CN100461057C - Submarine pipeline detecting robot emulation system - Google Patents
Submarine pipeline detecting robot emulation system Download PDFInfo
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- CN100461057C CN100461057C CNB2007100447072A CN200710044707A CN100461057C CN 100461057 C CN100461057 C CN 100461057C CN B2007100447072 A CNB2007100447072 A CN B2007100447072A CN 200710044707 A CN200710044707 A CN 200710044707A CN 100461057 C CN100461057 C CN 100461057C
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Abstract
The present invention relates to a submarine pipeline detecting robot emulation system, and belongs to the computer application technology field. When in use, an emulation module replaces a corresponding practical robot unit to develop the debugging and testing work. A crawler emulation module, a cell monitor and milemeter emulation module, a detecting emulation module, and a positioning emulation module receive the orders of a practical robot intelligent controller to perform the emulation operation, and the feedback information is sent to the practical robot intelligent controller according to the result processed by the emulation operation; the practical robot intelligent controller receives the information sent by other robot units, and sends the control orders to other units or corresponding emulation modules. The CAN bus connection and communication are adopted between the modules, and the CAN bus and the communication protocol are the same as the submarine pipeline detecting robots. The present invention reflects really the system running function and performance for the debugging and the function test in the development process, and is also applied to the aspects such as the personnel training, etc.
Description
Technical field
What the present invention relates to is a kind of system of simulation technical field, particularly a kind of submarine pipeline detecting robot emulation system.
Background technology
In the marine oil and gas development of resources, the seabed high pressure line is to realize the requisite visual plant of oil-gas gathering and transportation.And submarine pipeline can produce defective because of the influence of factors such as dielectric corrosion, fatigue, external force damage.Defective runs up to a certain degree, and oil and gas leakage will take place, and not only influences the ordinary production in oil field, also can cause marine environmental pollution.Regularly carrying out the defect of pipeline detection is the necessary means of guaranteeing the efficient operation of pipe safety.
Submarine pipeline detecting robot is a kind of Technique of Subsea Pipeline Inspection equipment that China independently researches and develops, this equipment is mainly by electronic crawl device, battery cell monitoring and odometer unit, intelligent controller, ultrasonic and Magnetic Flux Leakage Inspecting unit, ultralow frequency positioning units etc. partly constitute, and the each several part function opposite independent adopts the CAN bus to realize communication.
The fundamental mode of system has two kinds: online detection and detection and localization.Online detection is the generaI investigation mode that does not stop production, and robot adopts the pressure differential mode, along with the flow progresses of crude oil, on the way pipeline is measured and record data in petroleum pipeline.Detection and localization is stop production check and location, advances to the major defect place by crawl device drive machines people, check several times repeatedly, and behind the affirmation defect rank, the emission ultra-low frequency electromagnetic wave, the calling working ship carries out maintain and replace to the defective pipeline.Because this technology more complicated, in debugging and test process to possible various case in service carry out for a long time, repeatedly simulation is very important, and can find various design defect, prevent so bring about great losses.And experimental channel is difficult to various complex situations are simulated, such as change in resistance, slope change, pressure variation, sensor failure etc., the combination of especially various situations, and real system will to simulate various failure conditions in actual motion also very difficult.Therefore, analogue system of exploitation purposes such as debugging, test and training of being used for detecting robot of pipe are very important.
Find through literature search prior art, the Chinese invention patent (application number 200510011107.7) of Tsing-Hua University's application: a kind of simulated measuring system for whole vehicle controller, it comprises real-time monitoring system, entire car controller to be measured, configurable signal processing apparatus and industrial computer analog platform and data collecting card, CAN network etc.This emulation test system is except that entire car controller to be measured is actual automobile controller, all test environments are the simulation test platform simulation true environment and obtain, and see with the car load true environment in full accord on the slave controller angle, realized low-cost, convenient, apace entire car controller is carried out various tests, improved entire car controller and got development efficiency.But because the object of emulation is different fully with the present invention, structure, principle, the function of two cover analogue systems also are diverse.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of submarine pipeline detecting robot emulation system is provided, make it can easily simulate actual submarine pipeline detecting robot ruuning situation, true reflection system operation function and performance, for debugging in the development process, and the engineering machine carries out functional test after finishing, and also can be used for aspects such as staff training.
