CN2660592Y - Distributed underwater robot control device - Google Patents
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Abstract
A distributed underwater robot control device adopts an RS-485 network as a core of distributed control and consists of a computer host node and RS-485 network nodes, wherein the computer host node distributes tasks to each network node for execution and comprises the computer host and an RS-232/RS-485 converter, the RS-485 network nodes take a single chip microcomputer as the core and mainly comprise a system state detection node, an equipment power supply control node, a power supply management node, a motor control node, an emergency processing node, a data acquisition node and a serial port equipment node, and each network node is mainly responsible for data acquisition and processing of a sensor, control of a carried device, motor drive control, fault detection, water leakage detection and emergency processing tasks; the computer host nodes and all the RS-485 network nodes are connected together through RS-485 interfaces to form an RS-485 network. The utility model has the advantages of modularization, scalability are strong, the configuration is nimble, the reliability is high.
Description
Technical field
The utility model relates to the underwater robot control technology, robot controller under specifically a kind of distributed water, and 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 motor, 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.
The utility model content
In order to overcome above-mentioned deficiency, the purpose of this utility model provide a kind ofly have that extensibility is strong, configuration flexibly, robot controller under good, the high efficiency of software generic, safe, distributed water that reliability is high.
To achieve these goals, the technical solution of the utility model is: adopt the core of RS-485 network as distributed control, hardware is made up of main frame node and RS-485 network node, wherein the main frame node comprises main frame and RS-232/RS-485 converter, the RS-485 network node is core with the single-chip microcomputer, mainly comprises system state 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 RS-485 network nodes all link together by the RS-485 interface, constitute the RS-485 network;
Wherein: the serial ports of main frame is connected on the RS-485 network by the RS-232/RS-485 converter, by the single chip communication of RS-485 network and each RS-485 network node, the microcontroller serial port of each RS-485 network node is connected on the RS-485 network by the RS-485 chip for driving; Described RS-485 network driver is responsible for driving the RS-232/RS-485 converter, adopts the message communicating mode to realize the exchanges data of RS-485 network node driver and each single-chip microcomputer node procedure.
Compared with prior art, the utility model has more following advantage:
1. system works efficient height.The utility model is a kind of based on robot control system under the distributed water of RS-485 bus, it is distributed to each sensor and device node execution with the centralized control task main frame of bus form, 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 utility model 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 utility model adopts that the line of each node has only power lead and data line 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.The utility model program adopts modular 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 utility model 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 128.
Description of drawings
Fig. 1 is a hardware composition frame chart of the present utility model.
Fig. 2-the 1st, system state detection node hardware structure diagram of the present utility model.
Fig. 2-the 2nd, system state detection node hardware elementary diagram of the present utility model.
Fig. 3-the 1st, device power supply (DPS) Control Node hardware structure diagram of the present utility model.
Fig. 3-the 2nd, device power supply (DPS) Control Node hardware elementary diagram of the present utility model.
Fig. 4-the 1st, power management node hardware structure diagram of the present utility model.
Fig. 4-the 2nd, power management node hardware elementary diagram of the present utility model.
Fig. 5-the 1st, Electric Machine Control node hardware structure diagram of the present utility model.
Fig. 5-the 2nd, Electric Machine Control node hardware elementary diagram of the present utility model.
Fig. 6-the 1st, emergency processing node hardware structure diagram of the present utility model.
Fig. 6-the 2nd, emergency processing node hardware elementary diagram of the present utility model.
Fig. 7-the 1st, data acquisition node hardware structure diagram of the present utility model.
Fig. 7-the 2nd, data acquisition node hardware elementary diagram of the present utility model.
Fig. 8-the 1st, serial equipment node hardware structure diagram of the present utility model.
Fig. 8-the 2nd, serial equipment node hardware elementary diagram of the present utility model.
Fig. 9 is a software composition frame chart of the present utility model.
Figure 10 is a main frame RS-485 network driver software flow pattern of the present utility model.
Figure 11 is each RS-485 network node driver software process flow diagram of main frame of the present utility model.
Figure 12 is each single-chip microcomputer node software process flow diagram of the present utility model.
