Development Of Oil-filled Modular Control System For Underwater Robot

Underwater robots play an important role in ocean exploration and development,and the underwater control system is a key factor affecting the intelligence of underwater robots.Currently,most underwater control systems still use integrated dry enclosures,in which the measurement and control unit modules are sealed in the same compartment,with poor scalability and maintainability.In view of the above situation,this article summarizes the design and practical application experience of underwater robots.Through the research on the functional and module definition division of commonly used measurement and control requirements,the interconnection network architecture based on cable guide rail integrated design and field bus,the finite element simulation analysis of electronic components,the oil-filled module packaging of hose-type pressure compensation structure,and module fault identification and other specific contents,an oil-filled modular control system for underwater robots with both embedded system compactness and programmable logic controller(PLC)modular features is developed.Using an AUV as an application carrier,a set of AUV based on the oil-filled modular control system is realized to verify that underwater robots can improve the reliability,scalability and maintainability of underwater control systems by replacing the conventional integrated packaging control system with the oil-filled modular control system designed in this paper.The designed oil-filled modular control system is mainly controlled by the STM32 chip on the hardware side,and uses the CAN bus to realize the network interconnection between system modules,and decomposes the overall system requirements and designs corresponding circuit boards for different functions.On the software side,based on the μC/OS-III real-time operating system,the main control board is developed to implement the logical processing of system tasks.The specific functions of multiple sub-boards are implemented through bare-metal development.In addition,this paper also designs a dry compartment measurement and control system and a mobile monitoring platform.The dry compartment measurement and control system is equipped with non-self-developed modules and sensors that cannot be oil-filled and pressure-resistant in the AUV.Using Jetson Nano as the embedded hardware platform,the sensor data is collected,and topic communication is used based on the ROS robot operating system to realize information exchange between nodes.Wi Fi is used for UDP communication as the communication method between the system and the mobile end.The software of the mobile monitoring platform realizes the functions of data monitoring and motion state control for data transmission and debugging when the AUV is on the water surface.Through the hardware functional testing of various modules of the oil-filled modular control system,simulation tests of oil pressure resistance of the circuit boards,oil-filled module pressure resistance testing,high and low temperature testing and other tests in actual working environments,and the networked debugging and fault diagnosis testing of multiple modules as a whole,it is verified that the oil-filled modular control system has achieved the expected design goals.The functional testing of each node of the dry compartment measurement and control system of the AUV and the system debugging testing have been completed,and the results show that the entire AUV system can meet the underwater measurement and control requirements,verifying the feasibility of the application of the oil-filled modular control system in the AUV.