海底电缆巡检水下机器人的模块化控制系统

Modular control system of underwater vehicle for submarine cable inspection

为了提高海底电缆巡检水下机器人操控稳定性,进行控制系统的模块化设计,在嵌入式ARM下进行海底电缆巡检水下机器人控制系统优化设计,控制系统分为上位机模块、下位机模块、探测模块、传感信息采集模块、智能信息处理模块和通信传输模块等,将照明传感器和压力传感器置于机器人控制系统的下位机部分,进行图像和环境数据采集,对采集的海底电缆分布信息在智能信息处理模块中实现加工和判断,采用MSP430F149嵌入式控制芯片进行中央控制单元开发,上位机模块实现数据上传和远程通信,采用超低功耗16位单片机MSP430F149进行机器人控制系统的集成信息处理和控制指令传输,实现系统的硬件模块化开发。测试表明,该控制系统具有很好的水下机器人稳定性控制性能,提高对海底电缆的准确巡检能力。

In order to improve the control stability of submarine cable patrol underwater vehicle,the modular design of control system is carried out,and the optimal design of underwater vehicle control system for submarine cable patrol inspection is carried out under embedded ARM.The control system is divided into upper computer module,lower computer module,detection module,sensor information collection module,intelligent information processing module and communication transmission module.The lighting sensor and pressure sensor are placed in the lower part of the robot control system to collect images and environmental data.The information of submarine cable distribution is processed and judged in the intelligent information processing module.The MSP430F149 embedded control chip is used to develop the central control unit,and the upper computer module realizes data upload and remote communication.An ultra-low power 16-bit single-chip computer(MSP430F149) is used for the integrated information processing and control instruction transmission of the robot control system.The hardware modularization development of the system is realized.This control system has good stability control performance of underwater vehicle and improves the accurate inspection ability of submarine cable.