Acoustic release motor system and its working method

Abstract

This invention discloses an acoustic release motor system and its operating method, relating to the field of marine oil seismic exploration. The main control module of the system receives and parses external commands. If the external command is a release command, it sends a wake-up command and a release command to the release control microcontroller, and then enters a low-power operating mode. The release control microcontroller, upon receiving the wake-up command and release command, switches from the low-power operating mode to the normal operating mode in response to the wake-up command. Based on the release command, it analyzes the underwater depth parameters obtained by the depth detection module and the motor operating parameters collected by the motor status detection module to generate a drive signal. The motor drive module responds to the drive signal and controls the rotation direction of the motor. The power supply switch module controls whether to provide power to the various modules in the acoustic release motor system. This invention features a simple and reliable circuit structure, low manufacturing cost, and significantly reduces overall circuit power consumption.

Description

Technical Field

[0001] This invention relates to the field of marine oil seismic exploration, specifically to an acoustic release motor system and its operating method. Background Technology

[0002] In marine seismic exploration operations, acoustic release devices are frequently used to recover seismic exploration equipment or systems from the seabed. Common release devices include acoustic release devices and timed release devices, with release methods generally including motor rotation release, resistance wire melting release, and explosive release. Among these, motor rotation release is often the primary release method due to its flexibility and wide applicability. However, due to the complex sea conditions, it is impossible to determine the motor's rotation status, making the motor, rotating shaft, and other components of the release device's rotating mechanism easily jammed and damaged by fishing nets or other foreign objects. To detect the jamming of the release device's motor rotating shaft, a common solution is to use an analog-to-digital converter chip or a motor driver chip with current detection function in the motor drive circuit to detect the motor's current status and thus its rotation. However, both analog-to-digital converter chips and motor driver chips with current detection function suffer from high power consumption and high cost, especially for the main control unit, which has a large load. Furthermore, to promptly detect abnormal current, the detection system needs to remain constantly open, resulting in high overall power consumption for motor status detection and control. Summary of the Invention

[0003] In view of the above problems, the present invention is proposed to provide an acoustic release motor system and its operating method that overcomes or at least partially solves the above problems.

[0004] According to one aspect of the embodiments of this application, an acoustic release motor system is provided, including: a main control module, a release control microcontroller, a depth detection module, a motor status detection module, a motor drive module, a power supply switch module, and a power supply module;

[0005] The main control module is used to: receive and parse external commands sent by external devices; if the external command is a release command, it sends a wake-up command and a release command to the release control microcontroller, and then enters a low-power working mode.

[0006] The release control microcontroller is used to: when it receives a wake-up command and a release command, switch from a low-power operating mode to a normal operating mode in response to the wake-up command, and analyze underwater depth parameters and motor operating parameters according to the release command to generate corresponding drive signals;

[0007] The depth detection module is used to: acquire underwater depth parameters;

[0008] The motor status detection module is used to: collect motor operating parameters;

[0009] The motor drive module is used to: respond to drive signals and control the rotation direction of the motor;

[0010] The power supply switch module is used to control whether to provide power to the various modules in the acoustic release motor system;

[0011] The power module is used to provide electrical power to the various modules in the acoustic release motor system.

[0012] Furthermore, the release control microcontroller is further used to: detect whether the underwater depth parameters obtained by the depth detection module through the pressure port meet the preset depth requirements; if they meet the preset depth requirements, it sends a motor power supply signal to the power supply switch module through the motor power control port and sends a drive signal to the motor drive module through the control port.

[0013] The power supply switch module is further used to: respond to the motor power supply signal and provide power to the motor drive module.

[0014] Furthermore, the release control microcontroller is used to: acquire motor operating parameters collected by the motor status detection module through the motor rotation status detection port during the motor's operation, and detect whether the motor is in a stalled state based on the motor operating parameters; if the motor is in a counterclockwise stalled state, then generate a drive signal to drive the motor to rotate clockwise.

[0015] Furthermore, the release control microcontroller is further used to generate a motor stop signal if the motor is in a clockwise stall state or in a normal operating state, and then enter a low-power operating mode.

[0016] The motor drive module is further used to: respond to a motor stop signal and control the motor to stop rotating.

[0017] Furthermore, the depth detection module includes: a pressure sensor, a temperature compensation circuit, and an operational amplifier;

[0018] The temperature compensation circuit is used to counteract the negative temperature characteristics of the pressure sensor's output electrical signal.

[0019] Furthermore, the temperature compensation circuit includes: a transistor, a thermistor, and a variable resistor;

[0020] Thermistors are used to detect the ambient temperature at which the depth detection module operates; thermistors have a negative temperature coefficient.

[0021] One end of the thermistor is grounded, the other end of the thermistor is connected to the first fixed end of the rheostat, the sliding end of the rheostat is connected to the inverting input of the operational amplifier, the second fixed end of the rheostat is connected to the emitter of the transistor, the base of the transistor is connected to the output of the operational amplifier through a resistor, and the collector of the transistor is connected to the power supply through another resistor.

[0022] A capacitor is connected between the inverting input terminal and the output terminal of the operational amplifier. The output terminal of the operational amplifier is connected to the pressure port of the release control microcontroller through another capacitor.

