CN1657237A - Under water-robot control device using distributed node network - Google Patents
Under water-robot control device using distributed node network Download PDFInfo
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Abstract
A control unit using distributed node network for underwater robot features that the CAN network is used as the core of distributed control. It is composed of the master node consisting of computer host and CAN interface, and the CAN network nodes based no single-chip computer and including system state detecting node, device power supply control mode, power supply managing node, motor control node, emergency treating node, data acquisition node, and serial-pore device node.
Description
Technical field
The present invention relates to the underwater robot control technology, specifically a kind of underwater robot control device that adopts the distributed node network, it belongs to the computerized equipment that is used in underwater robot control.
Background technology
Conventional underwater robot control system, Control System for Autonomous Underwater Vehicle particularly, the centralized control mode of many employings realizes ROBOT CONTROL, promptly by data acquisition and the control of main control computer realization to all the sensors and equipment, main control computer is gathered voltage by A/D conversion circuit, analog signalses such as electric current, by digital quantity input circuit collecting device switching signal, gather the data of serial equipment by serial port circuit, after main control computer is handled these data, by D/A conversion circuit output controlled quentity controlled variable drive motors, equipment is controlled by the digital quantity output circuit output switching signal.Thereby the task of main control computer is heavy under the centralized control mode, and efficient is also low; In case main control computer breaks down, The whole control system will be paralysed, and the reliability of system is low; Because data acquisition channel, address and the interrupt resources of main control computer and the core number of watertight cable are limited, be difficult to random increase equipment or sensor, the poor expandability of system.Along with the development of electronic technology, sensor technology, mechanics of communication, the sensor that underwater robot can carry is more and more, and the mission of finishing is also increasingly sophisticated, and traditional centralized control method can't satisfy the demand of underwater robot control system development.
Summary of the invention
In order to overcome above-mentioned deficiency, the purpose of this invention is to provide a kind ofly have that extensibility is strong, configuration flexibly, the underwater robot control device of good, the high efficiency of software generic, safe, employing distributed node network that reliability is high.
To achieve these goals, technical scheme of the present invention is: adopt the core of CAN network as distributed control, hardware is made up of main frame node and CAN network node, wherein the main frame node comprises main frame and CAN interface, the CAN network node is core with the single-chip microcomputer, mainly comprises system mode detection node, device power supply (DPS) control node, power management node, Electric Machine Control node, emergency processing node, data acquisition node, serial equipment node; Main frame node and all CAN network nodes all link together by the CAN interface, constitute the CAN network; Software is made up of main frame program and each SCM program, wherein the main frame program comprises CAN interface drive program, each CAN network node driver, CAN user interface built-in function, and SCM program mainly comprises system mode trace routine, device power supply (DPS) control program, power management routines, Electric Machine Control program, emergency processing program, data acquisition program, serial equipment program.
Compared with prior art, the present invention has more following advantage:
1. system works efficient height.The present invention is a kind of based on robot control system under the distributed water of CAN network, it is distributed to each sensor and device node execution to the centralized control task of main frame with the form of bus, a part of task of main control computer can be distributed to each network node realizes, alleviate the task of main control computer greatly, realized the raising of system effectiveness.
2. safe, in case adopt the present invention's main control computer to break down, the emergent node of fault can independently be worked, and finishes emergency processing work, does the great security that improves underwater robot like this.
3. reliability height.The present invention adopts that the line of each node has only power line and data wire after the bus network form, significantly reduced the quantity and the core number of watertight cable, and underwater electrical connector leaks and the probability of line fault thereby reduced.
4. software generic is good.Program of the present invention adopts modularized design, it has open framework, configuration is flexible, can increase or reduce entrained sensor and equipment arbitrarily, can not cause the significantly change of system hardware circuit again, so can expand, easily transplant, both can be used for having cable underwater robot control, can be used for not having cable underwater robot control again, applied range.
