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Extensible autonomous control system for large underwater robot and control method thereof

An underwater robot, autonomous control technology, applied in the direction of height or depth control, can solve the problems of complex wiring, difficult to repair and maintain, and different lengths of lines, to reduce system loss, easy replacement, and reduce cable costs. Effect

Pending Publication Date: 2022-07-19
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

[0003] As the field of underwater robots gradually moves towards the deep sea, underwater robots are endowed with more and more complex functions, which puts forward more requirements for the design of underwater robots. Complex, difficult to repair and maintain, how to design a scalable, functionally complex, and easy-to-modular control system architecture has become the core of more technical personnel in the underwater field.

Method used

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  • Extensible autonomous control system for large underwater robot and control method thereof
  • Extensible autonomous control system for large underwater robot and control method thereof
  • Extensible autonomous control system for large underwater robot and control method thereof

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Embodiment 1

[0048] like figure 2 Shown is the structure diagram of the electronic and electrical control system of the specific embodiment 1 of the present invention.

[0049] The electronic and electrical control system architecture of the system is divided into the main control computing decision-making layer, the comprehensive control processing layer and the standardized actuator and sensor layer according to the control mission and tasks;

[0050] Among them, the main control computing decision-making layer is developed based on the main control computer control software, which is the top-level control core of the entire system control software, and is mainly used to realize the comprehensive information processing, mission planning and control function decision-making of the entire system;

[0051] Comprehensive control processing layer: It is composed of several sub-system functional area controllers, shore-based communication units and Ethernet bus. In this embodiment 1, the functi...

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Abstract

The invention belongs to the field of autonomous control of underwater robots, and particularly relates to an extensible autonomous control system of a large underwater robot and a control method of the extensible autonomous control system. A plurality of cabins are arranged in the underwater robot, and a controller and equipment connected with the controller through a communication bus are arranged in each cabin; the Ethernet is adopted for connection, each functional area is provided with an independent functional controller, and the design facilitates modular design of the system, reduces the cable cost of the system, and promotes pedigree design of an electronic and electrical architecture of the underwater robot at the same time.

Description

technical field [0001] The invention relates to the technical field of underwater robots, aiming at the deep-sea complex environment and the field of underwater robot control systems with highly complex systems, in particular to an electronic and electrical control architecture of a large-scale underwater robot's scalable autonomous control system. Background technique [0002] In recent years, autonomous underwater vehicles (AUVs) have gradually attracted the attention of countries all over the world, and have been widely used in marine economic development, ecological research, geological exploration, hydrological monitoring, oil and gas pipeline detection and other fields, and gradually become an underwater vehicle. An important tool for work. [0003] As the field of underwater robots gradually moves to the deep sea, underwater robots are given more and more complex functions, which puts forward more requirements for the design of underwater robots. Complex, difficult t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692Y02P90/02
Inventor 王子庆郑荣谷海涛高雷李宁
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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