[0023] Furthermore, the control ports of the microcontroller include: a first control port and a second control port; the motor drive module includes: a first MOSFET, a second MOSFET, a first PNP transistor, a second PNP transistor, a first capacitor, and a second capacitor;

[0024] The first control port is connected to the gate of the first MOSFET, the source of the first MOSFET is grounded, the drain of the first MOSFET is connected to the third and fourth terminals of the motor, the third and fourth terminals of the motor are also connected to the collector of the second PNP transistor, the emitter of the second PNP transistor is connected to the power supply terminal of the motor, the emitter of the second PNP transistor is also grounded through the first capacitor, and the base of the second PNP transistor is connected to the first and second terminals of the motor through a resistor.

[0025] The second control port is connected to the gate of the second MOSFET. The source of the second MOSFET is grounded. The drain of the second MOSFET is connected to the first and second terminals of the motor. The first and second terminals of the motor are also connected to the collector of the first PNP transistor. The emitter of the first PNP transistor is connected to the power supply terminal of the motor. The emitter of the first PNP transistor is also grounded through the second capacitor. The base of the first PNP transistor is connected to the third and fourth terminals of the motor through a resistor.

[0026] Furthermore, when the first control port outputs a low level and the second control port outputs a high level, the drain and source of the first MOSFET are cut off, and the drain and source of the second MOSFET are turned on. The current of the second PNP transistor flows from the emitter to the collector, and the current flows from the third and fourth terminals of the motor to the first and second terminals, driving the motor to rotate clockwise.

[0027] When the first control port outputs a high level and the second control port outputs a low level, the drain and source of the first MOSFET are turned on, and the drain and source of the second MOSFET are turned off. The current of the first PNP transistor flows from the emitter to the collector, and the current flows from the first and second terminals of the motor to the third and fourth terminals, driving the motor to rotate counterclockwise.

[0028] When the first control port outputs a low level and the second control port outputs a low level, or when the first control port outputs a high level and the second control port outputs a high level, no current flows into any of the motor's terminals, and the motor stops rotating.

[0029] Furthermore, the motor rotation status detection port of the release control microcontroller includes: a motor counterclockwise rotation status detection port and a motor clockwise rotation status detection port;

[0030] The motor status detection module includes: a third MOSFET, a fourth MOSFET, a third capacitor, and a fourth capacitor;

[0031] The counterclockwise rotation state detection port of the motor is connected to the source of the third MOSFET. The counterclockwise rotation state detection port of the motor is also connected to the power supply terminal through a resistor. The drain of the third MOSFET is grounded. The gate of the third MOSFET is connected to the source of the first MOSFET through a resistor. The gate of the third MOSFET is also connected to the positive terminal of the fourth capacitor. The negative terminal of the fourth capacitor is grounded.

[0032] The clockwise rotation state detection port of the motor is connected to the source of the fourth MOSFET. The clockwise rotation state detection port of the motor is also connected to the power supply terminal through a resistor. The drain of the fourth MOSFET is grounded. The gate of the fourth MOSFET is connected to the source of the second MOSFET through a resistor. The gate of the fourth MOSFET is also connected to the positive terminal of the third capacitor. The negative terminal of the third capacitor is grounded.

[0033] When the motor is controlled to rotate clockwise, if the motor is in normal working condition, the drain and source of the fourth MOSFET are cut off, so that the clockwise rotation state detection port of the motor is at a high level; if the motor is in a clockwise stall state, the third capacitor starts to charge. After the third capacitor is fully charged, the drain and source of the fourth MOSFET are turned on, so that the clockwise rotation state detection port of the motor is at a low level.

[0034] When the motor is controlled to rotate counterclockwise, if the motor is in normal operating condition, the drain and source of the third MOSFET are cut off, causing the counterclockwise rotation state detection port of the motor to be at a high level; if the motor is in a counterclockwise stall state, the fourth capacitor starts charging. After the fourth capacitor is fully charged, the drain and source of the third MOSFET are turned on, causing the counterclockwise rotation state detection port of the motor to be at a low level.

[0035] According to another aspect of the embodiments of this application, a method for operating an acoustic release motor system is provided, wherein the acoustic release motor system includes: a main control module, a release control microcontroller, a depth detection module, a motor status detection module, a motor drive module, a power supply switch module, and a power supply module; the operating method includes:

[0036] The main control module receives and parses external commands sent by external devices. If the external command is a release command, it sends a wake-up command and a release command to the release control microcontroller. Then the main control module enters a low-power working mode.

[0037] When the release control microcontroller receives the wake-up command and the release command, the release control microcontroller switches from the low-power working mode to the normal working mode, and according to the release command, analyzes the underwater depth parameters obtained by the depth detection module and the motor operating parameters collected by the motor status detection module, and generates the corresponding drive signal.

[0038] The motor drive module responds to drive signals to control the rotation direction of the motor.

[0039] According to the technical solution provided by this invention, the main control module and the release control microcontroller are normally in a low-power operating mode. When a relevant command or instruction is received, they switch from the low-power operating mode to the normal operating mode. After completing the corresponding processing, they return to the low-power operating mode, effectively reducing the power consumption of the main control module and the release control microcontroller. Furthermore, different targeted solutions are provided for counter-clockwise and clockwise stall states. In the counter-clockwise stall state, the drive motor rotates clockwise by a certain angle, thereby reducing the starting torque required for the next clockwise rotation. In the clockwise stall state, the motor is immediately stopped, effectively preventing further stalling and damage to components. The depth detection module conveniently ensures… The acoustic release motor operates only underwater and at a preset depth. The motor status detection and drive modules, constructed using analog components, achieve rotational status monitoring and motor drive functions at a lower cost and with lower power consumption compared to conventionally used high-power current detection and high-cost current drive chips. The standby power consumption of the motor drive module is further reduced through a depth detection module and a power supply switch module. The entire circuit structure is simple and reliable, with low manufacturing costs. The optimized release software control process significantly reduces overall circuit power consumption, effectively improving the lifespan and stability of the acoustic release in complex underwater operations, while also reducing the failure rate of the acoustic release.