5. system extension is strong.When adopting the present invention to increase and decrease sensor or device node in advance, need only insert it in bus network and move the driver of this node, need not change main control computer hardware, the maximum node number on this bus can be 110.
Description of drawings
Fig. 1 is a hardware composition frame chart of the present invention.
Fig. 2-the 1st, system mode detection node hardware structure diagram of the present invention.
Fig. 2-the 2nd, system mode detection node hardware elementary diagram of the present invention.
Fig. 3-the 1st, device power supply (DPS) control node hardware structure diagram of the present invention.
Fig. 3-the 2nd, device power supply (DPS) control node hardware elementary diagram of the present invention.
Fig. 4-the 1st, power management node hardware structure diagram of the present invention.
Fig. 4-the 2nd, power management node hardware elementary diagram of the present invention.
Fig. 5-the 1st, Electric Machine Control node hardware structure diagram of the present invention.
Fig. 5-the 2nd, Electric Machine Control node hardware elementary diagram of the present invention.
Fig. 6-the 1st, emergency processing node hardware structure diagram of the present invention.
Fig. 6-the 2nd, emergency processing node hardware elementary diagram of the present invention.
Fig. 7-the 1st, data acquisition node hardware structure diagram of the present invention.
Fig. 7-the 2nd, data acquisition node hardware elementary diagram of the present invention.
Fig. 8-the 1st, serial equipment node hardware structure diagram of the present invention.
Fig. 8-the 2nd, serial equipment node hardware elementary diagram of the present invention.
Fig. 9 is a software composition frame chart of the present invention.
Figure 10 is a main frame CAN interface drive program software flow pattern of the present invention.
Figure 11 is each CAN network node driver software flow chart of main frame of the present invention.
Figure 12-the 1st, each single-chip microcomputer node CAN communication software flow chart of the present invention.
Figure 12-the 2nd, each single-chip microcomputer node of the present invention interrupts handling software flow pattern.
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in further detail.
The present invention adopts the core of CAN network as distributed control, the CAN network node that hardware is made up of main frame node, a plurality of single-chip microcomputer is formed, wherein the main frame node comprises main frame and CAN interface, and the CAN network node mainly comprises system mode detection node, device power supply (DPS) control node, power management node, Electric Machine Control node, emergency processing node, data acquisition node, serial equipment node; Main frame node and all CAN network nodes all link together by the CAN interface, constitute the CAN network; Software is made up of the SCM program of main frame program and each CAN network node, its program comprises CAN interface drive program, each CAN network node driver, CAN user interface built-in function composition, and CAN user interface built-in function adopts the form of file destination to offer the upper strata control software transfer of user's establishment.
Computer operating system is QNX, and program adopts the establishment of WATCOM C language, and SCM program adopts the establishment of C language, is stored in the electricity erasable memorizer of single-chip microcomputer.
As shown in Figure 1, main frame is connected on the CAN network by the CAN interface, communicate by letter with each CAN network node, main frame be responsible for underwater robot motion control, mission download, data record, with the tasks such as information interaction of each single-chip microcomputer node, the CAN interface is realized communicating by letter of main frame and each CAN network node; The single-chip microcomputer of each CAN network node drives (as: 82C250 chip) and is connected on the CAN network by CAN procotol (as: MCP2510 chip), CAN, each CAN network node is realized the difference of function according to it, be equipped with different peripheral hardwares, drive as A/D, D/A, I/O etc.
Shown in Fig. 2-1, the system mode detection node is core with the single-chip microcomputer, is responsible for operating voltage, pressure chamber pressure, the state that leaks, the underwater robot of detection computations machine system and goes into water state etc., and realize and CAN network exchange data by the CAN interface.Shown in Fig. 2-2, the 1st single-chip microcomputer DA1-3 (adopting the AT90S8535 chip) is by the operating voltage of three passage detection computations of A/D0～A/D2 machine system of terminal J1-3, five passage detected pressures of A/D3～A/D7 cabin pressure by terminal J1-3, signals such as temperature, DI1～DI4 by terminal J1-4 detects four road signals that leak, DI5 by terminal J1-4 detects underwater robot entry signal, the I/O pin of the 1st single-chip microcomputer DA1-3 is connected to 1CAN agreement DA1-2 (adopting the MCP2510 chip), 1CAN agreement DA1-2 is connected to the 1st CAN and drives DA1-1 (adopting the 82C250 chip), and 1CAN drives DA1-1 and is connected with the CAN network by terminal J1-2.Terminal J1-1 is used for the online download (as follows) of SCM program in addition.
