CN204631509U - The autonomous remote underwater robot propulsion control system of a kind of myriametre - Google Patents
The autonomous remote underwater robot propulsion control system of a kind of myriametre Download PDFInfo
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- CN204631509U CN204631509U CN201520296564.4U CN201520296564U CN204631509U CN 204631509 U CN204631509 U CN 204631509U CN 201520296564 U CN201520296564 U CN 201520296564U CN 204631509 U CN204631509 U CN 204631509U
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Abstract
The utility model relates to the autonomous remote underwater robot propulsion control system of a kind of myriametre, comprises propulsion system control panel and connected puopulsion equipment and Throwing and carries equipment; Described puopulsion equipment comprise two promote mainly motor drive plate and respectively with promote mainly that motor drive plate is connected promote mainly motor, electric rotating machine drive plate and connected electric rotating machine; Throwing carries equipment and comprises two Throwing live machines.Control panel involved by the utility model and drive plate are soaked in oil, and the components and parts such as the crystal oscillator on it and electric capacity, through pressure-resistant treatments, can meet propulsion control system myriametre requirement of withstand voltage; The utility model uses less thruster can realize the motion of the multiple degree of freedom of robot, and method is simple, reduces system power dissipation.
Description
Technical field
The utility model relates to underwater robot control field, specifically the autonomous remote underwater robot propulsion control system of a kind of myriametre.
Background technology
Autonomous remote underwater robot had both had the function of AUV large area undersea detection and search, can carry out true-time operation control again by micro cable as ROV.The appearance of autonomous remote underwater robot can make underwater vehicle dark darker towards diving, and navigates by water farther and has more intelligentized future development.
Existing underwater robot propulsion control system can not be applied to the autonomous remote underwater robot of myriametre, mainly contains two reasons, and one is problem of withstand voltage, and system can not bear the pressure of the myriametre depth of water; Two is modes that existing propulsion system or employing thruster add wing plate, adopt multiple propeller control mode, and the autonomous remote underwater robot of myriametre carries the energy, need simple and reliable propulsion control system energy-conservation again, prior art is not enough to meet these requirements.
Utility model content
In order to solve above-mentioned Problems existing, the purpose of this utility model is to provide a kind of myriametre autonomous remote underwater robot propulsion control system, and can be applied under myriametre suppresses environment, this system has good portability.
The technical scheme that the utility model is adopted for achieving the above object is: the autonomous remote underwater robot propulsion control system of a kind of myriametre, comprises propulsion system control panel and connected puopulsion equipment and Throwing and carries equipment;
Described puopulsion equipment comprises two and promotes mainly motor drive plate and connectedly promote mainly motor, electric rotating machine drive plate and connected electric rotating machine;
Throwing carries equipment and comprises two Throwing live machines;
Described propulsion system control panel is connected with electric rotating machine drive plate, the rotating potentiometer be arranged on electric rotating machine, also promotes mainly motor drive plate with two, two Throwing live machines are connected, and be connected with main control computer by serial ports.
Described propulsion system control panel comprises single-chip microcomputer and connected serial communication circuit, CAN communication circuit, AD sample circuit and control relay circuit;
Described serial communication circuit is connected with electric rotating machine drive plate, main control computer;
Described CAN communication circuit is promoted mainly motor drive plate be connected with two;
Described AD sample circuit is connected with rotating potentiometer, current sensor and voltage sensor;
Described control relay circuit and voltage sensor, electric rotating machine, two promote mainly motor and two and throw live machine and be connected.
Described electric rotating machine is arranged at the center of underwater robot, and its rotating shaft terminal respectively connects one and promotes mainly motor.
Described propulsion system control panel, electric rotating machine drive plate and promote mainly motor drive plate and be soaked in oil, the crystal oscillator on each plate uses the crystal oscillator of epoxy packages, and electrochemical capacitor adopts tantalum electric capacity to replace.
The utility model has following beneficial effect and advantage:
1. the components and parts such as the crystal oscillator in the utility model control panel and electric capacity, through pressure-resistant treatments, can meet propulsion control system myriametre requirement of withstand voltage.
2. the utility model adopts 1 electric rotating machine to add 2 and promotes mainly motor, uses less thruster can realize the motion of the multiple degree of freedom of robot, and method is simple, reduces power consumption, can save electric energy.