Embodiment
Below in conjunction with drawings and Examples the utility model is described in further detail.
The utility model adopts the core of RS-485 network as distributed control, the RS-485 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 RS-232/RS-485 converter, and the RS-485 network node mainly comprises system state 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 RS-485 network nodes all link together by the RS-485 interface, constitute the RS-485 network; Software is made up of the Single Chip Microcomputer (SCM) program of main frame program and each RS-485 network node, its program comprises RS-485 network driver, each RS-485 network node driver, RS-485 user interface built-in function composition, and the upper strata Control Software that RS-485 user interface storehouse adopts the form of file destination to offer user's establishment is called.
Computer operating system is QNX, and program adopts the establishment of WATCOM C language, and Single Chip Microcomputer (SCM) program adopts the establishment of C language, is stored in the electricity erasable memorizer of single-chip microcomputer.
As shown in Figure 1, the serial ports of main frame is connected on the RS-485 network by the RS-232/RS-485 converter, communicate by letter with each RS-485 network node, main frame be responsible for underwater robot motion control, mission download, data recording, with the tasks such as information interaction of each single-chip microcomputer node, the RS-232/RS485 converter is realized the hardware level conversion between main frame serial ports RS-232 and the RS-485, realizes (the conversion of 9600bps～115200bps) and RS-485 network baud rate (250kbps) of main frame serial ports baud rate; The microcontroller serial port of each RS-485 network node is connected on the RS-485 network by RS-485 chip for driving (as: MAX487), and each RS-485 network node is equipped with different peripheral hardwares according to its difference that realizes function, drives as A/D, D/A, I/O etc.
Shown in Fig. 2-1, the system state detection node is core with the single-chip microcomputer, be responsible for operating voltage, pressure chamber pressure, the state that leaks, the underwater robot of detection computations machine system and go into water state etc., and be connected to the RS-485 chip for driving by serial ports, realize RS-485 interface and RS-485 network exchange data.Shown in Fig. 2-2, the 1st single-chip microcomputer DA1-2 adopts the AT90S8535 chip, the operating voltage of three passage detection computations of the A/D0～A/D2 machine system by terminal J1-3, signals such as five passage detected pressures of the A/D3～A/D7 cabin pressure by terminal J1-3, temperature, DI1～DI4 by terminal J1-4 detects four road signals that leak, DI5 by terminal J1-4 detects underwater robot entry signal, the serial ports of the 1st single-chip microcomputer DA1-2 is connected to 1RS-485 chip for driving DA1-1, and 1RS-485 chip for driving DA1-1 is connected with the RS-485 network by terminal J1-2.Terminal J1-1 is used for the online download (as follows) of Single Chip Microcomputer (SCM) program in addition.
Shown in Fig. 3-1, the device power supply (DPS) Control Node is core with the single-chip microcomputer, by the order of RS-485 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 DA2-2 adopts the AT90S8535 chip, the 2nd single-chip microcomputer DA2-2 is by the break-make of the 1st～4 relay K 2-1～K2-4 control terminal J2-3 power supply, and the on off state by resistance detection feedback power supply, the serial ports of the 2nd single-chip microcomputer DA2-2 is connected with 2RS-485 chip for driving DA2-1, and 2RS-485 chip for driving DA2-1 is connected to the RS-485 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 RS-485 interface.Shown in Fig. 4-2, the 3rd single-chip microcomputer DA3-2 adopts the AT90S8535 chip, the 3rd single-chip microcomputer DA3-2 is by DA3-3 (adopting the AD590 chip) detected temperatures signal, A/D1, A/D2 by terminal J3-3 detect 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 serial ports of the 3rd single-chip microcomputer DA3-2 is connected to 3RS-485 chip for driving DA3-1, and 3RS-485 chip for driving DA3-1 is connected to the RS-485 network by terminal J3-2.