Shown in Fig. 3-1, device power supply (DPS) control node is core with the single-chip microcomputer, by the order of CAN interface receiving computer main frame, opens or closes according to the power supply relay of each equipment of command driven, detects the open and-shut mode of each device power supply (DPS) simultaneously.Shown in Fig. 3-2, the 2nd single-chip microcomputer DA2-3 (adopting the AT90S8535 chip) is by the break-make of VOUT1～VOUT4 power supply among the 1st～4 relay K 2-1～K2-4 control terminal J2-3, and detect the on off state of power supply by resistance feedback, the I/O pin of the 2nd single-chip microcomputer DA2-3 is connected to 2CAN agreement DA2-2 (adopting the MCP2510 chip), 2CAN agreement DA2-2 is connected to 2CAN and drives DA2-1 (adopting the 82C250 chip), and 2CAN drives DA2-1 and is connected with the CAN network by terminal J2-2.
Shown in Fig. 4-1, the power management node is core with the single-chip microcomputer, is responsible for detecting cell voltage, electric current, temperature, pressure and the state that leaks, and consumed power is calculated and is stored, and data are sent to main frame by the CAN interface.Shown in Fig. 4-2, the 3rd single-chip microcomputer DA3-3 (adopting the AT90S8535 chip) is by DA3-4 (adopting the AD590 chip) detected temperatures signal, A/D1 by terminal J3-3, A/D2 detects the two-way battery voltage signal, A/D3～A/D6 by terminal J3-3 detects cell voltage, electric current, temperature, pressure four road signals, detect the two-way signal that leaks by terminal J3-4, the I/O pin of the 3rd single-chip microcomputer DA3-3 is connected to 3CAN agreement DA3-2 (adopting the MCP2510 chip), 3CAN agreement DA3-2 is connected to 3CAN and drives DA3-1 (adopting the 82C250 chip), and 3CAN drives DA3-1 and is connected with the CAN network by terminal J3-2.
Shown in Fig. 5-1, the Electric Machine Control node is core with the single-chip microcomputer, order by CAN interface receiving computer main frame, according to the electric power starting of each motor of command driven or close, control D/A drive motors driver module, single-chip microcomputer detects the electrical fault state simultaneously, gathers motor working current, motor drive module temperature by A/D, and sends to main frame by the CAN interface.Shown in Fig. 5-2, the 4th single-chip microcomputer DA4-3 (adopting the AT90S8535 chip) is by temperature sensor DA4-4 detected temperatures signal, A/D1～A/D4 by terminal J4-4 detects four road motor current signals, by the 1st～2D/A converter DA4-5, DA4-6 (adopt AD7303 chip) output four road analog voltage signals to terminal J4-5 as motor-driven to determining voltage signal, the power supply of controlling No. four motors by the 5th～8 relay K 4-1～K4-4 outputs to terminal J4-6, detect four tunnel motor failure signal by terminal J4-3, the I/O pin of the 4th single-chip microcomputer DA4-3 is connected to 4CAN agreement DA4-2 (adopting the MCP2510 chip), 4CAN protocol chip DA4-2 is connected to 4CAN and drives DA4-1 (adopting the 82C250 chip), and 4CAN drives DA4-1 and is connected with the CAN network by terminal J4-2.