3. the utility model uses CAN to control two and promotes mainly motor, adds motor power-supply wire totally 4 wires, decreases the line of propulsion system and motor, make system more simple and reliable.
4. the utility model uses the singlechip chip AT90CAN128 being integrated with AD converter and CAN controller, reduces space hold and the electric quantity consumption of circuit board, simplifies control program, have comparatively high performance-price ratio.
5. the utility model adopts modular design philosophy, as long as robot system motor driver is supported CAN or supported that serial ports controls, all can use this propulsion control system.
6. the utility model is provided with voltage sensor, the current sensor of power supply, enhances the safety and reliability of control system.
Accompanying drawing explanation
Fig. 1 is propulsion control system structural drawing of the present utility model;
Fig. 2 is propulsion control system interface circuit connection diagram;
Fig. 3 is propulsion control system control circuit board composition schematic diagram;
Fig. 4 (a) ~ 4 (e) is propulsion control system propulsion mode schematic diagram;
Wherein, vertical view during 4 (a) forward travel; Vertical view during 4 (b) rotary motion; Vertical view during 4 (c) setback; The side view during motion of 4 (d) floating; Side view during 4 (e) dive campaign;
1, electric rotating machine, 2, a left side promotes mainly motor, 3, the right side promotes mainly motor, 4, carrier, 5, turning axle;
The electric current that Fig. 5 (a) ~ 5 (b) is propulsion control system control circuit board, voltage sensor circuit figure;
5 (a) is current sensor circuit figure; 5 (b) is voltage sensor circuit figure;
Fig. 6 (a) ~ 6 (b) is propulsion control system control circuit board single-chip microcomputer and jtag circuit figure;
6 (a) is single chip circuit figure; 6 (b) is jtag circuit figure;
Fig. 7 (a) ~ 7 (b) is propulsion control system control circuit board serial communication circuit figure;
7 (a) is serial communication circuit figure mono-; 7 (b) is serial communication circuit figure bis-;
Fig. 8 (a) ~ 8 (b) is propulsion control system control circuit board CAN communication circuit diagram;
8 (a) is CAN communication circuit diagram one; 8 (b) is CAN communication circuit diagram two;
Fig. 9 (a) ~ 9 (c) is propulsion control system control circuit board control relay circuit;
9 (a) is control relay circuit figure mono-; 9 (b) is control relay circuit figure bis-; 9 (c) is control relay circuit figure tri-;
Figure 10 is propulsion system 4 passage AD of the present utility model sampling process flow diagram.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in further detail.
The utility model relates to the autonomous remote underwater robot propulsion control system of a kind of myriametre, and comprising: propulsion system control panel, puopulsion equipment and Throwing carry equipment; Propulsion control system receives the order of main control computer by serial ports, through extracting the controlled quentity controlled variable obtaining puopulsion equipment, relay etc.; Wherein puopulsion equipment comprise motor drive plate, 2 promote mainly motor and 1 electric rotating machine, propulsion control system controls two by CAN and promotes mainly motor and return motor status information, by with isolation serial ports control electric rotating machine; Electric rotating machine is arranged at underwater robot center, and its rotating shaft terminal connects respectively and promotes mainly motor, and electric rotating machine can realize 180 ° of rotations, and promoting mainly motor can forward or reverse; Electric rotating machine actual angle is by feeding back to main control computer after rotating potentiometer AD conversion; The utility model is provided with two Throwing live machines, ensures that underwater robot vectors safe floats when mission completes or break down; Propulsion control system plate is controlled electric rotating machine by relay group, is promoted mainly the power-up state of motor and Throwing live machine; Propulsion control system plate is provided with peripheral I/O drive plate state-detection simultaneously, can read the power-up state of external unit and sensor;
Propulsion system control panel: with the electric rotating machine drive plate of puopulsion equipment with promote mainly motor drive plate and is connected, is promoted mainly motor by solid-state relay be connected with two, control propulsion electric machine power supply; Two the Throwing live machines carrying equipment with Throwing are connected; Communicated with main control computer by serial ports, what reception main control computer sent promotes mainly motor and electric rotating machine control command, and the feedback signal of propulsion system control panel collection is sent to main control computer;
Puopulsion equipment: comprise electric rotating machine drive plate, 1 electric rotating machine, promote mainly motor driver and 2 promote mainly motor;
Throwing carries equipment: comprise 2 Throwing live machines, and when completing for mission or break down, underwater robot carrier floats.