The present invention is achieved by the following technical solutions, the present invention includes: crawl device emulation module, battery cell monitoring and odometer emulation module, detection simulation module and location simulation module, above-mentioned each emulation module corresponds respectively to electronic crawl device, battery cell monitoring and the odometer unit of submarine pipeline detecting robot, ultrasonic and Magnetic Flux Leakage Inspecting unit and ultralow frequency positioning unit, realization is to the emulation of these four Elementary Functions and performance, and combines with the intelligent robot controller and to constitute complete analogue system.Unit in the robot system adopts the CAN bus to connect, and in use can replace corresponding robot cell with emulation module and carry out debugging, test job.
Described crawl device emulation module, battery cell monitoring and odometer emulation module, detection simulation module and location simulation module all are the instructions of accepting from the intelligent robot controller, carry out simulation calculation, and send feedback information to the intelligent robot controller according to the result that simulation calculation is handled, the intelligent robot controller is accepted the information that every other robot cell sends, and to other unit or corresponding emulation module sending controling instruction.Adopt the CAN bus to connect between each module of system and communicate by letter, and CAN bus interface and communication protocol thereof are identical with actual submarine pipeline detecting robot, making like this that any one is debugged/the submarine pipeline detecting robot unit of test is when alternative corresponding simulation unit is linked into whole simulation system, obtaining and the on all four network environment of real system, also is to realize communication function with fully real physical communication circuit between each emulation module.
Described crawl device emulation module is realized correctly responding the instructions that intelligent controller is sent to the function of robot electric crawl device unit and the emulation of performance, comprise: self check, start, creep forward, creep backward with command speed, stop to creep, the support wheel tensioning, loosen etc.; Can the various malfunctions of simulation, comprising: no response, fail self-test starts failure, can not advance, and can not retreat, and can't stop, and support wheel can't tensioning, and support wheel can not loosen, inchworm motor overload, support wheel tensioning motor overload etc.
Described crawl device emulation module is made of a CAN bus driver submodule, the first repeat-back submodule, the first graphic interface submodule and crawl device functional simulation submodule.Wherein a CAN bus driver submodule is used to realize the CAN bus communication.The first repeat-back submodule is used to resolve from the CAN bus interface to be received, from the instruction of intelligent controller, and is forwarded to crawl device functional simulation submodule.The first repeat-back submodule can be made the signal of receiving from the CAN bus interface and replying, promptly reply correct handshake, also can according to the user the analogue communication failure condition is set, comprise three kinds of situations: no response fully, request repeats, and replys mess code at random.The first graphic interface submodule is used to be provided with creep performance, the failure condition of unit, shows the feedback information that instruction that the crawl device emulation module is received and crawl device emulation module are sent.Wherein performance parameter comprises the instruction feedback time, the resistance of creeping, and the gradient, the tensioning resistance, each motor status etc., wherein resistance, the gradient etc. can be set at random variation within the specific limits; Failure condition can be provided with communication failure (comprising aforementioned three kinds of situations), and fail self-test starts failure, can not advance, can not retreat, can't stop, support wheel can't tensioning, support wheel can not loosen, inchworm motor overload, various situations such as support wheel tensioning motor overload.The feedback information that instruction that receives from a CAN bus driver submodule and crawl device emulation module are sent all is presented on the first graphic interface submodule with text mode, and add comment line every information back automatically, make things convenient for those that unfamiliar user of order set is used.Crawl device functional simulation submodule is the core of crawl device emulation module, have the kinetic model of crawl device in this submodule, can calculate the speed, electric current etc. of crawl device according to situations such as change in resistance, slope change, simulate true crawl device ruuning situation and make feedback.In actual the use, the failure condition that the user is provided with on the first graphic interface submodule will have precedence over the result of calculation of kinetic model.For example according to the calculating of information such as resistance, the gradient, crawl device is working properly, but the user forces to be provided with the inchworm motor overload, and then crawl device functional simulation submodule still is judged as the inchworm motor overload fault, and sends failure message to controller; Otherwise, do not specify the next calculating of situation of corresponding failure to be as the criterion with kinetic model the user.
Described battery cell monitoring and odometer emulation module are realized correctly responding the instructions that intelligent controller is sent to the function of robot battery cell monitoring and odometer unit and the emulation of performance, comprise: self check starts the remaining capacity report, the power supply state report, mileage report etc.; Can simulate various malfunctions, comprise: no response, fail self-test starts failure, power fail, odometer fault, abnormal electrical power supply etc.