Shown in Fig. 6-1, the emergency processing node is core with the single-chip microcomputer, and the serial ports of single-chip microcomputer is connected with radio station, being used to control radio station sends, it can independently be worked when the main frame fault, and after robot emerged under water, control radio station sent.Shown in Fig. 6-2, the 5th single-chip microcomputer DA5-3 (adopting the AT90S8535 chip) detects the two-way voltage signal by terminal J5-3, detect the signal that leaks by terminal J5-4, export the two-way power supply to terminal J5-5 by the 9th～10 relay K 5-1～K5-2, by terminal J5-6 control radio station, the I/O pin of the 5th single-chip microcomputer DA5-3 is connected to 5CAN agreement DA5-2 (adopting the MCP2510 chip), 5CAN agreement DA5-2 is connected to 5CAN and drives DA5-1 (adopting the 82C250 chip), and 5CAN drives DA5-1 and is connected with the CAN network by terminal J5-2.
Shown in Fig. 7-1, data acquisition node is a core with single-chip microcomputer and high-precision a/d converter, can the sampling depth meter, analog quantity such as altimeter, and image data sent to main frame by the CAN interface.Shown in Fig. 7-2, the 6th single-chip microcomputer DA6-3 (adopting the AT90S2313 chip) gathers the voltage signal that terminal J6-3 introduces by the 1st A/D converter DA6-5 (adopting the AD7714 chip), the I/O pin of the 6th single-chip microcomputer DA6-3 is connected to 6CAN agreement DA6-2 (adopting the MCP2510 chip), 6CAN agreement DA6-2 is connected to 6CAN and drives DA6-1 (adopting the 82C250 chip), and 6CAN drives DA6-1 and is connected with the CAN network by terminal J6-2.
Shown in Fig. 8-1, the serial ports of serial equipment node drives with RS-232 and is connected, form RS-232 interface, this node major function is the equipment access CAN network with RS-232 interface, it has realized the conversion of level and agreement between the RS-232 interface of equipment and the CAN interface, and this node can connect serial equipments such as GPS, altimeter, electronic compass.Shown in Fig. 8-2, the serial ports of the 7th single-chip microcomputer DA7-3 (adopting the AT90S2313 chip) is connected to 1RS-232 and drives DA7-4 (adopting the MAX202 chip), 1RS-232 drives DA7-4 and is connected to the RS-232 serial equipment by terminal J7-3, the I/O pin of the 7th single-chip microcomputer DA7-3 is connected to 7CAN agreement DA7-2 (adopting the MCP2510 chip), 7CAN agreement DA7-2 is connected to 7CAN and drives DA7-1 (adopting the 82C250 chip), and 7CAN drives DA7-1 and is connected with the CAN network by terminal J7-2.
As shown in Figure 9, software is made up of main frame program and each SCM program, the computer main program comprises CAN interface drive program, each CAN network node driver, CAN user interface built-in function, the CAN interface drive program is responsible for driving the CAN interface, adopts information communication method to realize the exchanges data of CAN network node driver and each single-chip microcomputer node procedure; CAN network node driver comprises drivers such as system mode detection node, device power supply (DPS) control node, power management node, Electric Machine Control node, emergency processing node, data acquisition node, serial equipment node, and each driver is responsible for realizing the control to this node device; CAN user interface built-in function offers the upper strata control software transfer of user establishment, realizes visit to each CAN network node driver data by information communication method and shared drive method; CAN interface drive program and each CAN network node driver can independent operatings, after main frame powers on, the automatic load and execution CAN interface drive program of system and each CAN network node driver, also can be in the middle of system operation, according to the start and stop of the operating position of hardware device node with each CAN network node driver of programme-control; CAN user interface built-in function adopts the form of file destination to provide, upper strata control software is by compiling the visit of realization to each node device in the CAN network with CAN user interface built-in function, can return a code when calling CAN user interface built-in function, it has represented fault status information; SCM program adopts the establishment of C language, be stored in behind the compilation in the electricity erasable memorizer of single-chip microcomputer, back operation automatically powers on, communicate with other node then, the order that receives other node line operate of going forward side by side, each single-chip microcomputer node all has a fixing address, and its scope from 0 to 110 is in order to distinguish different nodes.
