CN110412892A - A kind of underwater robot system - Google Patents
A kind of underwater robot system Download PDFInfo
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- CN110412892A CN110412892A CN201810402161.1A CN201810402161A CN110412892A CN 110412892 A CN110412892 A CN 110412892A CN 201810402161 A CN201810402161 A CN 201810402161A CN 110412892 A CN110412892 A CN 110412892A
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- interface
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- underwater
- communication
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention discloses a kind of underwater robot systems, the system comprises one for being respectively provided with independent underwater case structure to collect interface module and multiple substation modules, wherein: the interface module of collecting includes internal communications interface and external communications units, is arranged for carrying out the communication connection with external equipment and provides for the substation module and communicates support；The substation module includes internal communications interface and one or more equipment interfaces, and the equipment interface is used to connect the functional module built in underwater robot.Compared to the prior art, system of the invention not only has very strong adaptability to underwater environment, but also effectively controls under the premise of guarantee system can meet the user demand of different occasions the hardware redundancy degree of system, reduce system structure complexity, control system hardware cost.
Description
Technical field
The present invention relates to electronic technology fields, and in particular to a kind of underwater robot system.
Background technique
Underwater resources are an important components of natural resources.With the continuous improvement of human resource demand, under water
The exploration and development of resource is increasingly taken seriously.
Due to not having the normal life condition of the mankind under water, in order to guarantee safety, for surveying for Underwater resources
It visits development operation to need to realize Unmanned operation as far as possible, this requires underwater operation equipment to have very high automatization level.
In the prior art, unmanned underwater operation is realized usually using underwater robot.
Since underwater environment is different from ground environment, the equipment under common ground environment cannot be used directly for underwater ring
Border.It is a variety of that equipment for underwater environment operation must take into account the electric leakage of liquid leakage bring, fluid resistance and buoyancy etc.
Environmental impact factor, especially, for deepwater environment, it is also necessary to consider the environment high pressure under deepwater environment.This is allowed under water
The design difficulty of robot is significantly larger than ground installation, not only substantially increases the cost of underwater robot, but also due to technology
Limitation, the function of underwater robot are also much weaker than ground robot, substantially increase the exploration and development difficulty of Underwater resources.
Summary of the invention
The present invention provides a kind of underwater robot systems, and the system comprises be respectively provided with independent underwater case structure
One collect interface module and multiple substation modules, in which:
The interface module of collecting includes internal communications interface and external communications units, is arranged for carrying out and sets with outside
Standby communication connection simultaneously provides communication support for the substation module；
The substation module includes internal communications interface and one or more equipment interfaces, and the equipment interface is for connecting
The functional module of robot built-in under water receiving.
In one embodiment, the substation module includes one piece of motherboard and one or more daughter board, in which:
The daughter board is mounted on the motherboard；
The internal communications interface of the substation module constructs on the motherboard；
The equipment interface construction is on the daughter board.
In one embodiment, it is connected between the motherboard and the daughter board using pluggable interface.
In one embodiment, the underwater case structure for collecting interface module and/or the substation module is using self-complementary
Repay oil immersion sandwich type element.
In one embodiment, the communication connection inside the underwater robot is connected using fiber optic communication.
In one embodiment:
The interface module of collecting further includes the external power supply interface and in-line power interface for connecting external power supply；
The substation module also includes in-line power interface.
In one embodiment, the in-line power interface includes Alternating Current Power Supply interface and direct current supply interface.
It is in one embodiment, described to collect interface module further include:
Pressure unit is configured to adjust the voltage from the external power supply interface；
Rectifier is configured to rectify the output of the pressure unit.
In one embodiment:
Each substation module includes two in-line power interfaces；
The interface module of collecting includes two in-line power interfaces；
It is described to collect the annular team of multinode power supply of interface module and multiple substation module compositions one in logic
Column, in the power supply circle queue two in-line power interfaces of arbitrary node respectively with it is previous and the latter node one
A in-line power interface connection.
In one embodiment:
Each substation module includes two internal communications interfaces；
The interface module of collecting includes two internal communications interfaces；
The multinode of interface module and multiple substation module compositions one in logic that collects communicates annular team
Column, in the communication circle queue two internal communications interfaces of arbitrary node respectively with it is previous and the latter node one
A internal communications interface connection.