Described electric rotating machine is arranged at underwater robot center, and its rotating shaft terminal respectively connects one and promotes mainly motor.Electric rotating machine can realize 180 ° of rotations, and drive two to promote mainly motor by electric rotating machine and rotate, promoting mainly motor can rotate and reverse, and finally realizes robot advance, rotation, retrogressing, dive and floating motion.
Described propulsion system control panel comprises:
Single-chip microcomputer with CAN interface: be connected with I/O drive plate with serial communication circuit, CAN communication circuit, AD sample circuit, control relay circuit respectively; Receive the control command of main control computer by serial ports and by the power supply total voltage of collection, power supply total current and rotating potentiometer Voltage Feedback to main control computer, receive by CAN the motor status information that two are promoted mainly motor feedback;
AD sample circuit: be used for obtaining power supply total voltage and total current, and the electric rotating machine anglec of rotation.
Control relay circuit: be used for controlling electric rotating machine, promoting mainly motor and voltage sensor power supply.
Serial communication circuit: comprise two-way serial ports altogether, be respectively UART0 and UART1; UART0 is used for communicating with main control computer, and UART1 is used for and electric rotating machine drive communication.
CAN communication circuit: realize single-chip microcomputer and promote mainly its communications, single-chip microcomputer is given 2 to promote mainly motor by CAN and is sent control command, and the status information of 2 motors feeds back to single-chip microcomputer by CAN, realizes promoting mainly electrical fault and detects.
I/O drive plate: the duty being used for detecting external electronic compass sensor etc.
Native system is communicated with main control computer by serial ports, receive send and come control information, because control method completes on main control computer, thus the volume of transmitted data of propulsion control system and calculated amount little.Single-chip microcomputer extracts data after receiving data, obtain two and promote mainly motor, the controlled quentity controlled variable of electric rotating machine and relay group controlled quentity controlled variable, by CAN controlled quentity controlled variable transferred to and promote mainly motor drive plate, controlled quentity controlled variable is transferred to electric rotating machine drive plate, by single-chip processor i/o mouth pilot relay by the serial ports of band isolation.Gather supply voltage, electric current and rotating potentiometer magnitude of voltage, finally by Serial Port Transmission to main control computer by the inner ADC of single-chip microcomputer simultaneously.
As shown in Figure 1, the utility model is made up of three parts: propulsion system control panel, puopulsion equipment and Throwing carry equipment, propulsion system control panel, electric rotating machine control panel and promote mainly motor control panel and be all soaked in oil, crystal oscillator on it uses the epoxy packages crystal oscillator through myriametre voltage-withstand test, electrochemical capacitor on it uses the tantalum electric capacity through myriametre voltage-withstand test, and wherein myriametre voltage-withstand test refers to suppress more than 120Mpa in head tank.Propulsion electric machine is waterproof brushless electric machine and supporting driver with promoting mainly motor drive plate, and electric rotating machine uses MAX motor.The key component of native system is propulsion system control panel, and composition graphs 2 interface connection diagram, is described the part of interface of propulsion system control panel: in J1, and IN0-IN7 connects exterior I/O drive plate, for detecting external sensor and device power state; In J2, RXD0, TXD0, GND are connected with the serial ports of external piloting control computing machine; In J3 ,+24V/BAT is connected external battery pack with GND/BAT; In J4 ,+24V/AP and GND/AP is the power supply outputting to power conversion board from propulsion control system plate, is converted to+5V and GND/C is input to propulsion control system plate again through power conversion board; J5 connects the rotating potentiometer on electric rotating machine turning axle; TXD1 with RXD1 in J6 is connected with electric rotating machine drive plate serial ports, GND/ISO be independently power supply signal ground ,+24V/XZ and GND/BAT is electric rotating machine power supply; Electric rotating machine drive plate, electric rotating machine driver and promote mainly the processor crystal oscillator of motor drive plate and bulky capacitor uses the silicon wafer through myriametre voltage-withstand test to shake and tantalum electric capacity replaces, can be applied under myriametre suppresses environment.CANH, CANL in J7 represent the two paths of signals of CAN communication, and+24/T promotes mainly motor power; + 24/T in J8 is connected with GND/BAT and promotes mainly Electric Machine Control relay; + 24V/ Throwing in J9 carries 1 and carries 2 with+24V/ Throwing and be connected Throwing live machine 1 and Throwing live machine 2 respectively.
