CN104669268B - A kind of redundancy underwater robot self-control system based on Hot Spare and method - Google Patents

Abstract

The invention belongs to the technical field of autonomous control of underwater robots, and specifically relates to a redundant autonomous control system and control method for underwater robots. The system is composed of redundant control computers, redundant power supply control interfaces and information sharing buses. network composition. The mutually redundant control computers monitor each other's status. When the status of each is normal, the two control computers control their respective lower-level functional units through the redundant power supply control interface and the bus network for information sharing. At the same time, they also receive The information of the next-level functional unit of the other party; when a certain control computer is abnormal, it immediately sends a takeover request to another control computer, and the other control computer takes over all control of the other party's next-level functional unit after receiving the request right. The invention utilizes the hot backup main control unit and the control link to realize the seamless switching control, which can improve the reliability of the control platform, thereby increasing the reliable running time of the system.

Description

A redundant underwater robot autonomous control system and method based on hot backup

technical field

The invention belongs to the technical field of autonomous control of underwater robots, in particular to a redundant autonomous control system of underwater robots and a control method thereof.

Background technique

In the marine field, with the increasing demand for underwater operations, more and more underwater robots with multiple tasks and complex missions have been developed. They have the characteristics of long working hours and long sailing distances. The requirements for operational reliability and fault tolerance are greatly improved.

In the past, the reliability models of underwater robots were mostly series models, lacking parallel links. The measures to improve reliability were mostly to improve the quality level of parts or enrich emergency handling methods. However, if there is a problem in a certain link, the entire task will not continue. The improvement of mission reliability is limited and cannot meet the requirements of higher reliability. Therefore, a method that can greatly improve the fault tolerance of the system is needed to meet the requirements of long working hours and high complexity tasks.

Contents of the invention

In order to meet the high reliability requirements of the long-term operation of the underwater robot and further increase the reliable running time, the present invention provides an autonomous control method that adds parallel control links to improve the autonomous fault-tolerant capability of the underwater robot control platform.

In order to achieve the above object, the technical solution adopted by the present invention is: a redundant underwater robot autonomous control system based on hot backup, which includes exactly the same control computer a and control computer b inside the underwater robot,

The control computer a is connected to all the next-level functional units through the redundant power supply control interface, and controls the power supply switch status of the next-level functional units it manages under normal working conditions; when the control computer b is abnormal, the control Control the power supply switch status of the lower-level functional units managed by computer b; connect all the lower-level functional units through the bus network and monitor the data of all the lower-level functional units; collect the status information of all the lower-level functional units through the bus network ;

The control computer b is connected to all the next-level functional units through the redundant power supply control interface, and controls the power supply switch status of the next-level functional units it manages under normal working conditions; when the control computer a is abnormal, control Control the power supply switch status of the lower-level functional units managed by computer a; connect all the lower-level functional units through the bus network and perform data monitoring on all the lower-level functional units. The status information of all the next-level functional units is collected through the bus network.

A method for autonomous control of a redundant underwater robot based on hot backup, comprising the following steps:

In the normal working state, the control computer a and the control computer b collect the status information of all the next-level functional units through the bus network;

According to the state information of the next-level functional units, the control computer a and the control computer b follow the same execution logic to form the execution sequence of all the next-level functional units through calculation and judgment;

The control computer a issues the execution sequence of the next-level functional unit it manages to the next-level functional unit; the control computer b issues the execution sequence of the next-level functional unit it manages to the next-level functional unit;

When one of the control computers a and b is abnormal, the other control computer will take over from the other to manage the next-level functional units managed by the other, so as to realize the hot backup of the control platform.

The present invention has the following beneficial effects and advantages:

1. The control fault tolerance of the underwater robot has been greatly improved, thus improving the overall reliability of the system.

2. Through the hot backup mode of the control link, the continuity of switching control after a certain control unit fails is guaranteed.

Description of drawings

Fig. 1 is the composition schematic diagram of the present invention;

Fig. 2 is the redundant hardware power supply control interface of the present invention;

Fig. 3 is a schematic diagram of the autonomous control process of the present invention;

Fig. 4 is a schematic diagram of failover control in the present invention.

In Figure 1, 1 is the underwater robot, 2 is the bus network, 3 is the control computer a, 4 is the next-level functional unit of the control computer a, 5 is the redundant power supply control interface, 6 is the control computer b, and 7 is the control The next-level functional unit of computer b.

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

As shown in Figure 1, a set of redundant control platform in the underwater robot is mainly composed of two control computers with the same interface, redundant power supply control interface and information sharing bus network. The mutually redundant control computers can control the power supply of the lower-level functional units through the redundant hardware power supply control interface, and can access all the devices on the bus through the bus network and establish communication.

