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

Abstract

Translated fromChinese

本发明属于水下机器人自主控制技术领域，具体地说是一种水下机器人冗余自主控制系统及其控制方法，系统是由冗余的控制计算机、冗余的供电控制接口以及信息共享的总线网络构成。互为冗余的控制计算机间相互监测对方的状态，当各自状态均正常的时候，两个控制计算机通过冗余供电控制接口和信息共享的总线网络控制各自下一级的功能单元，同时也接收对方下一级功能单元的信息；当某一台控制计算机状态异常的时候，立即向另一台控制计算机发出接管请求，另一台控制计算机收到请求后接管对方下一级功能单元的全部控制权。本发明利用热备份的主控单元和控制链路实现无缝切换控制，可提高控制平台的可靠度，从而增加系统的可靠运行时间。

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

Translated fromChinese

一种基于热备份的冗余水下机器人自主控制系统及方法A redundant underwater robot autonomous control system and method based on hot backup

技术领域technical field

本发明属于水下机器人自主控制技术领域，具体地说是一种水下机器人冗余自主控制系统及其控制方法。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.

背景技术Background technique

在海洋领域里，随着对水下作业需求的增加，越来越多任务多元、使命复杂的水下机器人被开发出来，它们具有工作时间长、航行距离远等特点，随之而来的，是对运行可靠性和容错能力的要求大大提高。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.

以往水下机器人的可靠性模型多为串联模型，缺少并联环节，提高可靠性的措施多是利用提高零部件的质量等级或丰富应急处理方式，但某一环节出现问题，整个任务将无法继续，任务可靠性的提高程度有限，无法满足更高可靠性的要求。故需要一种可以大幅提高系统容错能力的方法，来满足工作时间长、复杂程度高的任务需求。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.

发明内容Contents of the invention

为了满足水下机器人长时间运行对高可靠性的需求，进一步增加可靠运行时间，本发明提供了一种增加并联控制环节的自主控制方法，以提升水下机器人控制平台自主容错的能力。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.

为了实现上述目的，本发明所采用的技术方案是：一种基于热备份的冗余水下机器人自主控制系统，在水下机器人的内部包括完全相同的控制计算机a和控制计算机b，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,

所述控制计算机a通过冗余供电控制接口连接所有下一级功能单元，在正常工作状态下，控制其管理的下一级功能单元的供电开关状态；当所述控制计算机b出现异常时，控制控制计算机b管理的下一级功能单元的供电开关状态；通过总线网络连接所有下一级功能单元并对所有下一级功能单元进行数据监测；通过总线网络采集所有下一级功能单元的状态信息；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 ;

所述控制计算机b通过冗余供电控制接口连接所有下一级功能单元，在正常工作状态下，控制其管理的下一级功能单元的供电开关状态；当所述控制计算机a出现异常时，控制控制计算机a管理的下一级功能单元的供电开关状态；通过总线网络连接所有下一级功能单元并对所有下一级功能单元进行数据监测。通过总线网络采集所有下一级功能单元的状态信息。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.

一种基于热备份的冗余水下机器人自主控制方法，包括以下步骤：A method for autonomous control of a redundant underwater robot based on hot backup, comprising the following steps:

在正常工作状态下，控制计算机a和控制计算机b通过总线网络采集所有下一级功能单元的状态信息；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;

根据下一级功能单元的状态信息，控制计算机a和控制计算机b按照相同的执行逻辑，经过运算和判断，形成所有下一级功能单元的执行序列；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;

控制计算机a将其管理的下一级功能单元的执行序列下达给该下一级功能单元；控制计算机b将其管理的下一级功能单元的执行序列下达给该下一级功能单元；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;

当控制计算机a和控制计算机b中的一台控制计算机出现异常时，另一台控制计算机接替对方对其管理的下一级功能单元进行管理，从而实现控制平台的热备份。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.

本发明具有以下有益效果及优点：The present invention has the following beneficial effects and advantages:

1.水下机器人在控制容错能力方面得到大幅的提高，从而提高了系统整体可靠度。1. The control fault tolerance of the underwater robot has been greatly improved, thus improving the overall reliability of the system.

2.通过控制环节的热备份方式，保证了某一控制单元故障后切换控制的连续性。2. Through the hot backup mode of the control link, the continuity of switching control after a certain control unit fails is guaranteed.

附图说明Description of drawings

图1为本发明的组成示意图；Fig. 1 is the composition schematic diagram of the present invention;

图2为本发明的冗余硬件供电控制接口；Fig. 2 is the redundant hardware power supply control interface of the present invention;

图3为本发明的自主控制流程示意图；Fig. 3 is a schematic diagram of the autonomous control process of the present invention;

图4为本发明的故障切换控制示意图。Fig. 4 is a schematic diagram of failover control in the present invention.

图1中，1为水下机器人，2为总线网络，3为控制计算机a，4为控制计算机a的下一级功能单元，5为冗余供电控制接口，6为控制计算机b，7为控制计算机b的下一级功能单元。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.

具体实施方式detailed description

下面结合附图及实施例对本发明做进一步的详细说明。The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

如图1所示，水下机器人内一套冗余控制平台主要由两台相同接口控制计算机、冗余供电控制接口和信息共享总线网络组成。互为冗余的控制计算机可通过冗余硬件供电控制接口对下级功能单元实现供电控制，可通过总线网络访问到所有总线上的设备，并建立通信。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.

如图2所示，冗余供电控制接口是由两个继电器组成，两个继电器并联，在供电电源回路上形成并联的通断开关，任意一个继电器闭合或两个继电器同时闭合均可实现电源回路的接通，继电器开关的闭合和断开是通过各自供电控制信号来实现的。冗余硬件供电控制接口在冗余控制平台中使用时，两个继电器的供电控制信号分别来至互为冗余的控制计算机，两个继电器并联后的输出端连至下一级功能单元的电源输入端，即可实现互为冗余的控制计算机对下一级控制单元的冗余供电状态控制。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.

在冗余控制平台中信息传输是通过总线网络来完成，所使用的总线网络可以多主方式工作,网络上任意一个节点均可以在任意时刻主动地向网络上的其它节点发送信息,而不分主从,通信方式灵活可以点对点、点对多点(成组)及全局广播方式发送和接收数据；网络上的节点信息可分成不同的优先级以满足不同的实时要求；具备非破坏性总线仲裁机制，即当两个节点同时向网络上发送数据时,优先级低的节点主动停止数据发送,而优先级高的节点可不受影响地继续传输数据,大大地降低了总线仲裁的冲突时间,在网络负载很重的情况下也不会出现网络故障或瘫痪。这些均是为保证网络信息发送/接收秩序的自主适应以及信息通道的通畅和连续。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.

本实施方式的具体流程为:冗余控制平台工作开始后，互为冗余的控制计算机均按图3所示的工作流程，开启所控制的下一级功能单元的供电开关，建立通信连接、采集信息，判断各个功能单元的状态，并将判断完的结果发送给冗余的控制计算机。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.

如果判断所控制的各个功能单元的状态均正常，并查看是否有接管请求，如果有接管请求，则接管对方下一级的功能单元，利用采集来的数据进行运算，形成给定输出控制量，下达给所有下一级的功能单元执行，否则形成给定输出控制量后，只下达给本机下一级的功能单元执行。以此流程反复运行。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.

如果判断到所控制的某一个功能单元的状态异常，同时对比接收到的冗余控制计算机所判断的结果，如果状态结果同样是异常，则对该异常进行故障处理；如果冗余控制计算机所判断的结果为正常，则认为本机故障，发送接管请求给对方，结束本机的程序运行，即形成如图4状态。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.