As shown in figure 10, the CAN interface drive program is responsible for driving the CAN interface, adopts information communication method to realize the exchanges data of CAN network node driver and each single-chip microcomputer node procedure; Idiographic flow is: accreditation process name at first after the startup, the time that is provided with interrupts and the CAN communication disruption, program enters the circular wait state then, if timing is to (as 30 milliseconds), the generation time message of interrupting then, program judges whether successfully received data last time, if a certain task successful then in 1～task n is executed the task in the execution distribution, current task promptly is set for to carry out information exchange with a certain driver, send data to the CAN network then, the transmission program that finishes is in the circular wait message status,, the CAN interface produces CAN communication disruption message if receiving data, if data receive successfully and correct then data are sent to the driver of this node; If timing does not then receive the correct data of certain node yet, then recommunicate, as still not receiving correct data, then think this node failure, and fault is sent to this node driver by information exchange; Task 1～task n in the program is a task list, and program decides what task of execution according to a counter from 1 to n, promptly communicates with certain node, and this task list can be formulated according to the difference sampling frequency requirement to different nodes.
CAN network node driver idiographic flow comprises drivers such as system mode detection node, device power supply (DPS) control node, power management node, Electric Machine Control node, emergency processing node, data acquisition node, serial equipment node, and each driver is responsible for realizing the control to this node device.The structure of each network node driver is the same substantially, and as shown in figure 11, accreditation process name at first behind the program start enters in the circulation that waits for the arrival of news then.If receive the message of CAN interface drive program, then carry out exchanges data with the CAN interface drive program; If receive the message that the user interface built-in function sends, then judge task type according to the content of message.Task has two types: read data command and control output data command, if read data command, program just is treated to quantities to corresponding data, if control output data command, just the data that receive from the user interface built-in function are handled and are stored in the internal memory, send to the CAN network node during by the time with CAN interface drive program swap data.After executing above-mentioned task, program and interface library function swap data send to the user interface built-in function to the data and the failure code that obtain.
SCM program adopts the establishment of C language, is stored in behind the compilation in the electricity erasable memorizer of single-chip microcomputer, and the back operation automatically that powers on communicates with other node then, the order that receives other node line operate of going forward side by side.According to the difference that each node is finished the work, the order difference of carrying out in the program, but the SCM program structure of each CAN network node is the same substantially, mainly comprises CAN signal procedure and interrupt handling routine.Shown in Figure 12-1, the idiographic flow of CAN signal procedure is: carry out initialization during the program operation earlier, be in recurrent state then, in circulation, the program judgement has or not the CAN data, if the CAN data are arranged then receive, and carry out corresponding operation, then the data of this node are sent to the CAN network according to data content.Shown in Figure 12-2, the idiographic flow of interrupt handling routine is: in have no progeny and forward corresponding interrupt handling routine to according to interrupt type.In serial ports interrupted, program received the data of serial ports and data is handled; In timer interrupted, program was carried out tasks such as data acquisition, control output, calculating, data storage according to the needs of different nodes.
Described main frame adopts conventional low-power consumption, the small size industrial computer that has serial ports, as STD, PC/104 industrial computer etc.CAN interface and Chip Microcomputer A/D, D/A and peripheral circuit interfacing are existing electronic technology, and single-chip microcomputer can adopt conventional chip microcontroller such as 51 series, PIC series, AT90 series.
In a word, the present invention is distributed to each sensor and device node execution with the centralized control task main frame of bus form, thereby the main frame task is alleviated, and system effectiveness improves; In case main frame breaks down, the emergency processing node can independently be worked, and finishes emergency processing work, so the reliability height of system; It has open framework, can increase or reduce entrained sensor and equipment arbitrarily, can not cause the significantly change of system hardware circuit, and it has also reduced the core number of watertight cable simultaneously, reduces the probability that cable loose contact or cable connector leak.
