CN211880165U - Integrated controller for small-sized cabled underwater robot - Google Patents
Integrated controller for small-sized cabled underwater robot Download PDFInfo
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- CN211880165U CN211880165U CN202020871827.0U CN202020871827U CN211880165U CN 211880165 U CN211880165 U CN 211880165U CN 202020871827 U CN202020871827 U CN 202020871827U CN 211880165 U CN211880165 U CN 211880165U
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- control cpu
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- underwater robot
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Abstract
The utility model relates to a comprehensive controller for a small-sized cabled underwater robot, which is mainly used for controlling a CPU; the system power supply module is connected with the main control CPU and comprises a plurality of power supply interfaces and a power supply detection module; the temperature sensor is connected with the main control CPU and used for acquiring the ambient temperature; the attitude sensor is connected with the main control CPU and used for acquiring attitude information; a network conversion module; a network switch module; PWM output control ware, CAN controller, the interface is abundant, and the function is comprehensive, CAN select for use and adjust the interface function to the task characteristics of the small-size cable underwater robot of difference, saves the time of a large amount of hardware design development, through standardized, modular software design, more CAN improve the development speed of software, practices thrift a large amount of valuable development time, improves the development speed of small-size cable underwater robot greatly.
Description
Technical Field
The utility model particularly relates to a comprehensive control ware that is used for small-size cabled underwater robot.
Background
With the development of oceans, various underwater robots are developed, and the required equipment interfaces of various underwater robots are different according to different tasks. The utility model discloses a small-size there is cable underwater robot comprehensive control ware, the interface is abundant, and the function is comprehensive, can satisfy multiple small-size there is cable underwater robot task collocation needs, has improved controlgear's commonality greatly.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a not enough to prior art exists, the utility model aims to provide a comprehensive control ware for small-size cabled underwater robot.
In order to achieve the above purpose, the utility model provides a following technical scheme:
an integrated controller for a small cabled underwater robot, comprising:
a main control CPU;
the system power supply module is connected with the main control CPU and comprises a plurality of power supply interfaces and a power supply detection module;
the temperature sensor is connected with the main control CPU and used for acquiring the ambient temperature;
the attitude sensor is connected with the main control CPU and used for acquiring attitude information;
the network conversion module is connected with the main control CPU and used for network conversion communication and comprises a plurality of communication interfaces;
the network switch module is connected with the network conversion module and is provided with a plurality of Ethernet communication interfaces for network connection of underwater equipment;
the PWM output controller is connected with the main control CPU, is used for outputting pulse signals of the main control CPU and is provided with a plurality of paths of PWM signal interfaces connected with external equipment;
and the CAN controller is connected with the main control CPU and used for receiving and transmitting CAN signals of the main control CPU.
The power interface comprises a 1-path 3.3v power interface, a 1-path 5v power interface and a 2-path 12v power interface.
The communication interface comprises a 1-path UART communication interface and a 1-path UART/RS485 selective communication interface.
The underwater equipment comprises an underwater camera and an underwater sonar.
And the network switch module is connected with the electric power communication module.
The main control CPU is provided with a plurality of GPIO interfaces or standby functional interfaces.
The main control CPU is provided with a memory interface.
The main control CPU is provided with a plurality of paths of digital output interfaces.
The main control CPU is provided with a plurality of analog input interfaces.
The main control CPU is electrically connected with the standby battery.
The utility model has the advantages that: the interface is abundant, and the function is comprehensive, can choose for use and adjust the interface function to the task characteristics of the small-size cable underwater robot of difference, saves the time of a large amount of hardware design development, through standardized, modular software design, more can improve the development speed of software, practices thrift a large amount of valuable development times, improves the development speed of small-size cable underwater robot greatly.
Drawings
Fig. 1 is a logic block diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
As shown, an integrated controller for a small cabled underwater robot, comprising:
a main control CPU;
the system power supply module is connected with the main control CPU and comprises a plurality of power supply interfaces and a power supply detection module; the system power supply module is connected with the main control CPU, can measure input voltage through the main control CPU, and is used for supplying power to the control system, and additionally provides 1 path of 3.3v power supply interface, 1 path of 5v power supply interface and 2 paths of 12v power supply interface;
the temperature sensor is connected with the main control CPU and used for acquiring the ambient temperature;
the attitude sensor is connected with the main control CPU and used for acquiring attitude information;
the network conversion module is connected with the main control CPU and used for network conversion communication and comprises a plurality of communication interfaces; besides ensuring that the network conversion communication is provided for the main control CPU, a 1-path UART communication interface and a 1-path UART/RS485 gating interface are additionally provided for data communication. The method can be used for data communication between UART or RS485 equipment and an upper computer system.
The network switch module is connected with the network conversion module and is provided with a plurality of Ethernet communication interfaces for network connection of underwater equipment; the network switch module links to each other with network conversion module, electric power communication module respectively and is used for providing the network and links to each other outside, and the network switch module provides 2 way ethernet communication interface in addition, can be used to include and not be limited to the network connection of equipment such as camera under water, sonar under water.
The power communication module is connected with the network switch module and used for converting signals of power carrier waves into Ethernet communication so as to realize networking communication with other power carrier communication equipment.