As shown in Figure 3, propulsion system control panel comprises with the single chip computer AT 90CAN128 of CAN interface, serial communication circuit, CAN communication circuit, AD sample circuit and control relay circuit.Single-chip microcomputer receives the control command of main control computer by serial ports 0 and by the information feed back of propulsion system control panel collection to main control computer, single-chip microcomputer is sent to electric rotating machine drive plate by serial ports 1 the electric rotating machine control command extracted; By CAN single-chip microcomputer the control command that 2 that extract are promoted mainly motor is sent to and promotes mainly motor drive plate; By single-chip microcomputer IO port, the Control order extracted is sent to control relay circuit;
The propulsion mode of propulsion system is as shown in Fig. 4 (a) ~ 4 (e), electric rotating machine is arranged at underwater robot center, electric rotating machine can realize 180 ° of rotations, and its rotating shaft terminal respectively connects one and promotes mainly motor, and promoting mainly motor can forward or reverse.Fig. 4 (d) is electric rotating machine 0 ° of position, now promoting mainly motor rotation axis relative to sea level is vertical direction, and screw propeller down, and Fig. 4 (e) is electric rotating machine 180 ° of positions, now promote mainly motor rotation axis and be still vertical direction relative to sea level, but screw propeller upward.When electric rotating machine is positioned at 0 ° of position, promotes mainly motor rotating forward for two and can realize the motion of underwater robot floating, as Fig. 4 (d); When electric rotating machine is positioned at 180 ° of positions, promotes mainly motor rotating forward for two and can realize underwater robot dive campaign, as Fig. 4 (e); When electric rotating machine rotates to 90 °, promote mainly motor rotating forward for two and can realize forward travel, as Fig. 4 (a); Moving backward to realize, can make to promote mainly one, motor and rotating forward a reversion, as Fig. 4 (b), allowing underwater robot rotate 180 ° around vertical direction, make two to promote mainly motor afterwards and rotate forward, can realize moving backward, as Fig. 4 (c).Promoting mainly motor can forward or reverse, as in floating motion schematic diagram in Fig. 4 (d), if promote mainly motor reversal also can realize underwater robot dive campaign, but efficiency comparison is low like this, this mode is applicable to navigates by water in short-term, navigate by water towards certain direction for a long time to underwater robot, the mode promoted mainly motor and rotate forward be used.
As shown in Fig. 5 (a) ~ 5 (b), native system uses voltage sensor to detect power-supply system total voltage value, native system uses LEM HXS20 current sensor to detect power-supply system total current value, as Fig. 5 (a), input end connects general supply loop, output terminal solves the size of current in this loop by output valve and reference value, and in the design, total voltage computing method are U=9.6 × ADC1, and wherein ADC1 refers to the magnitude of voltage that Chip Microcomputer A/D passage 1 gathers; Native system uses LV-25P voltage sensor to detect power-supply system total voltage value, as Fig. 5 (b), wherein power transfer module TSM 0512D provides ± 12V reference voltage for voltage sensor, supply voltage is obtained again by coil-induced proportionate relationship, in the design the computing method of total current be I=16 × | ADC2-ADC3|, wherein ADC2 and ADC3 refers to the magnitude of voltage that Chip Microcomputer A/D passage 2 and passage 3 gather respectively;
The control pinout of single-chip microcomputer is shown in Fig. 6 (a), wherein the external crystal oscillator of single-chip microcomputer adopts the epoxy packages crystal oscillator through myriametre voltage-withstand test, Fig. 6 (b) is JTAG emulator socket, can be connected by emulator with computer, carries out the program burn writing of single-chip microcomputer.