[0040] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0041] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0042] Figure 1 A structural block diagram of an acoustic release motor system according to an embodiment of this application is shown;

[0043] Figure 2 A schematic diagram of the main control module's workflow in the acoustic release motor system is shown.

[0044] Figure 3 A schematic diagram of the working process of the release control microcontroller in the acoustic release motor system is shown.

[0045] Figure 4 The circuit diagram of the release control microcontroller, power supply switch module, and motor status detection module in the acoustic release motor system is shown.

[0046] Figure 5 The circuit diagram of the depth detection module in the acoustic release motor system is shown;

[0047] Figure 6 The circuit diagram of the power supply switch module in the acoustic release motor system is shown;

[0048] Figure 7 A schematic flowchart illustrating the operation of an acoustic release motor system according to an embodiment of this application is shown. Detailed Implementation

[0049] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0050] Figure 1 A structural block diagram of an acoustic release motor system according to an embodiment of this application is shown, as follows: Figure 1 As shown, the system includes: a main control module 110, a release control microcontroller 120, a depth detection module 130, a motor status detection module 140, a motor drive module 150, a power supply switch module 160, and a power supply module 170.

[0051] The main control module 110 is used to: receive and parse external commands sent by external devices; if the external command is a release command, it sends a wake-up command and a release command to the release control microcontroller 120, and then enters a low-power operating mode. The release control microcontroller 120 is used to: upon receiving the wake-up command and the release command, switch from the low-power operating mode to the normal operating mode in response to the wake-up command, and analyze the underwater depth parameters and motor operating parameters according to the release command to generate corresponding drive signals. The depth detection module 130 is used to: acquire underwater depth parameters. The motor status detection module 140 is used to: collect motor operating parameters. The motor drive module 150 is used to: respond to the drive signal and control the rotation direction of the motor 180. The power supply switch module 160 is used to: control whether to provide power to the various modules in the acoustic release motor system. The power supply module 170 is used to: provide power to the various modules in the acoustic release motor system.

[0052] External devices can be host computers or similar equipment. Figure 2 A schematic diagram illustrating the workflow of the main control module in the acoustic releaser motor system is shown, such as... Figure 2 As shown, the method includes the following steps:

[0053] Step S201: Power-on initialization.

[0054] Step S202: Function monitoring is enabled, and the system enters low-power operating mode.

[0055] After the main control module completes power-on initialization, it activates the function monitor and enters a low-power operating mode to reduce power consumption. The low-power operating mode refers to a mode where power consumption is lower than that of the normal operating mode. Specifically, the low-power operating mode can be a low-power standby mode.

[0056] Step S203: Determine whether an external command sent by the host computer has been received; if yes, proceed to step S204; if no, continue to step S202.

[0057] The main control module determines in real time whether it receives an external command sent by the host computer. If an external command is received, it executes step S204; if no external command is received, it continues to execute step S202.

[0058] Step S204: Parse the command type of the external command and determine whether the external command is a release command based on the command type; if so, proceed to step S205.

[0059] Upon receiving an external command from the host computer, the command type of the external command is parsed. The command parameters in the external command can reflect its command type, which may include release commands, unlock commands, status query commands, data upload commands, setting commands, etc. This embodiment primarily focuses on release commands. If the command type indicates that the external command is a release command, step S205 is executed; if the command type indicates that the external command is another command besides a release command, it is processed according to the corresponding command processing method in the prior art, which will not be elaborated here.

[0060] Step S205: Send wake-up command and release command to release control microcontroller.

[0061] When the external command is a release command, the main control module sends a wake-up command and a release command to the release control microcontroller.

[0062] Step S206: Enter low-power operating mode.

[0063] After the wake-up and release commands are sent, the main control module can immediately enter a low-power operating mode to minimize power consumption.

[0064] like Figure 1 As shown, the release control microcontroller 120 is communicatively connected to the main control module 110. The release control microcontroller 120 is used to generate drive signals according to the instructions of the main control module 110. Specifically, when it receives a wake-up command and a release command, the release control microcontroller 120 responds to the wake-up command by switching from a low-power operating mode to a normal operating mode, and analyzes the underwater depth parameters and motor operating parameters according to the release command to generate the corresponding drive signals.

[0065] To effectively reduce power consumption, the release control microcontroller 120 can normally operate in a low-power mode. When it receives a wake-up command and a release command, it will respond to the wake-up command and switch from the low-power mode to the normal operating mode.

[0066] The release control microcontroller 120 is further used to: detect whether the underwater depth parameters obtained by the depth detection module 130 meet the preset depth requirements through the pressure port; if they meet the preset depth requirements, it sends a motor power supply signal to the power supply switch module 160 through the motor power control port and a drive signal to the motor drive module 150 through the control port. Then, the power supply switch module 160 responds to the motor power supply signal and provides power to the motor drive module 150.

[0067] The release control microcontroller 120 is further used to: acquire motor operating parameters collected by the motor status detection module 140 through the motor rotation status detection port during the motor's operation, and detect whether the motor is in a stalled state based on the motor operating parameters; if the motor is in a counterclockwise stalled state, generate a drive signal to drive the motor to rotate clockwise.

[0068] The release control microcontroller 120 is further configured to: generate a motor stop signal if the motor is in a clockwise stall state or in a normal operating state, and then enter a low-power operating mode. The motor drive module 150 then responds to the motor stop signal and controls the motor to stop rotating.