Compared to the prior art, system of the invention not only has very strong adaptability to underwater environment, but also is guaranteeing
System effectively controls the hardware redundancy degree of system under the premise of can meeting the user demands of different occasions, reduces system structure
Complexity controls system hardware cost.
Other feature or advantage of the invention will illustrate in the following description.Also, Partial Feature of the invention or
Advantage will be become apparent by specification, or be appreciated that by implementing the present invention.The purpose of the present invention and part
Advantage can be realized or be obtained by step specifically noted in the specification, claims and drawings.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example and is used together to explain the present invention, be not construed as limiting the invention.In the accompanying drawings:
Fig. 1, Fig. 2 and Fig. 5 are the system structure schematic diagrams of different embodiments according to the present invention；
Fig. 3, Fig. 4 and Fig. 6 are the components of system as directed structure diagrams of different embodiments according to the present invention.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, implementation personnel of the invention whereby
Can fully understand that how the invention applies technical means to solve technical problems, and reach technical effect realization process and according to
The present invention is embodied according to above-mentioned realization process.As long as each embodiment it should be noted that do not constitute conflict, in the present invention
And each feature in each embodiment can be combined with each other, be formed by technical solution protection scope of the present invention it
It is interior.
Underwater resources are an important components of natural resources.With the continuous improvement of human resource demand, under water
The exploration and development of resource is increasingly taken seriously.
Due to not having the normal life condition of the mankind under water, in order to guarantee safety, for surveying for Underwater resources
It visits development operation to need to realize Unmanned operation as far as possible, this requires underwater operation equipment to have very high automatization level.
In the prior art, unmanned underwater operation is realized usually using underwater robot.
Since underwater environment is different from ground environment, the equipment under common ground environment cannot be used directly for underwater ring
Border.It is a variety of that equipment for underwater environment operation must take into account the electric leakage of liquid conduction bring, fluid resistance and buoyancy etc.
Environmental impact factor, especially, for deepwater environment, it is also necessary to consider the environment high pressure under deepwater environment.This is allowed under water
The design difficulty of robot is significantly larger than ground installation, not only substantially increases the cost of underwater robot, but also due to technology
Limitation, the function of underwater robot are also much weaker than ground robot, substantially increase the exploration and development difficulty of Underwater resources.
For the exploration and development difficulty for reducing Underwater resources, underwater is controlled under the premise of improving underwater robot function
The hardware cost of people, the invention proposes a kind of new underwater robot systems.
In the underwater robot system of the prior art, it is underwater robot in order to suitable with the fundamental difference of ground installation
Answer the safeguard that underwater environment is installed additional.Specifically, the mode generallyd use is for underwater equipment in order to realize underwater operation
Electric elements carry out water-proofing treatment, for example, whole install waterproof case (construction underwater electronic compartment-POD, by all electric appliances members additional
Part is mounted in underwater electronic compartment).Also, it considers deepwater high-pressure environment, steady pressure treatment is carried out to waterproof case, outside waterproof
The pressure environment of a safety is built in shell.
Further, due to movable in the operating equipment under water environment of different depth, environmental pressure is also with change
Change, therefore underwater electronic compartment-POD is to build one using high-intensitive special closed framework not change with ambient pressure and change
Fixation pressure environment, thus come protect the inside power electronic equipment.
However, underwater electronic compartment-POD volume is big, weight is big.And in order to guarantee that underwater robot belongs to zero weight under water
Power, needs to increase the buoyant module to offset POD weight, and the presence of the weight and volume due to buoyant module itself, leads
The volume and weight of entire robot is caused all to increase.And the increase of robot bulking value and weight, the offer resulted in the need for are drawn
The umbilical cables of power and deck equipment require to increase accordingly, but also the underwater running resistance of entire robot increases.
Further, right since its interface and inner space are just cured underwater electronic compartment-POD after finalization of the manufacture
External tapping is once it is determined that cannot arbitrarily increase, so that limitation also limits underwater equipment to the number of sensor and equipment
Upgrading ability；Once the demand for needing that it is new to have underwater equipment control system, entire control system just needs to adjust, very
To redesign, a large amount of duplication of labour is caused.