Claims (6)
1. underwater robot control device that adopts the distributed node network, it is characterized in that: adopt the core of CAN network as distributed control, hardware is made up of main frame node and CAN network node, wherein the main frame node is distributed to each network node execution with task, it comprises main frame and CAN interface, the CAN network node is core with the single-chip microcomputer, mainly comprise the system mode detection node, device power supply (DPS) control node, the power management node, the Electric Machine Control node, the emergency processing node, data acquisition node, the serial equipment node, each network node is responsible for the data acquisition and processing (DAP) of sensor, carry the control of equipment, motor-driven control, fault detect, the detection of leaking, the emergency processing task; Main frame node and all CAN network nodes all link together by the CAN interface, constitute the CAN network; Software is made up of main frame program and each SCM program, wherein the main frame program comprises CAN interface drive program, each CAN network node driver, CAN user interface built-in function, and SCM program mainly comprises system mode trace routine, device power supply (DPS) control program, power management routines, Electric Machine Control program, emergency processing program, data acquisition program, serial equipment program.
2. according to the underwater robot control device of the described employing distributed node of claim 1 network, it is characterized in that: main frame is connected on the CAN network by the CAN interface, by the single chip communication of CAN network and each CAN network node, the single-chip microcomputer of each CAN network node drives by CAN agreement and CAN and is connected on the CAN network.
3. according to the underwater robot control device of the described employing distributed node of claim 1 network, it is characterized in that: described CAN interface routine is responsible for driving the CAN interface, adopts information communication method to realize the exchanges data of CAN network node driver and each single-chip microcomputer node procedure; Idiographic flow is: accreditation process name at first after the startup, the time that is provided with interrupts and the CAN communication disruption, program enters the circular wait state then, if timing arrives, the generation time message of interrupting then, program judges whether successfully received data last time, if a certain task successful then in 1～task n is executed the task in the execution distribution, current task promptly is set for to carry out information exchange with a certain driver, send data to the CAN network then, the transmission program that finishes is in the circular wait message status, if receive the CAN network data then produce CAN data interrupt message, if data receive successfully and correct then data are sent to the driver of this node; If timing does not then receive the correct data of certain node yet, then recommunicate, as still not receiving correct data, then think this node failure, and fault is sent to this node driver by information exchange; Task 1～task n in the program is a task list, and program decides what task of execution according to a counter from 1 to n, promptly communicates with certain node, and this task list can be formulated according to the difference sampling frequency requirement to different nodes.
4. according to the underwater robot control device of the described employing distributed node of claim 1 network, it is characterized in that: described CAN network node driver comprises system mode detection node, device power supply (DPS) control node, power management node, Electric Machine Control node, emergency processing node, data acquisition node, serial equipment node driver, each driver is responsible for realizing the control to this node device, and the structure of each network node driver is identical; Its idiographic flow enters in the circulation that waits for the arrival of news then for accreditation process name at first after starting; If receive the message of CAN interface drive program, then carry out exchanges data with the CAN driver; If receive the message that the user interface built-in function sends, then judge task type according to the content of message; Task has two types: read data command and control output data command, if read data command, program just is treated to quantities to corresponding data, if control output data command, just the data that receive from the user interface built-in function are handled and are stored in the internal memory, send to the CAN network node during by the time with CAN driver swap data; After executing above-mentioned task, program and interface library function swap data send to the user interface built-in function to the data and the failure code that obtain.
5. according to the underwater robot control device of the described employing distributed node of claim 1 network, it is characterized in that: the SCM program of described CAN network node is communicated by letter with computer node by the CAN network, order according to main frame is moved, and sends the data to computer node; The SCM program of each CAN network node comprises CAN signal procedure and interrupt handling routine, the idiographic flow of CAN signal procedure is: carry out initialization during the program operation earlier, circular wait CAN data then, if the CAN data arranged then receive, and, then the data of this node are sent to the CAN network according to the corresponding operation of data content execution; The idiographic flow of interrupt handling routine is: in have no progeny and forward corresponding interrupt handling routine to according to interrupt type, in serial ports interrupted, program received the data of serial ports and data is handled; In timer interrupted, program was carried out data acquisition, control output, calculating, data store tasks according to the needs of different nodes.