[0069] Figure 3 A schematic diagram illustrating the workflow of the release control microcontroller in the acoustic releaser motor system is shown, such as... Figure 3 As shown, the method includes the following steps:

[0070] Step S301: Power-on initialization.

[0071] Step S302: Function monitoring is enabled, entering low-power operating mode.

[0072] After the microcontroller completes power-on initialization, the function monitor is enabled, and the system enters a low-power operating mode to reduce power consumption.

[0073] Step S303: Determine whether a wake-up command and a release command have been received; if yes, proceed to step S304; if no, continue to step S302.

[0074] The release control microcontroller determines in real time whether it has received a wake-up command and a release command. If it has received a wake-up command and a release command, it executes step S304; if it has not received them, it continues to execute step S302.

[0075] Step S304: Determine whether the underwater depth parameters meet the preset depth requirements; if yes, proceed to step S305; if no, keep the motor drive module powered off, consider the release command as noise, and continue to proceed to step S302.

[0076] This application also sets preset depth requirements, such as an underwater depth parameter greater than a preset depth. These preset depth requirements ensure that the acoustic release motor operates only underwater and within the preset depth limits.

[0077] Step S305: Send a motor power supply signal to the power supply switch module and a drive signal to the motor drive module to drive the motor.

[0078] When the underwater depth parameters meet the preset depth requirements, the release control microcontroller sends a motor power supply signal to the power supply switch module, so that the power supply switch module can respond to the motor power supply signal and provide power to the motor drive module; and sends a drive signal to the motor drive module, thereby driving the motor to perform the corresponding actions.

[0079] Step S306: During the motor's operation, detect whether the motor is in a stalled state; if yes, proceed to step S307; if no, proceed to step S309.

[0080] Due to the complex sea conditions, motors are easily blocked by fishing nets or other foreign objects. Blockage refers to the state where the motor rotor is jammed by external force and cannot rotate normally. Although the motor receives power, its speed is zero. If this continues for too long, it can lead to overheating or even burnout. Based on the direction the motor attempts to rotate, the blockage state can be further subdivided into clockwise and counterclockwise blockage states. Clockwise blockage means the rotor is jammed and cannot rotate when the motor attempts to rotate clockwise; counterclockwise blockage means the rotor is jammed and cannot rotate when the motor attempts to rotate counterclockwise.

[0081] Step S307: Determine whether the engine is in a clockwise stall state; if yes, proceed to step S309; ​​if no, proceed to step S308.

[0082] Step S308: Generate a drive signal for driving clockwise rotation.

[0083] In step S309, a motor stop signal is generated, and then the system enters a low-power operating mode.

[0084] Figure 4 The circuit diagram of the release control microcontroller, power supply switch module, and motor status detection module in the acoustic release motor system is shown, as follows: Figure 4 As shown, the release control microcontroller can use an MSP430 series microcontroller as the control chip, that is... Figure 4The U3 microcontroller in the CPU1 and CPU2 ports is normally in low-power mode. Upon receiving wake-up and release commands from the main control module via CPU1 and CPU2 ports, the microcontroller switches from low-power mode to normal operation in response to the wake-up command. It analyzes the command type of the release command, which indicates the required rotation direction of the motor. Analyzing the command type determines whether the command requires clockwise or counter-clockwise rotation. Simultaneously, the microcontroller checks the underwater depth parameters obtained by the depth detection module via the PRESSURE port (pressure port) to see if they meet the preset depth requirements. If they do, it sends a motor power supply signal to the power supply switch module via the MOTOR_Power_Ctr port (motor power control port), thereby controlling the power supply switch module to restore power to the motor drive module. Then, the microcontroller drives the motor to perform the corresponding actions via CTRL1 and CTRL2 ports. The control ports of the microcontroller include a first control port and a second control port. The first control port can specifically be... Figure 4 The CTRL1 port in the middle, the second control port can specifically be... Figure 4 The CTRL2 port is used. If the preset depth requirement is not met, the motor drive module remains powered off, and the release control microcontroller considers the release command as noise and does not process it. For example, when the depth detection module detects that the release device is in a non-underwater state such as on a deck or in a warehouse, the release control microcontroller controls the power supply switch module to shut off the power supply to the motor drive module, thereby further reducing the standby power consumption of the motor drive module through the depth detection module and the power supply switch module.

[0085] The motor rotation status detection ports of the release control microcontroller include: a motor counterclockwise rotation status detection port and a motor clockwise rotation status detection port. Specifically, the motor counterclockwise rotation status detection port can be... Figure 4 The REVERSE_STOP port in the middle, the motor clockwise rotation status detection port, can specifically be... Figure 4The FORWARD_STOP port is used in the microcontroller. During motor operation, the release control microcontroller monitors the motor's stall status in real time via the FORWARD_STOP and REVERSE_STOP ports. If the stall is counter-clockwise, it indicates that the release device is loading the release component, and the component is in place. In this case, the motor needs to be driven to rotate 360° clockwise. A drive signal is generated to drive the 360° clockwise rotation, thus reducing the starting torque required for the next clockwise rotation. If the stall is clockwise, it indicates that the release device is stuck by a foreign object such as a fishing net during release. In this case, the motor should be stopped immediately. A motor stop signal is generated so that the motor drive module responds and stops the motor to prevent further damage. Then, the release control microcontroller enters a low-power operating mode.