Described battery cell monitoring and odometer emulation module are made of the 2nd CAN bus driver submodule, the second repeat-back submodule, second graphical interface submodule, battery cell monitoring and odometer functional simulation submodule.The 2nd CAN bus driver submodule wherein, the second repeat-back submodule is similar to the submodule functional structure of the same name in the aforementioned crawl device emulation module, repeats no more.Second graphical interface submodule is used to be provided with performance, the failure condition of battery cell monitoring and odometer unit, the feedback information that instruction that demonstration is received and battery cell monitoring and odometer emulation module are sent shows information such as remaining capacity, mileage with patterned way.Wherein performance parameter comprises power consumption rate, remaining capacity, odometer speed, odometer skid rate, rate of failing to report etc.; Failure condition can be provided with communication failure, and fail self-test starts failure, to certain unit abnormal electrical power supply, various situations such as odometer inefficacy.The feedback information that instruction that receives from the 2nd CAN bus driver submodule and battery cell monitoring and odometer emulation module are sent all is presented on the submodule of second graphical interface with text mode, and add comment line every information back automatically, make things convenient for those that unfamiliar user of order set is used.Battery cell monitoring and odometer functional simulation submodule are the cores of this module, have electric quantity of power supply computation model and odometer kinetic model in this submodule, can be according to system condition, situations such as specified criteria are calculated power work situation and odometer information, simulate the ruuning situation of true Power Supply Monitoring and odometer unit.Similar with the crawl device emulation module, the user can be provided with failure condition by force on the submodule of second graphical interface.
Described detection simulation module realizes correctly responding the instructions that intelligent controller is sent to the function of robotic ultrasound and Magnetic Flux Leakage Inspecting unit and the emulation of performance, comprising: self check, start, and start detection, defect report is found weld seam report etc.; Can simulate various malfunctions, comprise: no response, fail self-test starts failure, and fault etc. is found in the start detection failure.
Described detection simulation module is made of the 3rd CAN bus driver submodule, the 3rd repeat-back submodule, the 3rd graphic interface submodule, measuring ability ASM.The 3rd CAN bus driver submodule wherein, the 3rd repeat-back submodule is similar to the submodule functional structure of the same name in the aforementioned crawl device emulation module, repeats no more.The 3rd graphic interface submodule is used to be provided with ultrasonic and performance, failure condition the Magnetic Flux Leakage Inspecting unit, shows instruction of being received and the feedback information that sends.Wherein performance parameter comprises standard pipe length, loss and false drop rate; Failure condition can be provided with communication failure, and fail self-test starts failure, and defective is found in the start detection failure, finds situations such as weld seam.The feedback information that instruction that receives from the 4th CAN bus driver submodule and detection simulation module are sent all is presented on the 3rd graphic interface submodule with text mode, and add comment line every information back automatically, make things convenient for those that unfamiliar user of order set is used.The measuring ability ASM is relatively simple, owing to find that the signal of defective is irregular appearance, is designed to the user by the 3rd graphic interface manual activation.And the discovery of weld seam is calculated by duct length and travelling speed, and calculates loss and false drop rate.Find that weld seam information also can be by the user by the 3rd graphic interface manual activation and shielding.
Described location simulation module realizes correctly responding the instructions that intelligent controller is sent to the function of robot ultralow frequency positioning unit and the emulation of performance, comprising: self check, start, and send positioning signal, send distress signal etc.; Can simulate various malfunctions, comprise: no response, fail self-test starts failure, sends the positioning signal failure, transmission distress signal failure etc.
Described location simulation module is made of the 4th CAN bus driver submodule, the 4th repeat-back submodule, the 4th graphic interface submodule and positioning function ASM.The 4th CAN bus driver submodule wherein, the 4th repeat-back submodule is similar to the submodule functional structure of the same name in the aforementioned crawl device emulation module, repeats no more.The 4th graphic interface submodule is used to be provided with performance, the failure condition of ultralow frequency positioning unit, shows instruction of being received and the feedback information that sends.Wherein performance parameter comprises signal duration; Failure condition can be provided with communication failure, and fail self-test starts failure, sends the positioning signal failure, sends situations such as distress signal failure.The feedback information that instruction that receives from the 4th CAN bus driver submodule and location simulation module are sent all is presented on the 4th graphic interface submodule with text mode, and add comment line every information back automatically, make things convenient for those that unfamiliar user of order set is used.The positioning function ASM is relatively simple, is the feedback information according to signal duration, feedback signal was sent completely.Similar with the crawl device emulation module, the user can be provided with failure condition by force on the 4th graphic interface submodule.