The PWM output controller is connected with the main control CPU, is used for outputting pulse signals of the main control CPU and is provided with a plurality of paths of PWM signal interfaces connected with external equipment; the PWM output controller is used for providing a PWM signal output from the main control CPU, and a 16-path PWM signal interface is provided in total. The device can be used for equipment based on PWM control signals, and comprises devices such as a propeller, a steering engine, a manipulator, a holder and an illuminating lamp.
And the CAN controller is connected with the main control CPU and used for receiving and transmitting CAN signals of the main control CPU. The CAN communication interface is used for providing CAN communication signal receiving and transmitting from the main control CPU and provides a 1-path CAN communication interface. The method is not limited to the control of a propeller, a manipulator, a steering engine and the like.
The main control CPU is provided with a plurality of GPIO interfaces or standby functional interfaces. The system is directly provided with a 1-path UART communication interface and a 1-path UART/RS485 gating interface for additional communication use with a main control CPU, and the main control CPU is provided with a memory interface for storing data into a memory card.
The 4-channel DC12V digital output interface is used for external equipment power supply, indicator lights and other purposes, the 3-channel digital input interface is used for connecting input equipment such as a water leakage sensor and a switch button, the 2-channel 4-20 mA analog input interface is used for data acquisition of equipment such as a depth sensor, a water temperature sensor and a water quality sensor, and the 1-channel debugging interface is used for debugging a controller program.
The main control CPU is electrically connected with the standby battery. The backup battery is used for backup power supply to prevent accidental power failure.
Through each interface of configuration, the direct correspondence sets up the accessory of corresponding function, makes it realize corresponding function, and it adopts the modular design, has improved design efficiency.
The examples should not be construed as limiting the present invention, but any modifications made based on the spirit of the present invention should be within the scope of the present invention.
Claims (10)
1. A comprehensive controller for a small-sized cabled underwater robot is characterized in that: it includes:
a main control CPU;
the system power supply module is connected with the main control CPU and comprises a plurality of power supply interfaces and a power supply detection module;
the temperature sensor is connected with the main control CPU and used for acquiring the ambient temperature;
the attitude sensor is connected with the main control CPU and used for acquiring attitude information;
the network conversion module is connected with the main control CPU and used for network conversion communication and comprises a plurality of communication interfaces;
the network switch module is connected with the network conversion module and is provided with a plurality of Ethernet communication interfaces for network connection of underwater equipment;
the PWM output controller is connected with the main control CPU, is used for outputting pulse signals of the main control CPU and is provided with a plurality of paths of PWM signal interfaces connected with external equipment;
and the CAN controller is connected with the main control CPU and used for receiving and transmitting CAN signals of the main control CPU.
2. The integrated controller for a small cabled underwater robot according to claim 1, characterized in that: the power interface comprises a 1-path 3.3v power interface, a 1-path 5v power interface and a 2-path 12v power interface.
3. The integrated controller for a small cabled underwater robot according to claim 1, characterized in that: the communication interface comprises a 1-path UART communication interface and a 1-path UART/RS485 selective communication interface.
4. The integrated controller for a small cabled underwater robot according to claim 1, characterized in that: the underwater equipment comprises an underwater camera and an underwater sonar.
5. The integrated controller for a small cabled underwater robot according to claim 1, characterized in that: and the network switch module is connected with the electric power communication module.
6. The integrated controller for a small cabled underwater robot according to claim 1, characterized in that: the main control CPU is provided with a plurality of GPIO interfaces or standby functional interfaces.
7. The integrated controller for a small cabled underwater robot according to claim 1, characterized in that: the main control CPU is provided with a memory interface.
8. The integrated controller for a small cabled underwater robot according to claim 1, characterized in that: the main control CPU is provided with a plurality of paths of digital output interfaces.
9. The integrated controller for a small cabled underwater robot according to claim 1, characterized in that: the main control CPU is provided with a plurality of analog input interfaces.
10. The integrated controller for a small cabled underwater robot according to claim 1, characterized in that: the main control CPU is electrically connected with the standby battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020871827.0U CN211880165U (en) | 2020-05-22 | 2020-05-22 | Integrated controller for small-sized cabled underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020871827.0U CN211880165U (en) | 2020-05-22 | 2020-05-22 | Integrated controller for small-sized cabled underwater robot |
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| Publication Number | Publication Date |
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| CN211880165U true CN211880165U (en) | 2020-11-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020871827.0U Expired - Fee Related CN211880165U (en) | 2020-05-22 | 2020-05-22 | Integrated controller for small-sized cabled underwater robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114280992A (en) * | 2021-12-22 | 2022-04-05 | 深圳潜行创新科技有限公司 | Underwater robot control system supporting multiple peripheral mounting |
-
2020
- 2020-05-22 CN CN202020871827.0U patent/CN211880165U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114280992A (en) * | 2021-12-22 | 2022-04-05 | 深圳潜行创新科技有限公司 | Underwater robot control system supporting multiple peripheral mounting |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201106 |
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| CF01 | Termination of patent right due to non-payment of annual fee |