the robot's basic parameters, sensor parameters, environmental parameters, etc., and independently build the operation scene.

[0068] Step 3: After completing the scene settings and adjustments, enter the scene simulation mode. The simulation subsystem will generate a dynamic ocean environment (wind, waves, currents) and a seabed geological model (slope, sediment hardness) based on the configured environmental parameters. The motion response of the trenching and cable-laying robot will be affected by the environment and the umbilical cable. The sensor simulation module will visualize the collected data and display it in the sensor simulation window.

[0069] Step 4: According to different task subjects, the sensor working mode can be switched through the sensor simulation window, and the trenching and cable laying robot can be controlled through the GUI interface of the main simulation software to complete cable finding, trenching and other operations.

[0070] In summary, the simulation system of the trenching and cable-laying robot provided by the present invention adopts the multi-source control switching subsystem mentioned above, which can not only effectively ensure the operating efficiency and safety of the system, but also realize scene simulation through preset projects or self-built basic projects, practice construction plans, and train operators, with the advantages of low cost and low risk.

[0071] It will be understood that the above embodiments are merely exemplary embodiments for illustrating the principles of the present invention, and the present invention is not limited thereto. Those skilled in the art will appreciate that various modifications and improvements can be made without departing from the spirit and substance of the present invention, and such modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A method for implementing multi-source control switching, characterized in that: include: Get the original signal of the input source; Converting the original signal of the input source to obtain an input source control instruction in a standard format, wherein the structure of the input source control instruction in the standard format includes at least an instruction type, an instruction priority, and an instruction parameter; Determine, based on a preset input source priority order, whether the input source corresponding to the current standard format input source control instruction can be used as the input source to be executed; If the input source corresponding to the current standard format input source control instruction can be used as the input source to be executed, then checking the instruction execution security content of the current standard format input source control instruction, the instruction execution security content at least including instruction conflict; When the instruction execution security content meets the instruction execution security standard, the input source to be executed is determined to be the execution input source, and the input source control instruction in the current standard format is sent to the executor, so that the execution input source controls the executor through the input source control instruction in the current standard format.

2. The method for implementing multi-source control switching according to claim 1, wherein: Determining whether the input source corresponding to the current standard format input source control instruction can be used as the input source to be executed according to the preset input source priority order includes: Determining whether the priority of the current input source control instruction in the standard format is higher than the priority of the currently executed input source according to the preset input source priority order; If the priority of the current standard format input source control instruction is higher than the priority of the currently executed input source, then determining that the input source corresponding to the current standard format input source control instruction can be used as the input source to be executed; Otherwise, it is determined that the input source corresponding to the current standard format input source control instruction cannot be used as the input source to be executed.

3. The method for implementing multi-source control switching according to claim 1, wherein: If the input source corresponding to the current input source control instruction in the standard format cannot be used as the input source to be executed, the subsequent operation of the current input source control instruction in the standard format is interrupted.

4. The method for implementing multi-source control switching according to any one of claims 1 to 3, characterized in that: Check the security content of the instruction execution of the current standard format input source control instruction, including: Determine whether there is an instruction timing conflict between the current standard format input source control instruction and the currently running instruction according to the current system operation status; If there is an instruction timing conflict, determining that the instruction execution security content does not meet the execution security standard and feeding back a conflict notification to the user; If there is no instruction timing conflict, it is determined that the instruction execution security content meets the execution security standard.

5. The method for implementing multi-source control switching according to any one of claims 1 to 3, characterized in that: Also includes: A security check is performed on the execution effect after the execution input source controls the executor through the input source control instruction in the current standard format.

6. The method for implementing multi-source control switching according to claim 5, characterized in that: Performing a security check on the execution effect of the execution input source after controlling the executor through the input source control instruction in the current standard format, including: Obtaining the execution effect of the executor; Determining whether the execution effect meets the preset standards; If the execution effect meets the preset standard, determining that the current input source control instruction in the standard format issued by the execution input source is a normal operation instruction; If the execution effect does not meet the preset standard, an early warning signal is sent to the execution input source, so that the execution input source can adjust the input source control instruction of the current standard format sent according to the early warning signal.

7. The method for implementing multi-source control switching according to claim 6, characterized in that: If, after issuing a warning signal to the execution input source, the execution effect of the actuator still does not meet the preset standard, and the gap between the execution effect of the actuator and the preset standard increases, an alarm signal is issued to enable the execution input source to reset according to the alarm signal and issue a normal operation instruction; If the execution effect of the actuator reaches a dangerous threshold after an alarm signal is sent to the execution input source, an emergency stop command is issued and the current system is locked.

8. A device for implementing multi-source control switching, used to implement the method for implementing multi-source control switching according to any one of claims 1 to 7, characterized in that: include: The acquisition module is used to obtain the original signal of the input source; a conversion module, configured to convert the original signal of the input source to obtain an input source control instruction in a standard format, wherein the structure of the input source control instruction in the standard format includes at least an instruction type, an instruction priority, and an instruction parameter; A determination module, configured to determine, based on a preset input source priority order, whether the input source corresponding to the current standard format input source control instruction can be used as an input source to be executed; a checking module configured to check, if the input source corresponding to the current standard format input source control instruction is capable of being used as the input source to be executed, the instruction execution security content of the current standard format input source control instruction, the instruction execution security content including at least instruction conflict, instruction timing, and instruction authority; A sending module is used to determine that the input source to be executed is an execution input source when the instruction execution security content meets the instruction execution security standard, and to send the input source control instruction in the current standard format to the executor, so that the execution input source controls the executor through the input source control instruction in the current standard format.

9. A multi-source control switching subsystem, characterized in that: include: An executor layer, an input adaptation layer, and a user input layer that are communicatively connected in sequence, wherein the executor layer includes a plurality of executors, the user input layer includes a plurality of input sources, the input adaptation layer includes the multi-source control switching implementation device according to claim 8, and the input source control instructions issued by the input sources control the executors through the multi-source control switching implementation device.

10. A simulation system for a trenching and cable laying robot, characterized in that: include: A configuration subsystem, a simulation subsystem, a display and control subsystem, and the multi-source control switching subsystem according to claim 9, wherein the configuration subsystem is communicatively connected to the simulation subsystem, the display and control subsystem and the multi-source control switching subsystem are both communicatively connected to the simulation subsystem, and the multi-source control switching subsystem is communicatively connected to the display and control subsystem; The configuration subsystem is used to configure simulation parameters for the simulation subsystem; The simulation subsystem is used to perform simulation according to the simulation control instructions of the multi-source control switching subsystem and feed back the simulation status to the multi-source control switching subsystem; The display and control subsystem is used to display the simulation parameters of the simulation subsystem and to realize the human-computer interaction of the multi-source control switching subsystem; The multi-source control switching subsystem is used to implement execution control of the actuator by switching control of the input source to form a simulation control instruction.

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