The present invention can also comprise the controller simulation module in actual use, substitutes actual robot intelligent controller construction system with the controller simulation module.Because intelligent controller itself is exactly the industrial computer of a platform independent, be connected with other unit by the CAN bus, be consistent with the structure of analogue system module, so directly constitute holonomic system with other emulation modules with intelligent controller.And also can use the controller simulation module to realize its function in using.
Described controller simulation module comprises that module takes place for working control module and instruction.Directly the actual robot control program is transplanted to the controller simulation module and can constitutes the working control module, in full accord with the actual robot intelligent controller on function, its content sees Chinese invention patent: crawling intelligent controller in submarine pipeline (application number 200610117886.3).But other unit also need to test separately the response situation of this unit to some instruction sometimes when debugging or test, and can not control this moment according to normal control flow, therefore designed an instruction again separately module takes place.The function of this module only limits to the manual instructions that sends, and the information that other modules are sent is correctly replied (transmission handshake).The user selects working control module or instruction generation module to come into operation as required.
Described instruction generation module, by the order of the 5th CAN bus driver submodule, the five fingers reply submodule, the 5th graphic interface submodule constitutes.It is similar to the submodule functional structure of the same name in the aforementioned crawl device emulation module that wherein submodule is replied in the order of the 5th CAN bus driver submodule, the five fingers, repeats no more.The 5th graphic interface submodule is used for manual sending controling instruction, shows instruction of being sent and the feedback information of receiving.Wherein instruct the sending part branch to comprise the tabulation of whole instructions, and the address list of other unit, can manually select to send instruction to other unit, instruction of sending and the feedback information of receiving all are presented on the 5th graphic interface submodule with text mode, and add comment line every information back automatically, make things convenient for those that unfamiliar user of order set is used.
Compared with prior art, outstanding feature of the present invention is simple and convenient, and to the debugging of system, especially the debugging effect of intelligent robot controller is huge.Use the present invention can simulate real service condition debugging of each several part and improvement at any time, and needn't adopt the mode of all department's combined debuggings, saved time and manpower greatly, improved work efficiency.And general function debugging and performance test, if all in actual pipeline, survey, not only costly, and also actual pipeline also can't run into various possible failure conditions, can't do comprehensive test to the function of intelligent controller, have this analogue system then can solve this difficult problem.In addition, system of the present invention can also be used for operating personnel's teaching and training as training system.
Description of drawings
Fig. 1 is the structured flowchart of submarine pipeline detecting robot;
Fig. 2 is the structured flowchart of analogue system of the present invention.
Fig. 3 is the structured flowchart of a specific embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
The present invention is the system that submarine pipeline detecting robot is carried out emulation, and as shown in Figure 1, described submarine pipeline detecting robot is mainly by electronic crawl device, battery cell monitoring and odometer unit, intelligent controller, ultrasonic and Magnetic Flux Leakage Inspecting unit, ultralow frequency positioning units etc. partly constitute.The each several part function opposite independent adopts the CAN bus to realize communication.Wherein electronic crawl device drags robot and moves in pipe; Battery cell monitoring and odometer unit are monitored and are controlled the powered battery situation, are responsible for handling odometer sensor information simultaneously; Intelligent controller is made a strategic decision to robot behavior according to each location mode and sensor information, and sends instruction to other each unit; Ultrasonic and Magnetic Flux Leakage Inspecting unit uses ultrasonic and two kinds of sensors of eddy current detect tube wall, and signal is analyzed; The ultralow frequency positioning unit sends ultra-low frequency electromagnetic wave, for the engineering salvor provides positioning signal when catastrophic failure appears in definite wall defects or robot itself.
The embodiment of analogue system realization of the present invention to above-mentioned submarine pipeline detecting robot emulation below is provided.
Embodiment one
As shown in Figure 3, present embodiment is used for the intelligent robot controller is debugged and tested, related parts comprise four emulation modules, as intelligent robot controller and debugging acid thereof debugged, tested object, and the CAN bus communication cable between the each several part.
Submarine pipeline detecting robot emulation system has been used wherein four main emulation modules in the present embodiment: crawl device emulation module, battery cell monitoring and odometer emulation module, detection simulation module and location simulation module.As shown in Figure 3.
The wherein function and the performance of the electronic crawl device of crawl device emulation module dummy robot, the function and the performance of battery cell monitoring and odometer emulation module dummy robot's battery cell monitoring and odometer unit, the function of detection simulation module simulation robotic ultrasound and leakage field monitoring means and performance, the function and the performance of location simulation module simulation robot ultralow frequency positioning unit.These four emulation modules formation holonomic system that combines with actual intelligent robot controller, simulation entire machine people's working condition is to realize debugging and the test to the intelligent robot controller.