Shown in Fig. 5-1, the Electric Machine Control node is core with the single-chip microcomputer, order by RS-485 interface receiving computer main frame, according to the electric power starting of each motor of command driven or close, control D/A drive motor 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 RS-485 interface.Shown in Fig. 5-2, the 4th single-chip microcomputer DA4-2 adopts the AT90S8535 chip, the 4th single-chip microcomputer DA4-2 is by temperature sensor DA4-3 detected temperatures signal, A/D1～A/D4 by terminal J4-4 detects four road motor current signals, by the 1st～2 D/A DA4-4, DA4-5 (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 serial ports of the 4th single-chip microcomputer DA4-2 is connected to 4RS-485 chip for driving DA4-1, and 4RS-485 chip for driving DA4-1 is connected to the RS-485 network by terminal J4-2.
Shown in Fig. 6-1, the emergency processing node is core with the single-chip microcomputer, serial ports of single-chip microcomputer is connected with the RS-485 chip for driving, form the RS-485 interface, another serial ports is connected with wireless station, is used to control wireless station and sends, and it can independently be worked when the main frame fault, and after robot emerged under water, control wireless station sent.Shown in Fig. 6-2, the 5th single-chip microcomputer DA5-2 adopts the AT90S8535 chip, the 5th single-chip microcomputer DA5-2 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 wireless station, the serial ports of the 5th single-chip microcomputer DA5-2 is connected to 5RS-485 chip for driving DA5-1, and 5RS-485 chip for driving DA5-1 is connected to the RS-485 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 altitude gauge, and image data sent to main frame by the RS-485 network.Shown in Fig. 7-2, the 6th single-chip microcomputer DA6-2 adopts the AT90S2313 chip, the 6th single-chip microcomputer DA6-2 gathers the voltage signal that terminal J6-3 introduces by the 1st A/D converter DA6-4 (adopting the AD7714 chip), the serial ports of the 6th single-chip microcomputer DA6-2 is connected to 6RS-485 chip for driving DA6-1, and 6RS-485 chip for driving DA6-1 is connected to the RS-485 network by terminal J6-2.
Shown in Fig. 8-1, serial ports of serial equipment node is connected with the RS-485 chip for driving, form the RS-485 interface, another serial ports is connected with the RS-232 chip for driving, form RS-232 interface, this node major function is that it realizes the conversion of RS-232 and RS-485 level and agreement with the equipment access RS-485 network of RS-232, and this node can connect serial equipments such as GPS, altitude gauge, electronic compass.Shown in Fig. 8-2, the 7th single-chip microcomputer DA7-2 adopts the AT90S2313 chip, the PD2 of the 7th single-chip microcomputer DA7-2, PD3 pin are connected to 7RS-232 chip for driving DA7-3,7RS-232 chip for driving DA7-3 is connected to the RS-232 serial equipment by terminal J7-3, the serial ports of the 7th single-chip microcomputer DA7-2 is connected to 7RS-485 chip for driving DA7-1, and 7RS-485 chip for driving DA7-1 is connected to the RS-485 network by J7-2.
As shown in Figure 9, software is made up of main frame program and each Single Chip Microcomputer (SCM) program, the computing machine master routine comprises RS-485 network driver, each RS-485 network node driver, RS-485 user interface built-in function, the RS-485 network driver is responsible for driving the RS-232/RS-485 converter, adopts information communication method to realize the exchanges data of RS-485 network node driver and each single-chip microcomputer node procedure; RS-485 network node program comprises drivers such as system state 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; RS-485 user interface built-in function offers the upper strata Control Software of user establishment and calls, and realizes visit to each RS-485 network node driver data by information communication method and shared drive method; RS-485 network driver and each RS-485 network node driver can independent operatings, after main frame powers on, the automatic load and execution RS-485 network driver of system and each RS-485 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 RS-485 network node driver of programmed control; RS-485 user interface built-in function adopts the form of file destination to provide, the upper strata Control Software is by compiling the visit of realization to the RS-485 network equipment with RS-485 user interface built-in function, can return a code when calling RS-485 user interface built-in function, it has represented fault status information; Single Chip Microcomputer (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 127 is in order to distinguish different nodes.