[0086] In this application, the depth detection module includes: a pressure sensor, a temperature compensation circuit, and an operational amplifier; the temperature compensation circuit is used to: cancel the negative temperature characteristics of the pressure sensor output electrical signal. Figure 5 The circuit diagram of the depth detection module in the acoustic releaser motor system is shown, such as... Figure 5 As shown, to ensure the accuracy of depth detection and avoid drift due to a negative temperature coefficient in the output signal of pressure sensor U1, a temperature compensation circuit is incorporated into the depth detection module. This circuit includes a transistor Q9, a thermistor RT, and a variable resistor RPot. The thermistor RT is used to detect the ambient temperature at which the depth detection module operates. The thermistor RT exhibits a negative temperature coefficient.

[0087] One end of the thermistor RT is grounded, and the other end of the thermistor RT is connected to the first fixed end of the variable resistor RPot. The sliding end of the variable resistor RPot is connected to the inverting input of the operational amplifier U2. The second fixed end of the variable resistor RPot is connected to the emitter of the transistor Q9. The base of the transistor Q9 is connected to the output terminal (pin 6) of the operational amplifier U2 through resistor R17. The collector of the transistor Q9 is connected to the power supply terminal (VCC of 3.3V) through another resistor R18. A capacitor C9 is connected between the inverting input terminal and the output terminal of the operational amplifier U2. The output terminal of the operational amplifier U2 is connected to the pressure port (PRESSURE port) of the release control microcontroller through another capacitor C10.

[0088] When the ambient temperature rises, the resistance of the thermistor RT decreases, which reduces the voltage at the inverting input of operational amplifier U2, thus increasing the output of operational amplifier U2. When the ambient temperature falls, the resistance of the thermistor RT increases, which increases the voltage at the inverting input of operational amplifier U2, thus decreasing the output of operational amplifier U2. This counteracts the negative temperature characteristic of the output electrical signal of pressure sensor U1.

[0089] Figure 6 The circuit diagram of the power supply switch module in the acoustic release motor system is shown, such as... Figure 6 As shown, the MOTOR_Power_Ctr port of the release control microcontroller is connected to the gate of MOSFET Q7 through resistor R13. Resistor R14 pulls the gate of MOSFET Q7 to ground, and the source of MOSFET Q7 is connected to DVSS, where DVSS represents the ground of the digital section in the circuit. When the MOTOR_Power_Ctr port outputs a high level, the gate of MOSFET Q8 is pulled low, and the drain and source of MOSFET Q8 are turned on, so that 12V is connected to the motor power supply terminal (i.e., the MOTOR_VCC terminal), thereby controlling the power supply switch module to restore the power supply to the motor drive module.

[0090] When the MOTOR_Power_Ctr port outputs a low level, the gate of MOSFET Q8 is pulled high, and the drain and source of MOSFET Q8 are disconnected, causing 12V to be disconnected from the MOTOR_VCC terminal, thereby controlling the power supply switch module to shut off the power supply to the motor drive module.

[0091] In this embodiment, the motor drive module includes: a first MOSFET, a second MOSFET, a first PNP transistor, a second PNP transistor, a first capacitor, and a second capacitor. The motor status detection module includes: a third MOSFET, a fourth MOSFET, a third capacitor, and a fourth capacitor.

[0092] Figure 4 The lower half of the circuit contains the power supply switch module and the motor status detection module, such as... Figure 4 As shown, the first MOSFET is Q1, the second MOSFET is Q2, the first PNP transistor is Q5, the second PNP transistor is Q6, the first capacitor is C8, the second capacitor is C7, the third MOSFET is Q3, the fourth MOSFET is Q4, the third capacitor is C3, and the fourth capacitor is C4.

[0093] The first control port (i.e., CTRL1 port) is connected to the gate of the first MOSFET Q1, and the source of the first MOSFET Q1 is grounded. Specifically, resistor R11 pulls the source of the first MOSFET Q1 down to ground; the drain of the first MOSFET Q1 is connected to the motor (i.e., Figure 4The third terminal (pin 3) and the fourth terminal (pin 4) of the motor are connected to the motor. The third and fourth terminals of the motor are also connected to the collector of the second PNP transistor Q6. The emitter of the second PNP transistor Q6 is connected to the motor power supply terminal (i.e., the MOTOR_VCC terminal). The emitter of the second PNP transistor Q6 is also grounded through the first capacitor C8. The base of the second PNP transistor Q6 is connected to the first terminal (pin 1) and the second terminal (pin 2) of the motor through the resistor R10.

[0094] The second control port (i.e., CTRL2 port) is connected to the gate of the second MOSFET Q2. The source of the second MOSFET Q2 is grounded. Specifically, resistor R6 pulls the source of the second MOSFET Q2 down to ground. The drain of the second MOSFET Q2 is connected to the first and second terminals of the motor. The first and second terminals of the motor are also connected to the collector of the first PNP transistor Q5. The emitter of the first PNP transistor Q5 is connected to the power supply terminal of the motor. The emitter of the first PNP transistor Q5 is also grounded through the second capacitor C7. The base of the first PNP transistor Q5 is connected to the third and fourth terminals of the motor through resistor R9.

[0095] When the first control port outputs a low level and the second control port outputs a high level, the drain and source of the first MOSFET Q1 are cut off, and the drain and source of the second MOSFET Q2 are turned on. The current of the second PNP transistor Q6 flows from the emitter to the collector, and the current flows from the third and fourth terminals of the motor to the first and second terminals. The current can flow from the drain of the second MOSFET Q2 to the source, and then flow into DVSS through resistor R6, thereby driving the motor to rotate clockwise.