Described crawl device emulation module, its CAN bus driver submodule is used to realize the CAN bus communication.The first repeat-back submodule is used to resolve from the CAN bus interface to be received, from the instruction of intelligent controller, and is forwarded to crawl device functional simulation submodule.The first repeat-back submodule can be made the signal of receiving from the CAN bus interface and replying, promptly reply correct handshake, also can according to the user the analogue communication failure condition is set, comprise three kinds of situations: no response fully, request repeats, and replys mess code at random.The first graphic interface submodule is used to be provided with creep performance, the failure condition of unit, shows the feedback information that instruction that the crawl device emulation module is received and crawl device emulation module are sent.Wherein performance parameter comprises the instruction feedback time, the resistance of creeping, and the gradient, the tensioning resistance, each motor status etc., wherein resistance, the gradient etc. can be set at random variation within the specific limits; Failure condition can be provided with communication failure (comprising aforementioned three kinds of situations), and fail self-test starts failure, can not advance, can not retreat, can't stop, support wheel can't tensioning, support wheel can not loosen, inchworm motor overload, various situations such as support wheel tensioning motor overload.The feedback information that instruction that receives from a CAN bus driver submodule and crawl device emulation module are sent all is presented on the first graphic interface submodule with text mode, and adds comment line every information back automatically.Have the kinetic model of crawl device in the crawl device functional simulation submodule, can calculate the speed, electric current etc. of crawl device, simulate true crawl device ruuning situation and make feedback according to situations such as change in resistance, slope change.In actual the use, the failure condition that the user is provided with on the first graphic interface submodule will have precedence over the result of calculation of kinetic model.For example according to the calculating of information such as resistance, the gradient, crawl device is working properly, but the user forces to be provided with the inchworm motor overload, and then crawl device functional simulation submodule still is judged as the inchworm motor overload fault, and sends failure message to controller; Otherwise, do not specify the next calculating of situation of corresponding failure to be as the criterion with kinetic model the user.
Described battery cell monitoring and odometer emulation module, its 2nd CAN bus driver submodule, the second repeat-back submodule is similar to the submodule functional structure of the same name in the aforementioned crawl device emulation module, repeats no more.Second graphical interface submodule is used to be provided with performance, the failure condition of battery cell monitoring and odometer unit, the feedback information that instruction that demonstration is received and battery cell monitoring and odometer emulation module are sent, show battery electric quantity, information such as mileage with patterned way.Wherein performance parameter comprises power consumption rate, remaining capacity, odometer speed, odometer skid rate, rate of failing to report etc.; Failure condition can be provided with communication failure, and fail self-test starts failure, to certain unit abnormal electrical power supply, various situations such as odometer inefficacy.The feedback information that instruction that receives from the 2nd CAN bus driver submodule and battery cell monitoring and odometer emulation module are sent all is presented on the submodule of second graphical interface with text mode, and adds comment line every information back automatically.Have electric quantity of power supply computation model and odometer kinetic model in battery cell monitoring and the odometer functional simulation submodule, can be according to system condition, situations such as specified criteria are calculated power work situation and odometer information, simulate the ruuning situation of true Power Supply Monitoring and odometer unit.Similar with the crawl device emulation module, the user can be provided with failure condition by force on the submodule of second graphical interface.
Described detection simulation module, its 3rd CAN bus driver submodule, the 3rd repeat-back submodule is similar to the submodule functional structure of the same name in the aforementioned crawl device emulation module, repeats no more.The 3rd graphic interface submodule is used to be provided with ultrasonic and performance, failure condition the Magnetic Flux Leakage Inspecting unit, shows instruction of being received and the feedback information that sends.Wherein performance parameter comprises standard pipe length, loss and false drop rate; Failure condition can be provided with communication failure, and fail self-test starts failure, and defective is found in the start detection failure, finds situations such as weld seam.The feedback information that instruction that receives from the 4th CAN bus driver submodule and detection simulation module are sent all is presented on the 3rd graphic interface submodule with text mode, and adds comment line every information back automatically.The measuring ability ASM is relatively simple, owing to find that the signal of defective is irregular appearance, triggers by hand so be designed to the user.And the discovery of weld seam is calculated by duct length and travelling speed, and calculates certain loss and false drop rate.Find that weld seam information also can be by the user by the 3rd graphic interface manual activation and shielding.