Specifically, just being needed using POD using centralized control mode, to change since POD is underwater control centre
The configuration for becoming robot sensor and control unit, requires to do corresponding adjustment in POD, need the electronics frame in POD
It moves out, and the plug of enclosure interior and line be easy to cause the solder joint of buttock line to be lost during operation；POD pairs simultaneously
Outer interface quantity and structure is all substantially stationary, however according to maximum carry out redundant configuration, otherwise according to each project into
Row actual modification is unfavorable for carrying out flexible operating according to actual demand.
Meanwhile in order to guarantee underwater equipment security of system, in general, system needs Redundancy Design.In order to enable product
Standardization, and need to meet the user demand of different occasions, therefore often remain the POD of a maximum interface capability, from
And lead to over-redundancy, it is unfavorable for economic control.
Further, it due to using entirety POD, needs to carry out integral replacing once POD is corroded.Since POD is used
Titanium alloy etc materials manufacture, material cost and manufacturing process are all very expensive；POD shell is impaired simultaneously will lead to entirely under water
Robot is out of control, causes its loss.
In view of the above-mentioned problems, the invention proposes a kind of underwater robot systems.In the system of the present invention, it does not use
Unified underwater electronic compartment-POD, but all parts of underwater robot are got up independently of each other according to function division, for
Independent small underwater electronic compartment is respectively adopted in each independent functional module.In this way, not only reducing large size POD bring volume
With the deficiency of weight, and for the functional module Redundancy Design of system, updating functional modules, functional module increases and function
The operations such as module maintenance can be operated based on corresponding small underwater electronic compartment, without integrally grasping to system
Make.Cause internal electronic equipment to break down even if individual POD are corroded, all electronic systems will not be involved.
Further, in the prior art, underwater robot uses centralized control mode, and underwater POD acquisition equipment is opened
The information such as pressure, depth, the temperature that pass and status information, video image information, sensor detect, then uniform packing is sent to
Positioned at the master control system of the water surface.The various controls letter that master control system is generated by logic calculation combination operation control method
Breath, then various parts are driven after being converted by underwater auxiliary circuit, to realize control function.However, when control height
When concentration, underwater and marine communication timeliness requirement is higher, higher to the performance requirement of upper layer Centralized Controller, when task increases
Added-time can reduce the reliability and stability of controller.
In view of the above-mentioned problems, in the system of the present invention, using distributed AC servo system platform, so that each functional module has one
Determine autonomous control function, the layering controlled with water surface control system.Unified communication and power supply support module are constructed, is
Communication and power supply support module establish independent underwater electronic compartment, and the communication that not only can optimize each functional module supplies
Electric line design, and system structure complexity can be reduced, improve system stability.
Specifically, in one embodiment, system includes being respectively provided with one of independent underwater case structure to collect interface
Module and multiple substation modules, in which:
Collecting interface module includes internal communications interface and external communications units, is arranged for carrying out and external equipment
It communicates to connect and provides communication for substation module and support；
Substation module includes internal communications interface and one or more equipment interfaces, and equipment interface is for connecting underwater machine
Functional module built in device people.
Specifically, as shown in Figure 1, in one embodiment, system includes be respectively provided with independent underwater case structure one
It is a to collect interface module 110 and substation module 121,122 and 123.Substation module 121,122 and 123 respectively includes more
A equipment interface, equipment interface are used to connect the functional module 131~139 built in underwater robot.
The system according to the present invention, in robot system, functional module and collect interface module by substation module lead to
After letter, by collecting, interface module is unified to be communicated with water surface control system.In this way, each substation inside modules have communication and control
Function processed can carry out autonomous control to the component and module of access, and constituting with control system waterborne realizes water surface master control
Based on, each substation module distribution formula control supplemented by control mode.
Focus control mode is not used, using distributed AC servo system platform, so that each functional module has certain autonomous control
Function, the layering controlled with water surface control system reduce the task amount to water controller and requirement, to guarantee underwater
With the timeliness of marine communication, the hardware performance requirements of upper layer Centralized Controller are reduced, guarantee the reliability and stabilization of controller
Property.
Further, since system of the invention eliminates unified Large Underwater electronic compartment, compared to the prior art, this
The system of invention not only has very strong adaptability to underwater environment, but also can meet user's need of different occasions in guarantee system
Effectively controlled under the premise of asking the hardware redundancy degree of system, reduce system structure complexity, control system hardware at
This.
Compared to the prior art, system of the invention not only has very strong adaptability to underwater environment, but also is guaranteeing
System effectively controls the hardware redundancy degree of system under the premise of can meeting the user demands of different occasions, reduces system structure
Complexity controls system hardware cost.