[0096] When the first control port outputs a high level and the second control port outputs a low level, the drain and source of the first MOSFET Q1 are turned on, and the drain and source of the second MOSFET Q2 are turned off. The current of the first PNP transistor Q5 flows from the emitter to the collector. The current flows from the first and second terminals of the motor to the third and fourth terminals. The current can flow from the drain of the first MOSFET Q1 to the source, and then flow into DVSS through resistor R11, thereby driving the motor to rotate counterclockwise.

[0097] When both the first and second control ports output a low level, or when both output a high level, no current flows into the motor, and the motor stops rotating. In other words, when the first and second control ports output the same level, the first MOSFET Q1 and the second MOSFET Q2 are simultaneously turned on or off, resulting in no current flowing between pins 1 and 2 and between pins 3 and 4 of the motor, thus stopping the motor.

[0098] like Figure 4 As shown, the motor counterclockwise rotation state detection port (i.e., the REVERSE_STOP port) is connected to the source of the third MOSFET Q3. The motor counterclockwise rotation state detection port is also connected to the power supply terminal (i.e., 3.3V VCC) through resistor R3. The drain of the third MOSFET Q3 is grounded. The gate of the third MOSFET Q3 is connected to the source of the first MOSFET Q1 through resistor R5. The gate of the third MOSFET Q3 is also connected to the positive terminal of the fourth capacitor C4. The negative terminal of the fourth capacitor C4 is grounded.

[0099] The clockwise rotation status detection port of the motor (i.e., the FORWARD_STOP port) is connected to the source of the fourth MOSFET Q4. The clockwise rotation status detection port of the motor is also connected to the power supply terminal through resistor R2. The drain of the fourth MOSFET Q4 is grounded. The gate of the fourth MOSFET Q4 is connected to the source of the second MOSFET Q2 through resistor R4. The gate of the fourth MOSFET Q4 is also connected to the positive terminal of the third capacitor C3. The negative terminal of the third capacitor C3 is grounded.

[0100] When the motor is controlled to rotate clockwise, if the motor is in normal operating condition, the current flowing from the drain to the source in the second MOSFET Q2 can flow normally into DVSS through resistor R6. The drain and source of the fourth MOSFET Q4 are cut off, causing the clockwise rotation detection port of the motor to be pulled high by resistor R2, reaching a high level of 3.3V. If the motor is in a clockwise stalled state, due to excessive current, the third capacitor C3 begins to charge. After the third capacitor C3 is fully charged, the voltage across the third capacitor C3 is 12V. The drain and source of the fourth MOSFET Q4 are turned on, and the source is pulled low to a low level of 0V by the drain, thus causing the clockwise rotation detection port of the motor to be at a low level. In this case, the release control microcontroller can stop the motor by giving the CTRL1 and CTRL2 ports the same level, thereby effectively preventing the motor from continuing to stall and causing damage to components.

[0101] When the motor is controlled to rotate counterclockwise, if the motor is in normal operating condition, the current flowing from the drain to the source in the first MOSFET Q1 can flow normally into DVSS through resistor R11. The drain and source of the third MOSFET Q3 are cut off, causing the counterclockwise rotation detection port to be pulled high by resistor R3, reaching a high level of 3.3V. If the motor is in a counterclockwise stalled state, due to excessive current, the fourth capacitor C4 begins to charge. After the fourth capacitor C4 is fully charged, the voltage across the fourth capacitor C4 is 12V. The drain and source of the third MOSFET Q3 are turned on, and the source is pulled low to a low level of 0V by the drain, thus causing the counterclockwise rotation detection port to be at a low level. In this case, the release control microcontroller can stop the motor by giving the CTRL1 and CTRL2 ports the same level, effectively preventing the motor from continuing to stall and causing damage to components. Then, the motor is driven to rotate 360° clockwise, reducing the starting torque required for the next clockwise rotation.

[0102] According to the acoustic release motor system provided in this application embodiment, the main control module and the release control microcontroller are normally in a low-power operating mode. When a relevant command or instruction is received, they switch from the low-power operating mode to the normal operating mode. After completing the corresponding processing, they enter the low-power operating mode again, effectively reducing the power consumption of the main control module and the release control microcontroller. Furthermore, different targeted solutions are set for counter-clockwise and clockwise stall states. In the counter-clockwise stall state, the drive motor rotates clockwise by a certain angle, thereby reducing the starting torque required for the next clockwise rotation. In the clockwise stall state, the motor is immediately stopped, effectively preventing the motor from continuing to stall and causing damage to components. The depth detection module... This solution ensures that the acoustic release motor operates only underwater and at a preset depth. The motor status detection and drive modules, built using analog components, achieve rotational status monitoring and motor drive functions at a lower cost and with lower power consumption compared to conventionally used high-power current detection and high-cost current drive chips. The depth detection module and power supply switch module further reduce the standby power consumption of the motor drive module. The entire circuit structure is simple and reliable, with low manufacturing costs. The optimized release software control process significantly reduces overall circuit power consumption, effectively improving the lifespan and stability of the acoustic release in complex underwater operations, while also reducing the failure rate of the acoustic release.

[0103] Figure 7 A flowchart illustrating the operation of an acoustic release motor system according to an embodiment of this application is shown. The acoustic release motor system includes: a main control module, a release control microcontroller, a depth detection module, a motor status detection module, a motor drive module, a power supply switch module, and a power supply module. Figure 7 As shown, the method includes the following steps:

[0104] In step S701, the main control module receives and parses the external command sent by the external device. If the external command is a release command, a wake-up command and a release command are sent to the release control microcontroller. Then the main control module enters a low-power working mode.