Described location simulation module, its 4th CAN bus driver submodule, the 4th repeat-back submodule is similar to the submodule functional structure of the same name in the aforementioned crawl device emulation module, repeats no more.The 4th graphic interface submodule is used to be provided with performance, the failure condition of ultralow frequency positioning unit, shows instruction of being received and the feedback information that sends.Wherein performance parameter comprises signal duration; Failure condition can be provided with communication failure, and fail self-test starts failure, sends the positioning signal failure, sends situations such as distress signal failure.The feedback information that instruction that receives from the 4th CAN bus driver submodule and location simulation module are sent all is presented on the 4th graphic interface submodule with text mode, and adds comment line every information back automatically.The positioning function ASM is relatively simple, is the feedback information according to signal duration, feedback signal was sent completely.Similar with the crawl device emulation module, the user can be provided with failure condition by force on the 4th graphic interface submodule.
During the embodiment of the invention of said structure was used, basic flow process was as follows:
At first be that each emulation module is finished the program loading, enter duty.
In second step, the user is provided with relevant parameters and failure message on the graphic interface submodule of each emulation module, and for example whether this module self check normal? can start duty? what are the existing electric weight of battery? is the resistance of creeping much? or the like.
In the 3rd step, intelligent controller powers on, loading procedure, and system starts working.
If carry out test job, the user is according to the process of transmitting that can see on the CAN bus instruction and information on the graphic interface submodule of each emulation module, at any time understand the progress of operation, for example when intelligent controller starts each unit self check, when start crawl device and with which kind of speed begin to creep, when the start detection unit begins to detect or the like.And by the graphic interface submodule various operation conditionss are set, for example electric weight remaining what, the change in resistance of creeping, the sensor defect situation, there is non-fault or the like each unit.Behind end of run, can also understand the whole service process, thereby realize test intelligent controller by the information of intelligent controller and each emulation module record.
If carry out debugging work, then intelligent controller works in debugging mode, can be by the operation conditions of debug port monitoring intelligent controller, adopt single step mode or breakpoint mode to move control program, graphic interface submodule operational simulation system by each emulation module cooperates with it simultaneously, the various situations that may run in the dry run, provide intelligent controller required various feedback informations, thereby each branch debugs and tests to control program, realizes the debugging to the intelligent controller primary control program.
Embodiment two
As shown in Figure 2, present embodiment is used for the teaching, training to the operating personnel of submarine pipeline detecting robot and new developer.Related parts comprise whole five emulation modules, and the CAN bus communication cable between the each several part.
By crawl device emulation module, battery cell monitoring and odometer emulation module, detection simulation module, location simulation module and controller simulation module, constitute holonomic system, simulation entire machine people's working condition is to help function and the sequential relationship in the control flow and the logical relation of operating personnel and new each unit of developer's profound understanding robot.
The course of work of four emulation modules such as described crawl device emulation module, battery cell monitoring and odometer emulation module, detection simulation module, location simulation module is identical with previous embodiment one, repeats no more.
Described controller simulation module realizes the emulation to the intelligent robot controller function.Comprise by the actual robot control program and transplant the working control module obtain and the instruction generation module of isolated operation.When the sequential relationship in system's control flow is learnt, can use the working control module, in learning process, during the logical relation of each unit, can use instruction that module takes place, as shown in Figure 2.
Described instruction generation module, by the order of the 5th CAN bus driver submodule, the five fingers reply submodule, the 5th graphic interface submodule constitutes.It is similar to the submodule functional structure of the same name in the aforementioned crawl device emulation module that wherein submodule is replied in the order of the 5th CAN bus driver submodule, the five fingers, repeats no more.The 5th graphic interface submodule is used for manual sending controling instruction, shows instruction of being sent and the feedback information of receiving.Wherein instruct the sending part branch to comprise the tabulation of whole instructions, and the address list of other unit, can manually select to send instruction to other unit, instruction of sending and the feedback information of receiving all are presented on the 5th graphic interface submodule with text mode, and add comment line every information back automatically, make things convenient for those that unfamiliar user of order set is used.
During the embodiment of the invention of said structure was used, basic flow process was as follows:
At first be that each emulation module except that the controller simulation module is finished program and loaded, enter duty.
In second step, the user is provided with relevant parameters and failure message on the graphic interface submodule of each emulation module, and for example whether this module self check normal? can start duty? what are the existing electric weight of battery? is the resistance of creeping much? or the like.
The 3rd step, start-up control device emulation module, loading procedure, system starts working.