6. according to the underwater robot control device of the described employing distributed node of claim 1 network, it is characterized in that: described CAN user interface built-in function adopts the file destination form to offer the upper strata control software transfer of user's establishment, realizes visit to each CAN network node driver data by information communication method and shared drive method.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100461057C (en) * | 2007-08-09 | 2009-02-11 | 上海交通大学 | Submarine pipeline detecting robot emulation system |
| CN100462884C (en) * | 2006-11-02 | 2009-02-18 | 上海交通大学 | Crawling intelligent controller in submarine pipeline |
| CN103231373A (en) * | 2013-03-26 | 2013-08-07 | 东南大学 | Exoskeleton hardware control platform |
| CN103345257A (en) * | 2013-06-29 | 2013-10-09 | 西北工业大学 | Autopilot control system of underwater vehicle |
| CN103809584A (en) * | 2012-11-15 | 2014-05-21 | 中国科学院沈阳自动化研究所 | One-to-many device for automatically detecting AUV (Autonomous Underwater Vehicle) and implementing method thereof |
| CN103885391A (en) * | 2012-12-19 | 2014-06-25 | 中国科学院沈阳自动化研究所 | Small autonomous underwater robot power management system |
| CN110412892A (en) * | 2018-04-28 | 2019-11-05 | 上海中车艾森迪海洋装备有限公司 | A kind of underwater robot system |
| CN111061184A (en) * | 2019-12-03 | 2020-04-24 | 沈阳理工大学 | Underwater micro robot jet driving system |
| CN114833819A (en) * | 2021-02-02 | 2022-08-02 | 日本电产三协株式会社 | Control device and industrial robot |
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| JPH0746677A (en) * | 1993-07-27 | 1995-02-14 | Toyo Techno Corp:Kk | Distributed processing unification control system |
| DE19904090C2 (en) * | 1999-02-02 | 2003-06-05 | Wolf Gmbh Richard | Method and device for the automatic control and management of medical devices and systems |
| CN2675357Y (en) * | 2004-02-18 | 2005-02-02 | 中国科学院沈阳自动化研究所 | Distributed underwater robot control device |
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| CN100462884C (en) * | 2006-11-02 | 2009-02-18 | 上海交通大学 | Crawling intelligent controller in submarine pipeline |
| CN100461057C (en) * | 2007-08-09 | 2009-02-11 | 上海交通大学 | Submarine pipeline detecting robot emulation system |
| CN103809584A (en) * | 2012-11-15 | 2014-05-21 | 中国科学院沈阳自动化研究所 | One-to-many device for automatically detecting AUV (Autonomous Underwater Vehicle) and implementing method thereof |
| CN103885391A (en) * | 2012-12-19 | 2014-06-25 | 中国科学院沈阳自动化研究所 | Small autonomous underwater robot power management system |
| CN103231373A (en) * | 2013-03-26 | 2013-08-07 | 东南大学 | Exoskeleton hardware control platform |
| CN103345257A (en) * | 2013-06-29 | 2013-10-09 | 西北工业大学 | Autopilot control system of underwater vehicle |
| CN110412892A (en) * | 2018-04-28 | 2019-11-05 | 上海中车艾森迪海洋装备有限公司 | A kind of underwater robot system |
| CN111061184A (en) * | 2019-12-03 | 2020-04-24 | 沈阳理工大学 | Underwater micro robot jet driving system |
| CN114833819A (en) * | 2021-02-02 | 2022-08-02 | 日本电产三协株式会社 | Control device and industrial robot |
| CN114833819B (en) * | 2021-02-02 | 2023-10-31 | 日本电产三协株式会社 | Control device and industrial robot |
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