Single-chip microcomputer is communicated with main control computer by serial ports 0, uses MAX202E to carry out level conversion, as shown in Fig. 7 (a); Single-chip microcomputer is communicated with electric rotating machine drive plate by serial ports 1, electric rotating machine uses 24V to power, in order to ensure single-chip microcomputer safety, need to carry out signal isolation, the design adopts ADM3251E to isolate, ADM3251E is integrated with two-channel digital isolator and the integrated insulating power supply of isoPower, and ensure that the safety of single-chip microcomputer, this partial circuit is as Fig. 7 (b).
Single-chip microcomputer and 2 promote mainly between motor and adopt CAN communication, the utility model uses the AT90CAN128 single-chip microcomputer of the integrated CAN controller of Atmel company, CAN communication program can be write easily by register manipulation, as shown in Fig. 8 (b), adopt digital isolator ADuM1201 and high-speed CAN bus transceiver TJA1050, digital isolator two ends adopt mutually isolated power supply, but ensure that the signal that single-chip microcomputer exports is identical with the signal content received on CAN transceiver mutually isolated, add the anti-interference of system, the CAN signal exported through CAN transceiver is directly connected with the CAN promoting mainly motor.Digital isolator ADuM1201 output terminal needs insulating power supply, and adopt TSM 0505S module to realize, as shown in Fig. 8 (a), wherein electric capacity C3 uses the tantalum electric capacity through myriametre voltage-withstand test.
As shown in Fig. 9 (a) ~ 9 (c), propulsion control system of the present utility model adopts relay group to electric rotating machine, promotes mainly motor, Throwing live machine and voltage sensor power supply and control, single-chip microcomputer output terminal connects ULN2803, increase load current, to drive relay, relay output end one termination 24V power supply, the other end connects Throwing live machine 1, Throwing live machine 2, electric rotating machine respectively and promotes mainly the power input of motor, as shown in Fig. 9 (a); In order to prevent relay from switching back and forth in powered on moment state, Single-chip Controlling port connects pull down resistor, and as shown in Fig. 9 (b), ensure powering on the moment, before program does not write, relay is all in off-state; Simultaneously due to voltage sensor self power consumption, in order to save electric energy, Cai only power to voltage sensor when control system plate single-chip microcomputer powers on, the utility model uses this problem of relay process, and circuit is as shown in Fig. 9 (c).
The overall control program of single-chip microcomputer mainly comprises the following steps:
1) single-chip microcomputer on propulsion control system plate interrupts obtaining data and extracting the electric rotating machine anglec of rotation, promote mainly motor speed and the controlled quentity controlled variable such as direction, relay switch state from serial ports 0;
2) the microprocessor detect I/O drive plate state on propulsion control system plate, obtains the power-up state information of external equipment and sensor;
3) the single-chip microcomputer timer 0 on propulsion control system plate produces an interruption, and by setting cycle process information, main contents have:
1. feedback information is sent by serial ports 0 to main control computer, the I/O drive plate state comprising power supply total voltage, power supply total current, rotating potentiometer voltage and get.
2. anglec of rotation control command is sent by serial ports 1 to electric rotating machine;
3. promote mainly motor by CAN to a left side and send control command;
4. promote mainly motor by CAN to the right side and send control command;
5. control command is sent by single-chip processor i/o port to relay;
6. carry out ADC initialization command, start next round sampling.
4) single-chip microcomputer on propulsion control system plate promotes mainly motor status information by CAN interrupting receive, and information comprises motor actual speed, driver malfunction, Hall element fault and CAN communication fault;
5) single-chip microcomputer on propulsion control system plate, by AD Sampling interrupt, once gathers 4 tunnel analog quantitys, comprises voltage sensor voltage, current sensor differential voltage and rotating potentiometer voltage.
Figure 10 is 4 passage AD sampling process flow diagrams, is described as follows:
First to the ADC initialization of register in single-chip microcomputer volume, comprise respectively reference source, ADC passage are set, interrupt enable, start conversion etc., and variable mux is set indicates ADC passage, the char type array ad_buff that a length is 8 is set, is used for preservation 4 passage ADC sampled values;
Below the operation that ADC EOC interrupts:
1. enter interruption after an ADC EOC, preserve ADC sampled value, ad_buff [mux*2+1] deposits ADCL, and ad_buff [mux*2] deposits ADCH;
2. mux adds 1, namely enters next ADC passage, judges whether mux is greater than 3, and terminate if be greater than three explanations, four ADC samplings, then resetting ADC passage is 0, waits for ADC initialization, to start the next change-over period; If mux is not more than 3, then ADC passage adds 1, and namely channel control register ADMUC|=mux arranges next passage, opens conversion, and waits for that EOC interrupts, enter 1. after interruption.