If select to use the working control module, then total system is moved as real system, the user is according to the process of transmitting that can see on the CAN bus instruction and information on the graphic interface submodule of each emulation module, at any time understand the progress of operation, for example when intelligent controller starts each unit self check, when start crawl device and with which kind of speed begin to creep, when the start detection unit begins to detect or the like.And can the various operation conditionss of adjustment be set at any time by each graphic interface submodule, and for example how much remaining electric weight is, the change in resistance of creeping, and the sensor defect situation, there is non-fault or the like each unit.Behind end of run, can also understand the whole service process by the information of each emulation module record.
If module takes place in instruction, then the user manually sends self-checking command, enabled instruction, the feedback of observing each unit to other each unit.After each unit entered normal operating conditions, the user can send arbitrary instruction to any unit, observes its reaction.Simultaneously also each location mode can be set by hand, observe its reaction under different conditions various instructions.Thereby understand the logical relation of total system.
Claims (7)
1. a submarine pipeline detecting robot emulation system is characterized in that, comprising: crawl device emulation module, battery cell monitoring and odometer emulation module, detection simulation module and location simulation module, wherein:
Described crawl device emulation module is realized the function of the electronic crawl device of submarine pipeline detecting robot unit and the emulation of performance;
Described battery cell monitoring and odometer emulation module are realized the function of submarine pipeline detecting robot battery cell monitoring and odometer unit and the emulation of performance;
Described detection simulation module realizes the function of and Magnetic Flux Leakage Inspecting unit ultrasonic to submarine pipeline detecting robot and the emulation of performance;
Described location simulation module realizes the function of submarine pipeline detecting robot ultralow frequency positioning unit and the emulation of performance;
In use replace corresponding actual robot unit and can carry out debugging with emulation module, test job, described crawl device emulation module, battery cell monitoring and odometer emulation module, detection simulation module and location simulation module all are the instructions of accepting from the intelligent robot controller of reality, carry out simulation calculation, and send feedback information to the intelligent robot controller of reality according to the result that simulation calculation is handled, actual intelligent robot controller is accepted the information that every other robot cell sends, and to other unit or corresponding emulation module sending controling instruction, adopt the CAN bus to connect between each module and communicate by letter, and CAN bus interface and communication protocol thereof are identical with submarine pipeline detecting robot, any one is debugged, the submarine pipeline detecting robot unit of test can obtain when alternative corresponding simulation unit is linked into whole simulation system and the on all four environment of real system, between each emulation module also is to realize communication function with fully real physical communication circuit.
2. submarine pipeline detecting robot emulation system according to claim 1, it is characterized in that: described crawl device emulation module, can correctly respond the instructions that intelligent controller is sent, comprise: self check starts, creep forward, creep backward with command speed, stop to creep, the support wheel tensioning, loosen, can simulate various malfunctions, comprise: no response, fail self-test starts failure, can not advance, can not retreat, can't stop, support wheel can't tensioning, and support wheel can not loosen, the inchworm motor overload, support wheel tensioning motor overload.
3. submarine pipeline detecting robot emulation system according to claim 1 and 2, it is characterized in that: described crawl device emulation module, by a CAN bus driver submodule, the first repeat-back submodule, the first graphic interface submodule and crawl device functional simulation submodule constitute, wherein a CAN bus driver submodule is used to realize the CAN bus communication, the first repeat-back submodule is used to resolve to be received from the CAN bus interface, information from the intelligent controller unit, and be forwarded to crawl device functional simulation submodule, the first repeat-back submodule is made the signal of receiving from the CAN bus interface and being replied, promptly reply correct handshake, or the analogue communication failure condition is set according to the user, comprise three kinds of situations: no response fully, request repeats, and replys mess code at random; The first graphic interface submodule is used to be provided with creep performance, the failure condition of unit, the feedback information that instruction that demonstration crawl device emulation module is received and crawl device emulation module are sent, wherein performance parameter comprises instruction feedback time, the resistance of creeping, the gradient, tensioning resistance, each motor status, failure condition comprise be provided with that communication failure, fail self-test, startup fails, can not advance, can not retreat, can't be stopped, support wheel can't tensioning, support wheel can not loosen, inchworm motor transships, support wheel tensioning motor overload; The feedback information that instruction that receives from a CAN bus driver submodule and crawl device emulation module are sent all is presented on the first graphic interface submodule with text mode, and adds comment line every information back automatically; Have the kinetic model of crawl device in the crawl device functional simulation submodule, can calculate speed, the electric current of crawl device, simulate true crawl device ruuning situation and make feedback according to change in resistance, slope change situation; The first graphic interface submodule provides the user that failure condition is set by force.
