A modular rov control system

Abstract

The invention relates to the technical field of underwater robots, in particular to a modularized ROV control system for deep sea operations. A modular ROV control system, including a remote communication system, a motion planning processor, an attitude detection system, a robotic arm motion control system, a thruster control system, a video acquisition system, an underwater lighting control system, a hydraulic control system, an underwater The monitoring system and the remote communication system are used to receive commands sent by the surface controller, and at the same time collect data from various sub-systems underwater for uploading. The motion planning processor makes comprehensive judgments based on the current status of the system and the commands sent by the surface controller. , Reasonably plan the motion control of ROV. The invention solves the problem of low system autonomy and has strong error correction and independent judgment capabilities. When problems occur in each sub-component of the system, other systems can cooperate with each other to ensure safe work or recovery of the system. It has high intelligence and fault tolerance. ability.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a modularized ROV control system for deep sea operations. Background technique [0002] With the decrease of non-renewable resources on land, the development and utilization of marine resources has become more and more obvious in promoting human development and social progress. The development of marine resources such as oil and natural gas extends from the offshore to the deep sea. Because of its safety, efficiency, large operating depth, and ability to work underwater for a long time, underwater robots are increasingly becoming an important tool for the development of marine resources, especially for deep-sea exploration and deep-sea research. Operational ROV has become a research hotspot all over the world. Deep-sea operating ROV has developed rapidly because of its advantages such as good economy, high flexibility in launching and discharging, good environmental ad...

AI Technical Summary

Problems solved by technology

The control function of this method is relatively centralized and easy to implement, but it has relatively high requirements for the upper-layer processor. When the task increases, the efficiency and reliability of the controller will drop sharply. reduced reliability and stability

The use of centralized control will also make the scalability of the system worse, because the hardware board resources are limited, and once the number of cores of the watertight cable is determined, it cannot be changed at will, which makes the system unable to change the configuration of equipment and sensors at will. number, making the entire system almost non-upgradable

With the increasing difficulty of submarine operations and the increasingly complex missions, underwater robots will need to carry more and more sensors and various devices. The traditional centralized control method will not be able to meet the requirements of the control system.

[0006] Second, because underwater robots have not yet fully entered the industrialization, scientific research institutions traditionally tend to ignore the practical difficulties of front-line developers, and only aim at the realization of functions without considering the working methods and labor costs of development. As far as the software control system is concerned, the traditional software development model is not only difficult to meet the requirements in terms of development efficiency, but also the developed software system is not portable, it is difficult to maintain and upgrade the system, and it is even more difficult to perform flexibly with changes in work tasks. Composition and configuration

[0007] Third, the patent "A Distributed Underwater Robot Control System (CN1622062)", although it also uses a distributed control method, each of its sub-systems cannot arbitrarily access data in other distributed systems in the system, that is, inter-system Data cannot be shared and transmitted in real time and reliably, so the branch systems cannot work together efficiently and quickly

Since RS-485 only has a physical layer without hardware communication protocol, its communication protocol completely depends on the support of software, which increases the burden of system communication software; If it works in a multi-master mode, the reliability of its communication is inversely proportional to the load of the communication network

Especially when the system nodes work in multiple communication modes, the communication error rate and retransmission rate will double with the increase of network load, which may eventually lead to the paralysis of the entire communication network

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