Further, in one embodiment, collect the underwater case structure of interface module and/or substation module using self-complementary
Repay oil immersion sandwich type element, inside component be borne by the absolute pressure of environment.Specifically, in one embodiment, collecting interface mould
Block and/or substation module have independent encapsulation, using the closing shell of oil liquid compensation way.
Further, it is contemplated that the functional module to be carried of underwater robot system may have a variety of different communications
Agreement, at present due to various kinds of sensors and the diversification of the communication interface of tool, portal contents include CAN, serial ports and Profibus
Deng.If functional module is directly connected to substation module, substation module is caused to need to adjust communication interface according to all parts.For
The scalability for guaranteeing underwater robot system as far as possible, reduces operation difficulty when increasing system function, in one embodiment,
Mother baby plate structure is used in the substation module of robot system under water.Specifically, substation module includes one piece of motherboard and one
Block or muti-piece daughter board, in which:
Daughter board is mounted on motherboard；
The internal communications interface of substation module constructs on motherboard；
Equipment interface constructs on daughter board.
The internal communications interface of substation module can be constructed according to design requirement based on specific communication protocol；Daughter board is female
Communication protocol between plate can also be constructed according to design requirement based on specific communication protocol；And linkage function mould to be used on daughter board
The equipment interface of block can then be constructed according to the design requirement of functional module.So just not when replacing or increasing functional module
It needs to change the plank of substation module, the daughter board of corresponding new function module need to be only installed on plank, then by new function mould
Block is connected on new daughter board.
Further, in one embodiment, it in order to simplify operation, is connect between the motherboard and daughter board of substation module using pluggable
Mouth connection.
Further, under water in robot system, functional module (sensor and tool) is distributed in underwater robot sheet
Body is not that a point function comes centralized layout in all directions.Therefore each substation module of installation function module is resulted in also to need
It is distributed in underwater human body in all directions.And all substation modules are required to and collect interface module and communicate, this is just
Lead to multiple substation modules and collects between interface module there are a plurality of communication cable, it is sufficiently complex so as to cause line arrangement.
In view of the above-mentioned problems, in one embodiment, underwater robot system does not use centered on collecting interface module
" star-like " wiring topology mode, and use " annular " wiring topology mode.It is specific:
Each substation module includes two internal communications interfaces；
Collecting interface module includes two internal communications interfaces；
Collect the multinode communication circle queue of interface module and multiple substation module compositions one in logic, communication loop
Two internal communications interfaces of arbitrary node connect with previous and the latter node a internal communication respectively in shape queue
Mouth connection.
Due to using ring connection network, the complexity and length of cable arrangements is greatly saved.
Further, since serial communication mode is not able to satisfy the requirement of data throughout, while electric signal transmission is easy
It is disturbed, is not easy to the problems such as synthesizing and decomposing.Therefore, in one embodiment, the communication connection inside underwater robot uses
Fiber optic communication connection.Optical fiber needs to consider the factors such as its minimum turning radius, therefore looped network layout is from the aspect of reliability
It is most suitable.
Connected using optical fiber ring network, using standard interface, can with out-of-order to the substation module accessed carry out access and
Cancel.In this way, not only saving the complexity and length of cable arrangements；Simultaneously as amphicheirality's feature of loop network, two-way
The mutual redundancy of communication network, improves the reliability and stability of system.
Specifically, in one embodiment, the optical fiber ring network connection configuration of underwater robot system is as shown in Figure 2.It is real one
It applies in example, system includes being respectively provided with one of independent underwater case structure to collect interface module 210 and substation module
221,222 and 223.Substation module 221,222 and 223 includes coarse wavelength division multiplexer device (Coarse Wavelength
Division Multiplexer, CWDM), it is connected on the equipment interface of corresponding substation module, the two of CWDM module both ends
A optical signal interface (the first optical signal interface and the second optical signal interface) is respectively that two inside of corresponding substation module are logical
Believe interface.Collecting interface module 210 includes a photosynthesis module, branch's optical signal interface (first at photosynthesis module both ends
Branch's optical signal interface and second branch's optical signal interface) it is respectively two internal communications interfaces for collecting interface module 210,
The synthesis optical signal interface of photosynthesis module is connected to external equipment.First optical signal interface of substation module 221 passes through optical cable
It is connected to the first branch's optical signal interface for collecting interface module 210, the second optical signal interface of substation module 221 passes through optical cable
It is connected to the first optical signal interface of substation module 222, the second optical signal interface of substation module 222 is connected to son by optical cable
First optical signal interface of module of standing 223, the second optical signal interface of substation module 223 is connected to by optical cable collects interface mould
Second branch's optical signal interface of block 210.Collect interface module 210 as a result, and substation module 221,222 and 223 passes through
Optical cable connects and composes an optical signal communications loop.
