Distributed underwater robot control system
An underwater robot and control method technology, applied in the direction of computer control, program control, general control system, etc., can solve the needs of the development of the underwater robot control system, it is difficult to add equipment or sensors, and the system has poor scalability, etc. problems, to achieve the effect of reducing the probability of water leakage and line failure, good software versatility, and high reliability
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[0035] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.
[0036] The present invention adopts RS-485 network as the core of distributed control, and the hardware is composed of RS-485 network nodes composed of computer host nodes and multiple single-chip microcomputers, wherein the computer host nodes include computer hosts and RS-232 / RS-485 converters, RS-485 network nodes mainly include system status detection nodes, equipment power control nodes, power management nodes, motor control nodes, emergency processing nodes, data acquisition nodes, serial device nodes; computer host nodes and all RS-485 network nodes are connected through The RS-485 interface is connected together to form an RS-485 network; the software is composed of a computer host program and a single-chip computer program for each RS-485 network node, and the program includes the RS-485 network driver program, each RS-485 network node...
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