【摘要】 针对深海采矿机器人控制这一难题,提出了基于嵌入式ARM控制器的硬件设计方法和基于多任务调用的集成体系结构软件设计思路。从硬件和软件两方面进行了讨论,硬件包括海上监控系统与海底信息采集/作业系统,引入了ARM等嵌入式控制器及CAN总线结构,海底采用声纳、视觉图像及各类定位传感器协同工作,采集海底作业信息,通过6000m光缆进行海底与海上通讯;软件则在采矿机器人任务合理分配的基础上,将控制系统软件结构设计分为执行层、控制层和规划层。该方法能使整个系统成为一个有机整体,有效地完成对采矿机器人的实时控制。更多还原

【Abstract】 To solve the hard control task of seabed mining robot,an approach based on embedded ARM micro-chip is proposed for hardware,multi-task scheduling control software integrated architecture of robot is designed. Hardware includes offshore monitoring system and seabed information collection/operation system. ARM microcontroller and CAN bus are applied. Seabed information can be collected by the cooperative work of sonars,image sensors and positioning sensors. Communication information is transferred through 6 000 meters optical cable. Software structure consists of three levels:execution layer,control layer and planning layer based on mining robot task allocation. The method can organize the whole system to an organic unity ,and realize effective control to seabed mining robot.更多还原