In the present system, exchanges data between main control computer and propulsion system has: main control computer sends the on off state promoting mainly motor, electric rotating machine and Throwing live machine to propulsion system, send electric rotating machine angle and direction, send and promote mainly motor speed and direction; Propulsion system is to information such as main control computer report main propulsion motor state, electric rotating machine angle, power supply status and I/O drive plate states.
Principle of work of the present utility model is: carry out the data transmission between system by serial ports, extract data as controlled quentity controlled variable, control electric rotating machine by serial ports and CAN and promote mainly motor again, by single-chip processor i/o mouth pilot relay, and then the power switch realizing promoting mainly motor, electric rotating machine and Throwing live machine controls; The simultaneously state of monitoring system, makes underwater propulsion system can normally to work running.
Claims (4)
1. the autonomous remote underwater robot propulsion control system of myriametre, is characterized in that: comprise propulsion system control panel and connected puopulsion equipment and Throwing and carry equipment;
Described puopulsion equipment comprises two and promotes mainly motor drive plate and connectedly promote mainly motor, electric rotating machine drive plate and connected electric rotating machine;
Throwing carries equipment and comprises two Throwing live machines;
Described propulsion system control panel is connected with electric rotating machine drive plate, the rotating potentiometer be arranged on electric rotating machine, also promotes mainly motor drive plate with two, two Throwing live machines are connected, and be connected with main control computer by serial ports.
2. the autonomous remote underwater robot propulsion control system of a kind of myriametre according to claim 1, is characterized in that described propulsion system control panel comprises single-chip microcomputer and connected serial communication circuit, CAN communication circuit, AD sample circuit and control relay circuit;
Described serial communication circuit is connected with electric rotating machine drive plate, main control computer;
Described CAN communication circuit is promoted mainly motor drive plate be connected with two;
Described AD sample circuit is connected with rotating potentiometer, current sensor and voltage sensor;
Described control relay circuit and voltage sensor, electric rotating machine, two promote mainly motor and two and throw live machine and be connected.
3. the autonomous remote underwater robot propulsion control system of a kind of myriametre according to claim 1 and 2, is characterized in that described electric rotating machine is arranged at the center of underwater robot, and its rotating shaft terminal respectively connects one and promotes mainly motor.
4. the autonomous remote underwater robot propulsion control system of a kind of myriametre according to claim 1, it is characterized in that described propulsion system control panel, electric rotating machine drive plate and promote mainly motor drive plate being soaked in oil, crystal oscillator on each plate uses the crystal oscillator of epoxy packages, and electrochemical capacitor adopts tantalum electric capacity to replace.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520296564.4U CN204631509U (en) | 2015-05-07 | 2015-05-07 | The autonomous remote underwater robot propulsion control system of a kind of myriametre |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201520296564.4U CN204631509U (en) | 2015-05-07 | 2015-05-07 | The autonomous remote underwater robot propulsion control system of a kind of myriametre |
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| CN201520296564.4U Expired - Fee Related CN204631509U (en) | 2015-05-07 | 2015-05-07 | The autonomous remote underwater robot propulsion control system of a kind of myriametre |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106200446A (en) * | 2015-05-07 | 2016-12-07 | 中国科学院沈阳自动化研究所 | A kind of myriametre autonomous remote underwater robot propulsion control system and control method thereof |
| CN109240164A (en) * | 2018-09-27 | 2019-01-18 | 希格斯动力科技（珠海）有限公司 | CAN bus isolation circuit, power panel and robot |
-
2015
- 2015-05-07 CN CN201520296564.4U patent/CN204631509U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106200446A (en) * | 2015-05-07 | 2016-12-07 | 中国科学院沈阳自动化研究所 | A kind of myriametre autonomous remote underwater robot propulsion control system and control method thereof |
| CN109240164A (en) * | 2018-09-27 | 2019-01-18 | 希格斯动力科技（珠海）有限公司 | CAN bus isolation circuit, power panel and robot |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150909 |