In the module of substation, the information of all parts connected collect summarizing by fixed motherboard, according to type and
Demand is accessed the port CWDM of different wave length, utilizes the different fusions realized to unlike signal of carrier wavelength and defeated simultaneously
It send.Receiving terminal facilitates also by the decomposition to wavelength simultaneously is decomposed and is reduced into each road signal.This connection type it is excellent
Point is:
1 is simple, is easy connection, especially uses the harder cable of umbilical cables under water, can be convenient connection and wiring；
2 are conducive to the warm back-up of communication, and the loss of one of optical fiber will not influence communication, and substation module both sides
The damage of optical fiber will not influence the communication of other substation modules.
3, using the light of different wave length as carrier, facilitate synthesis and separation；
Electromagnetic interference performance can be improved in the communication of 4 underwater optical fibres, increases its stability；
5 optical fiber can walk various communications protocols as carrier, can satisfy that stability is good, the big Ethernet of data throughput
Communication requirement.
Further, it is contemplated that the factors such as the working time of underwater robot system and self weight.In one embodiment, it adopts
With the mode of external energy supply.Specifically, in one embodiment, collecting interface module further includes for connecting the outer of external power supply
Portion's power supply interface and in-line power interface；Substation module also includes in-line power interface.Collect interface module to supply by external
Electrical interface obtains external electric energy, is then again distributed electric energy to each substation module unitedly by the in-line power interface of itself
In-line power interface.
Further, in one embodiment, in order to cooperate the power demand of different function module, in-line power interface includes
Alternating Current Power Supply interface and direct current supply interface.Specifically, in one embodiment, collect interface module provide 110V exchange and
24/48V direct current.
Further, in one embodiment, collect interface module using layer-stepping power supply mode, being will be high by concentration
Piezoelectric transduction is uniformly being distributed to each substation module, is being reallocated by each substation module to each at low-voltage alternating-current and direct current
The functional module of a connection.
Specifically, in one embodiment, collecting interface module further include: pressure unit is configured to adjustment from outside
The voltage of power supply interface；Rectifier is configured to rectify the output of pressure unit.
Specifically, as shown in figure 3, in one embodiment, system includes be respectively provided with independent underwater case structure one
It is a to collect interface module 310 and substation module 321,322 and 323.Collecting interface module 310 includes pressure unit 311,
The alternating current that external power supply inputs is depressured alternating current and output (such as 110V alternating current) for voltage needed for the module of substation.It converges
Collection interface module 310 further includes rectifier 312, and pressure unit 311 is also by the alternating current reduced output voltage of external power supply input to whole
Device 312 is flowed, by the direct current electricity output (such as 24/48V direct current) of voltage needed for the module of substation after the rectification of rectifier 312.
Each substation module (321,322 and 323) realizes power supply by interface inter-link, and each substation module it
Between without precedence relationship, the layout of cable can carry out completely according to minimal path, thus reduce wiring cable length and
Number of structures, while each interface is all standard component, be can be interchanged completely.It is protected in each substation module to per power supply all the way
Shield, it is ensured that effective disconnection to faulty circuit takes electricity without will affect other channels.Specifically, in one embodiment, every
The inlet-outlet line of a power supply interface, which all designs, fusible link.
Further, in order to reduce wiring complexity, in one embodiment, annular wiring side is also used for electrical wiring
Formula:
Each substation module includes two in-line power interfaces；
Collecting interface module includes two in-line power interfaces；
Collect the multinode power supply circle queue of interface module and multiple substation module compositions one in logic, supplies
Two in-line power interfaces of arbitrary node are supplied with previous and the latter node a inside respectively in electric circle queue
Electrical interface connection.