4. submarine pipeline detecting robot emulation system according to claim 1, it is characterized in that: described battery cell monitoring and odometer emulation module, can correctly respond the instructions that intelligent controller is sent, comprise: self check, startup, remaining capacity report, power supply state report, mileage report, can simulate various malfunctions, comprise: no response, fail self-test, startup failure, power fail, odometer fault, abnormal electrical power supply.
5. according to claim 1 or 4 described submarine pipeline detecting robot emulation systems, it is characterized in that: described battery cell monitoring and odometer emulation module, by the 2nd CAN bus driver submodule, the second repeat-back submodule, second graphical interface submodule, battery cell monitoring and odometer functional simulation submodule constitute, wherein the 2nd CAN bus driver submodule is used to realize the CAN bus communication, the second repeat-back submodule is used to resolve to be received from the CAN bus interface, information from the intelligent controller unit, and be forwarded to battery cell monitoring and odometer functional simulation submodule, second graphical interface submodule is used to be provided with the performance of battery cell monitoring and odometer unit, failure condition, the feedback information that instruction that demonstration is received and battery cell monitoring and odometer emulation module are sent, wherein performance parameter comprises power consumption rate, remaining capacity, odometer speed, the odometer rate of skidding, rate of failing to report, failure condition comprise communication failure are set, fail self-test, start failure, to certain unit abnormal electrical power supply, odometer lost efficacy; The feedback information that instruction that receives from the 2nd CAN bus driver submodule and battery cell monitoring and odometer emulation module are sent all is presented on the submodule of second graphical interface with text mode, and adds comment line every information back automatically; Have electric quantity of power supply computation model and odometer kinetic model in battery cell monitoring and the odometer functional simulation submodule, can calculate power work situation and odometer information according to system condition, specified criteria, simulate the ruuning situation of true Power Supply Monitoring and odometer unit; Second graphical interface submodule provides the user that failure condition is set by force.
6. submarine pipeline detecting robot emulation system according to claim 1, it is characterized in that: described detection simulation module, by the 3rd CAN bus driver submodule, the 3rd repeat-back submodule, the 3rd graphic interface submodule, the measuring ability ASM constitutes, wherein the 3rd CAN bus driver submodule is used to realize the CAN bus communication, the 3rd repeat-back submodule is used to resolve to be received from the CAN bus interface, information from the intelligent controller unit, and be forwarded to the measuring ability ASM, the 3rd graphic interface submodule is used to be provided with ultrasonic and the performance Magnetic Flux Leakage Inspecting unit, failure condition, show instruction of being received and the feedback information that sends, wherein performance parameter comprises standard pipe length, loss and false drop rate, failure condition comprise communication failure are set, fail self-test, start failure, the start detection failure, find defective, find weld seam; The feedback information that instruction that receives from the 4th CAN bus driver submodule and detection simulation module are sent all is presented on the 3rd graphic interface submodule with text mode, and adds comment line every information back automatically; The measuring ability ASM is simulated ruuning situation true ultrasonic and the Magnetic Flux Leakage Inspecting unit, the signal of wherein finding defective is user's manual activation, the signal of finding weld seam is calculated by duct length and travelling speed, and the 3rd graphic interface provides user's manual activation and shielding.
7. submarine pipeline detecting robot emulation system according to claim 1, it is characterized in that: described location simulation module, by the 4th CAN bus driver submodule, the 4th repeat-back submodule, the 4th graphic interface submodule and positioning function ASM constitute, wherein the 4th CAN bus driver submodule is used to realize the CAN bus communication, the 4th repeat-back submodule is used to resolve to be received from the CAN bus interface, information from the intelligent controller unit, and be forwarded to the positioning function ASM, the 4th graphic interface submodule is used to be provided with the performance of ultralow frequency positioning unit, failure condition, show instruction of being received and the feedback information that sends, wherein performance parameter comprises signal duration; Failure condition can be provided with communication failure, fail self-test, startup failure, sends the positioning signal failure, send the distress signal failure; The feedback information that instruction that receives from the 4th CAN bus driver submodule and location simulation module are sent all is presented on the 4th graphic interface submodule with text mode, and adds comment line every information back automatically; The positioning function ASM is according to feedback information that signal duration, feedback signal was sent completely; The 4th graphic interface submodule provides the user that failure condition is set by force.
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