[0105] In step S702, when the release control microcontroller receives the wake-up command and the release command, the release control microcontroller switches from the low-power working mode to the normal working mode, and according to the release command, analyzes the underwater depth parameters obtained by the depth detection module and the motor operating parameters collected by the motor status detection module, and generates the corresponding drive signal.

[0106] In step S703, the motor drive module responds to the drive signal and controls the rotation direction of the motor.

[0107] Optionally, the release control microcontroller detects whether the underwater depth parameters obtained by the depth detection module meet the preset depth requirements via the pressure port. If they do, it sends a motor power supply signal to the power supply switch module via the motor power control port and a drive signal to the motor drive module via the control port. The power supply switch module responds to the motor power supply signal, providing power to the motor drive module.

[0108] Optionally, during the motor's operation, the release control microcontroller obtains the motor operating parameters collected by the motor status detection module through the motor rotation status detection port, and detects whether the motor is in a stalled state based on the motor operating parameters; if the motor is in a counterclockwise stalled state, a drive signal is generated to drive the motor to rotate clockwise.

[0109] Optionally, if the motor is in a clockwise stall state or in a normal operating state, the release control microcontroller generates a motor stop signal and then enters a low-power operating mode. The motor drive module responds to the motor stop signal to control the motor to stop rotating.

[0110] According to the working method of the acoustic release motor system provided in this application embodiment, the main control module and the release control microcontroller are normally in a low-power working mode. When a relevant command or instruction is received, the main control module switches from the low-power working mode to the normal working mode. After completing the corresponding processing, the main control module and the release control microcontroller enter the low-power working mode, effectively reducing the power consumption of the main control module and the release control microcontroller. Furthermore, different targeted solutions are set for counterclockwise and clockwise stall states. In the counterclockwise stall state, the drive motor rotates clockwise by a certain angle, thereby reducing the starting torque required for the next clockwise rotation. In the clockwise stall state, the motor is immediately stopped, thereby effectively preventing the motor from continuing to stall and causing damage to components. The depth detection module conveniently ensures that the acoustic release motor performs actions only underwater and under preset depth requirements. The depth detection module and the power supply switch module further reduce the standby power consumption of the motor drive module. This solution optimizes the release software control process, greatly reduces the overall circuit power consumption, effectively improves the service life and stability of the acoustic release in complex underwater operations, and reduces the failure rate of the acoustic release.

[0111] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, this invention is not directed to any particular programming language. It should be understood that the contents of the invention described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of the invention.

[0112] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0113] Similarly, it should be understood that, in order to streamline this disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, this method of disclosure should not be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the claims, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0114] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0115] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0116] The various component embodiments of the present invention can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some or all of the components according to the embodiments of the present invention. The present invention can also be implemented as a device or apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such programs implementing the present invention can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0117] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

Claims

1. An acoustic release motor system, characterized in that, include: The main control module, release control microcontroller, depth detection module, motor status detection module, motor drive module, power supply switch module, and power supply module; The main control module is used to: receive and parse external commands sent by external devices; if the external command is a release command, send a wake-up command and a release command to the release control microcontroller, and then enter a low-power working mode. The release control microcontroller is used to: when receiving the wake-up command and the release command, in response to the wake-up command, switch from a low-power working mode to a normal working mode, and according to the release command, analyze the underwater depth parameters and motor operating parameters to generate corresponding drive signals; The depth detection module is used to: acquire underwater depth parameters; The motor status detection module is used to: collect motor operating parameters; The motor drive module is used to: respond to the drive signal and control the rotation direction of the motor; The power supply switch module is used to control whether to provide power to each module in the acoustic release motor system; The power module is used to: provide electrical energy to each module in the acoustic release motor system; The release control microcontroller is further configured to: acquire the motor operating parameters collected by the motor state detection module through the motor rotation state detection port during the motor's operation; detect whether the motor is in a stalled state based on the motor operating parameters; if the motor is in a counterclockwise stalled state, generate a drive signal to drive the motor to rotate clockwise; if the motor is in a clockwise stalled state or in a normal operating state, generate a motor stop signal and then enter a low-power operating mode. The motor drive module is further configured to: respond to the motor stop signal and control the motor to stop rotating.

2. The acoustic release motor system according to claim 1, characterized in that, The release control microcontroller is further configured to: detect whether the underwater depth parameters obtained by the depth detection module meet the preset depth requirements through the pressure port; if they meet the preset depth requirements, send a motor power supply signal to the power supply switch module through the motor power control port, and send a drive signal to the motor drive module through the control port; The power supply switch module is further configured to: respond to the motor power supply signal and provide power to the motor drive module.

3. The acoustic release motor system according to claim 1, characterized in that, The depth detection module includes: a pressure sensor, a temperature compensation circuit, and an operational amplifier; The temperature compensation circuit is used to counteract the negative temperature characteristics of the electrical signal output by the pressure sensor.

4. The acoustic release motor system according to claim 3, characterized in that, The temperature compensation circuit includes: a transistor, a thermistor, and a variable resistor; The thermistor is used to detect the ambient temperature at which the depth detection module operates; the thermistor has a negative temperature coefficient. In this configuration, one end of the thermistor is grounded, the other end of the thermistor is connected to the first fixed end of the variable resistor, the sliding end of the variable resistor is connected to the inverting input end of the operational amplifier, the second fixed end of the variable resistor is connected to the emitter of the transistor, the base of the transistor is connected to the output end of the operational amplifier through a resistor, and the collector of the transistor is connected to the power supply end through another resistor. A capacitor is connected between the inverting input terminal and the output terminal of the operational amplifier, and the output terminal of the operational amplifier is connected to the pressure port of the release control microcontroller through another capacitor.