Specifically, in one embodiment, as shown in figure 4, in one embodiment, system is independent underwater including being respectively provided with
One of shell structure collects interface module 410 and substation module 421,422 and 423.Collecting interface module 410 includes drop
Press unit 411, by external power supply input alternating current be depressured for voltage needed for the module of substation alternating current and output (such as
110V alternating current).Collecting interface module 210 further includes rectifier 412, the exchange that pressure unit 411 also inputs external power supply
Electric reduced output voltage to rectifier 312, rectifier 412 rectify after by the direct current electricity output of voltage needed for the module of substation (such as 24/
48V direct current).
Each substation module (421,422 and 423) and collect interface module 410 pass through interface inter-link form one with electricity
Position power supply looped network, realizes power supply.Idiostatic power supply looped network will not generate circulation, and be conducive to mutual redundancy and backup.
Frame mode is conducive to standardized designs and connection in this way.
It should be pointed out that being in above-described embodiment, communication network and supply network are using annular wire laying mode.But
It is to be not to say that the communication network of robot system of the invention and supply network can only be using annular wire laying modes.This hair
Whether bright robot system can determine communication network and/or supply network using annular wiring according to specific design requirement
Mode.
Next communication network is described in detail according to specific application example and supply network is all made of annular wire laying mode
Underwater robot system.
In one embodiment, the electrical structure that underwater robot in the prior art is stored in POD is decomposed, and root
According to the layout of the sensor of underwater robot, illumination, camera and tool, robot is laid out substation module under water for subregion.
As shown in figure 5, in one embodiment, system includes being respectively provided with one of independent underwater case structure to collect interface module
510 and substation module 521,522 and 523.Collect interface module 510 and realizes fiber optic communication by umbilical cables and external equipment
And for being electrically accessed.Collect interface module 510 and substation module 521,522 and 523 and passes through fiber optic communication cable and power supply
Cable constructs fiber optic communication loop and power supply loop.
Further, each substation module arrangement has multiple interfaces, it is in need communication and automatically controlled component all with regard to proximity
Enter corresponding substation module.Each structure in each substation module is that configuration can be combined by daughter board, provides friendship
Stream and direct current supply, automatically controlled and communication structure are to meet each needs for accessing component.Each substation module is no preferential smooth,
Physical location can be interchanged, configure according to actual needs completely, the letter that each substation module is accessed is identified by software
Breath.The object of each substation module be using self compensation oil immersion sandwich type element, inside component be borne by the absolute pressure of environment
Power without original POD, while also simplifying wiring.
Further, in one embodiment, umbilical cables are connected between each substation module, umbilical cables are a kind of special
Submerged cable, be to be integrated with optical fiber and multicore cable.Distributed substation module 1 and distribution substation module N are respectively at collecting
Point is connected, and carries out electric circulation canal and light circulation canal in Rendezvous Point, thus constitutes fiber optic communication ring and supply rings, feature
It is as follows.
Fiber optic loop, each substation module and Rendezvous Point constitute optical fiber ring network, therefore any one base station can select
The high side of priority is communicated, and selects either direction or so by left side optical fiber or by the right optical fiber, such as right
Side communication is preferential.In the process of running, each connected base station moment is mutually shaken hands, and detects the communication link of adjacent base station
State, while the serviceable condition of the optic communication links of all nodes in front end is fed back into backend nodes；Simultaneously also by rear end institute
There is the optic communication links serviceable condition of node to feed back to front end node, so that each node knows the optical fiber of entire looped network
The state of link.It is corresponding to adjust communication path if detection is faulty.By taking the module K of substation as an example, K detection is shaken hands with base station 2
Obstructed, then K is communicated toward the right base station N automatically；If K detection and base station N communication it is obstructed, K automatically toward left side base station 2 into
Row communication.In this case an optical fibre damage in all connection optical fiber is allowed in entire looped network entirely to communicate without influencing；And it is same
When the optical fibre damage of one base station the right and left, this component can be cut off, the communication without influencing other component.If entire optical fiber
When looped network is all normal, then an one direction communication is constituted according to the direction of priority, warm back-up bring one can be saved in this way
A little losses.
Further, in one embodiment, each substation is passed through to configure and be carried out using the light of different wavelength as carrier wave
Signal transmission, the Unified Form of communication protocol are TCP/IP.In this case, the signal of each substation is independent, only sharp
With the photosynthesis of different wave length, and transmitted in same root optical fiber.Such looped network can be mutually redundant, can permit all
Optical fiber in ring can have a damage, communicate without influencing.In addition, the synthesis for passing through light in Rendezvous Point, it is easy to accomplish collect
Stand both sides communication synthesis.