As shown in Figure 2, the redundant power supply control interface is composed of two relays. The two relays are connected in parallel to form a parallel on-off switch on the power supply circuit. Any one relay closed or two relays closed at the same time can realize the power circuit. The on and off of the relay switch are realized through the respective power supply control signals. When the redundant hardware power supply control interface is used in the redundant control platform, the power supply control signals of the two relays come from the mutually redundant control computer respectively, and the output terminals of the two relays connected in parallel are connected to the power supply of the next-level functional unit The input terminal can realize the redundant power supply state control of the control computer of the next level to the control unit which is mutually redundant.

In the redundant control platform, the information transmission is completed through the bus network. The bus network used can work in a multi-master mode. Any node on the network can actively send information to other nodes on the network at any time, regardless of Master-slave, flexible communication mode can send and receive data in point-to-point, point-to-multipoint (group) and global broadcast; node information on the network can be divided into different priorities to meet different real-time requirements; with non-destructive bus arbitration Mechanism, that is, when two nodes send data to the network at the same time, the node with low priority stops sending data actively, while the node with high priority can continue to transmit data without being affected, which greatly reduces the conflict time of bus arbitration. There will be no network failure or paralysis under heavy network load. These are all to ensure the autonomous adaptation of the network information sending/receiving order and the smoothness and continuity of information channels.

The specific process of this embodiment is: after the redundant control platform starts to work, the mutually redundant control computers all press the workflow shown in Figure 3 to open the power supply switch of the controlled next-level functional unit, establish a communication connection, Collect information, judge the status of each functional unit, and send the judgment result to the redundant control computer.

If it is judged that the status of each functional unit under control is normal, check whether there is a takeover request. If there is a takeover request, take over the next-level functional unit of the other party, and use the collected data to perform calculations to form a given output control amount. Issue it to all the functional units of the lower level for execution, otherwise, after forming a given output control value, it will only be issued to the functional units of the lower level of the machine for execution. Repeat this process.

If it is judged that the state of one of the controlled functional units is abnormal, compare the received judgment result of the redundant control computer at the same time, if the state result is also abnormal, then carry out troubleshooting for the abnormality; If the result is normal, it is considered that the local machine is faulty, and a takeover request is sent to the other party, and the program operation of the local machine is ended, that is, the state shown in Figure 4 is formed.

Claims (2)

1. a redundancy underwater robot self-control system based on Hot Spare, it is characterised in that: the inside of robot includes identical control computer a and controls computer b under water,

Described control computer a controls interface by redundant power supply and connects all next stage functional units, in normal operation, controls the power switch state of the next stage functional unit of its management；When described control computer b occurs abnormal, control the power switch state of the next stage functional unit of computer b management；Connect all next stage functional units by bus network and all next stage functional units are carried out data monitoring；The status information of all next stage functional units is gathered by bus network；

Described control computer b controls interface by redundant power supply and connects all next stage functional units, in normal operation, controls the power switch state of the next stage functional unit of its management；When described control computer a occurs abnormal, control the power switch state of the next stage functional unit of computer a management；Connect all next stage functional units by bus network and all next stage functional units are carried out data monitoring；The status information of all next stage functional units is gathered by bus network；

Described bus network works with multiple host pattern, and on network, any one node all can send information, regardless of principal and subordinate by the node of other on network the most on one's own initiative；The communication mode sending and receiving data includes point-to-point, point-to-multipoint and overall situation broadcast；Nodal information on network meets different requirement of real times with different priority.

2. a redundancy underwater robot Autonomous Control method based on Hot Spare, it is characterised in that: comprise the following steps:

In normal operation, control computer a and control computer b and gathered the status information of all next stage functional units by bus network；

According to the status information of next stage functional unit, control computer a and control computer b according to identical execution logic, through computing and judgement, form the execution sequence of all next stage functional units；

The execution sequence controlling the next stage functional unit that computer a is managed is assigned to this next stage functional unit；The execution sequence controlling the next stage functional unit that computer b is managed is assigned to this next stage functional unit；

When the control computer controlled in computer a and control computer b occurs abnormal, another control computer is taken over the other side and is managed its next stage functional unit managed, thus realizes controlling the Hot Spare of platform；

Described bus network works with multiple host pattern, and on network, any one node all can send information, regardless of principal and subordinate by the node of other on network the most on one's own initiative；The communication mode sending and receiving data includes point-to-point, point-to-multipoint and overall situation broadcast；Nodal information on network meets different requirement of real times with different priority.