As shown in figure 10, the RS-485 network driver is responsible for driving the RS-232/RS-485 converter, adopts information communication method to realize the exchanges data of RS-485 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 serial ports interrupts, 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 message exchange with a certain driver, then calculation check and and send serial data to the RS-485 network, the transmission program that finishes is in the circular wait message status, if receive serial data then produce the serial ports interrupt message, if Data Receiving success 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 message 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.
RS-485 network node program idiographic flow comprises drivers such as system state 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 RS-485 driver, then carry out exchanges data with the RS-485 driver; If receive the message that the user interface storehouse sends, then judge task type according to the content of message.Task has two types: reading of data order and the order of control output data, if reading of data order, program just is treated to quantities to corresponding data, if control output data order, just the data that receive from the user interface storehouse are handled and are stored in the internal memory, send to the RS-485 network node during by the time with RS-485 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.
Single Chip Microcomputer (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.The difference of finishing the work according to each node, the order difference of carrying out in the program, but the Single Chip Microcomputer (SCM) program structure of each RS-485 network node node is the same substantially, as shown in figure 12, idiographic flow is: carry out initialization during program run earlier, wait for that then serial ports interrupts, in serial ports interrupts, program receives the data of RS-485 network and carries out according to the order that receives, and to RS-485 network transmission data, in timer interrupted, program was carried out tasks such as data acquisition, control output, calculating, data storage simultaneously 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.RS-232/RS-485 converter and Chip Microcomputer A/D, D/A, 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 utility model 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 splice leak.
Claims (3)
1. robot controller under the distributed water, it is characterized in that: adopt the core of RS-485 network as distributed control, hardware is made up of main frame node and RS-485 network node, wherein the main frame node is distributed to each network node execution with task, it comprises main frame and RS-232/RS-485 converter, the RS-485 network node is core with the single-chip microcomputer, mainly comprise the system state detection node, the device power supply (DPS) Control Node, the power management node, the Electric Machine Control node, the emergency processing node, data acquisition node, serial equipment node, each network node mainly are 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 RS-485 network nodes all link together by the RS-485 interface, constitute the RS-485 network; Software is made up of main frame program and each Single Chip Microcomputer (SCM) program.
2. according to robot controller under the described distributed water of claim 1, it is characterized in that: the serial ports of main frame is connected on the RS-485 network by the RS-232/RS-485 converter, by the single chip communication of RS-485 network and each RS-485 network node, the microcontroller serial port of each RS-485 network node is connected on the RS-485 network by the RS-485 chip for driving.
3. according to robot controller under the described distributed water of claim 1, it is characterized in that: described RS-485 network driver is responsible for driving the RS-232/RS-485 converter, adopts the message communicating mode to realize the exchanges data of RS-485 network node driver and each single-chip microcomputer node procedure.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101247184B (en) * | 2008-03-13 | 2010-09-08 | 哈尔滨工程大学 | Communication repeater system for underwater robot |
| CN101953172A (en) * | 2008-02-13 | 2011-01-19 | 塞格瑞德公司 | Distributed multi-robot 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 |
| CN104669268A (en) * | 2013-11-26 | 2015-06-03 | 中国科学院沈阳自动化研究所 | System and method for independent control of redundant underwater robot based on hot backup |
| CN111061184A (en) * | 2019-12-03 | 2020-04-24 | 沈阳理工大学 | Underwater micro robot jet driving system |
-
2003
- 2003-11-26 CN CNU2003201056001U patent/CN2660592Y/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101953172A (en) * | 2008-02-13 | 2011-01-19 | 塞格瑞德公司 | Distributed multi-robot system |
| CN101247184B (en) * | 2008-03-13 | 2010-09-08 | 哈尔滨工程大学 | Communication repeater system for underwater robot |
| 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 |
| CN104669268A (en) * | 2013-11-26 | 2015-06-03 | 中国科学院沈阳自动化研究所 | System and method for independent control of redundant underwater robot based on hot backup |
| CN104669268B (en) * | 2013-11-26 | 2016-08-03 | 中国科学院沈阳自动化研究所 | A kind of redundancy underwater robot self-control system based on Hot Spare and method |
| CN111061184A (en) * | 2019-12-03 | 2020-04-24 | 沈阳理工大学 | Underwater micro robot jet driving system |
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