Further, in one embodiment, the supply rings of robot system constitute an exchange with power grid looped network and one
Direct current is with current potential looped network as fiber optic communication, it helps redundancy.
Further, in one embodiment, the connection of each distributed substation module and layout drawing are as shown in fig. 6, it is adopted
With fixed motherboard and removable plug formula board group at light, electric structure and connection motherboard that is, in figure are to fix, each equipment
Connecting interface is that removable can configure is daughter board.Each device port daughter board, it is possible to provide alternating current, direct current, automatically controlled port and
Communication port, wherein supply port is fixed, and all daughter boards are identical, and alternating current can such as can be used for pair with powering load
The power supply and brightness of searchlight control, and direct current can be with powering load；Automatically controlled terminal can export AC and DC and control
System, such as the focusing of camera；Communication port can then be matched.It in this case, can be according to actual needs when system designs
Component and layout, in the equipment interface for being laid out each substation.2N port can be equipped on each mainboard, and (N is substation number
Amount), generally 10,12,14 and 16 are optional, while the definition of each port needs also with motherboard difference according to reality
Border demand configures motherboard and interface.
In addition, motherboard needs to complete two functions, one is the ICP/IP protocol that the communication information is converted into standard is exported,
And the communication information of total interface equipment is synthesized, it is converted into optic communication and is interacted with water controller.In addition, configuration corresponding software mould
Block carries out logic and control to all parts of access.
While it is disclosed that embodiment content as above but described only to facilitate understanding the present invention and adopting
Embodiment is not intended to limit the invention.Method of the present invention can also have other various embodiments.Without departing substantially from
In the case where essence of the present invention, those skilled in the art make various corresponding changes or change in accordance with the present invention
Shape, but these corresponding changes or deformation all should belong to scope of protection of the claims of the invention.
Claims (10)
1. a kind of underwater robot system, which is characterized in that the system comprises be respectively provided with independent underwater case structure
One is collected interface module and multiple substation modules, in which:
The interface module of collecting includes internal communications interface and external communications units, is arranged for carrying out and external equipment
It communicates to connect and provides communication for the substation module and support；
The substation module includes internal communications interface and one or more equipment interfaces, and the equipment interface is for connecting water
The functional module of lower robot built-in.
2. system according to claim 1, which is characterized in that the substation module includes one piece of motherboard and one piece or more
Block daughter board, in which:
The daughter board is mounted on the motherboard；
The internal communications interface of the substation module constructs on the motherboard；
The equipment interface construction is on the daughter board.
3. system according to claim 2, which is characterized in that connected between the motherboard and the daughter board using pluggable interface
It connects.
4. system according to claim 1, which is characterized in that interface module and/or the substation module collected
Underwater case structure uses self compensation oil immersion sandwich type element.
5. system according to claim 1, which is characterized in that the communication connection inside the underwater robot uses optical fiber
Communication connection.
6. system according to any one of claims 1 to 5, it is characterised in that:
The interface module of collecting further includes the external power supply interface and in-line power interface for connecting external power supply；
The substation module also includes in-line power interface.
7. system according to claim 6, which is characterized in that the in-line power interface include Alternating Current Power Supply interface and
Direct current supply interface.
8. system according to claim 7, which is characterized in that described to collect interface module further include:
Pressure unit is configured to adjust the voltage from the external power supply interface；
Rectifier is configured to rectify the output of the pressure unit.
9. the system according to any one of claim 6~8, it is characterised in that:
Each substation module includes two in-line power interfaces；
The interface module of collecting includes two in-line power interfaces；
It is described to collect the multinode power supply circle queue of interface module and multiple substation module compositions one in logic, institute
State power supply circle queue in arbitrary node two in-line power interfaces respectively with it is one previous and the latter node in
The connection of portion's power supply interface.
10. system described according to claim 1~any one of 9, it is characterised in that:
Each substation module includes two internal communications interfaces；
The interface module of collecting includes two internal communications interfaces；
It is described to collect the multinode communication circle queue of interface module and multiple substation module compositions one in logic, institute
State communication circle queue in arbitrary node two internal communications interfaces respectively with it is one previous and the latter node in
The connection of portion's communication interface.
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