5. The acoustic release motor system according to claim 1, characterized in that, The control ports of the release control microcontroller include: a first control port and a second control port; the motor drive module includes: a first MOSFET, a second MOSFET, a first PNP transistor, a second PNP transistor, a first capacitor, and a second capacitor; Wherein, the first control port is connected to the gate of the first MOS transistor, the source of the first MOS transistor is grounded, the drain of the first MOS transistor is connected to the third and fourth terminals of the motor, the third and fourth terminals of the motor are also connected to the collector of the second PNP transistor, the emitter of the second PNP transistor is connected to the power supply terminal of the motor, the emitter of the second PNP transistor is also grounded through the first capacitor, and the base of the second PNP transistor is connected to the first and second terminals of the motor through a resistor; The second control port is connected to the gate of the second MOS transistor, the source of the second MOS transistor is grounded, the drain of the second MOS transistor is connected to the first and second terminals of the motor, the first and second terminals of the motor are also connected to the collector of the first PNP transistor, the emitter of the first PNP transistor is connected to the power supply terminal of the motor, the emitter of the first PNP transistor is also grounded through the second capacitor, and the base of the first PNP transistor is connected to the third and fourth terminals of the motor through a resistor.

6. The acoustic release motor system according to claim 5, characterized in that, When the first control port outputs a low level and the second control port outputs a high level, the drain and source of the first MOS transistor are cut off, and the drain and source of the second MOS transistor are turned on. The current of the second PNP transistor flows from the emitter to the collector, and the current flows from the third and fourth terminals of the motor to the first and second terminals, driving the motor to rotate clockwise. When the first control port outputs a high level and the second control port outputs a low level, the drain and source of the first MOS transistor are turned on, and the drain and source of the second MOS transistor are turned off. The current of the first PNP transistor flows from the emitter to the collector, and the current flows from the first and second terminals of the motor to the third and fourth terminals, driving the motor to rotate counterclockwise. When the first control port outputs a low level and the second control port outputs a low level, or when the first control port outputs a high level and the second control port outputs a high level, no current flows into any of the terminals of the motor, and the motor stops rotating.

7. The acoustic release motor system according to claim 5 or 6, characterized in that, The motor rotation status detection port of the release control microcontroller includes: a motor counterclockwise rotation status detection port and a motor clockwise rotation status detection port; The motor status detection module includes: a third MOSFET, a fourth MOSFET, a third capacitor, and a fourth capacitor; The counterclockwise rotation state detection port of the motor is connected to the source of the third MOS transistor. The counterclockwise rotation state detection port of the motor is also connected to the power supply terminal through a resistor. The drain of the third MOS transistor is grounded. The gate of the third MOS transistor is connected to the source of the first MOS transistor through a resistor. The gate of the third MOS transistor is also connected to the positive terminal of the fourth capacitor. The negative terminal of the fourth capacitor is grounded. The clockwise rotation state detection port of the motor is connected to the source of the fourth MOS transistor. The clockwise rotation state detection port of the motor is also connected to the power supply terminal through a resistor. The drain of the fourth MOS transistor is grounded. The gate of the fourth MOS transistor is connected to the source of the second MOS transistor through a resistor. The gate of the fourth MOS transistor is also connected to the positive terminal of the third capacitor. The negative terminal of the third capacitor is grounded. When the motor is controlled to rotate clockwise, if the motor is in normal operating condition, the drain and source of the fourth MOSFET are cut off, so that the clockwise rotation state detection port of the motor is at a high level; if the motor is in a clockwise stall state, the third capacitor starts charging. After the third capacitor is fully charged, the drain and source of the fourth MOSFET are turned on, so that the clockwise rotation state detection port of the motor is at a low level. When the motor is controlled to rotate counterclockwise, if the motor is in normal operating condition, the drain and source of the third MOSFET are cut off, causing the counterclockwise rotation state detection port of the motor to be at a high level; if the motor is in a counterclockwise stall state, the fourth capacitor starts charging. After the fourth capacitor is fully charged, the drain and source of the third MOSFET are turned on, causing the counterclockwise rotation state detection port of the motor to be at a low level.

8. A method of operating the acoustic release motor system as described in any one of claims 1-7, characterized in that, The acoustic release motor system includes: a main control module, a release control microcontroller, a depth detection module, a motor status detection module, a motor drive module, a power supply switch module, and a power supply module; the working method includes: The main control module receives and parses external commands sent by external devices. If the external command is a release command, it sends a wake-up command and a release command to the release control microcontroller. Then, the main control module enters a low-power working mode. When the release control microcontroller receives the wake-up command and the release command, the release control microcontroller switches from the low-power working mode to the normal working mode, and according to the release command, analyzes the underwater depth parameters obtained by the depth detection module and the motor operating parameters collected by the motor status detection module, and generates the corresponding drive signal. The motor drive module responds to the drive signal to control the rotation direction of the motor; The method further includes: During the motor's operation, the release control microcontroller acquires the motor operating parameters collected by the motor status detection module through the motor rotation status detection port, and detects whether the motor is in a stalled state based on the motor operating parameters. If the motor is in a counterclockwise stalled state, a drive signal is generated to drive the motor to rotate clockwise. If the motor is in a clockwise stalled state or in a normal operating state, the release control microcontroller generates a motor stop signal and then enters a low-power operating mode. The motor drive module responds to the motor stop signal and controls the motor to stop rotating.

Images