A throwing-type buoyancy adjustment device and adjustment method based on redundant power supply

Abstract

An embodiment of the present invention discloses a throw-away type buoyancy adjustment device and an adjustment method based on redundant power supply. The device includes a main power supply module, a backup power supply module, a power supply switching and adjustment module, a control module, an isolation circuit module, an electromagnetic execution module, and a throw-away object electromagnetically connected to the electromagnetic execution module. Among them, the main power supply module and the backup power supply module are respectively electrically connected to the power supply switching and adjustment module, and after adjusting the electrical parameters through the power supply switching and adjustment module, the main power supply module or the backup power supply module is selected as the power supply end for power supply; the control module controls the on / off state of the isolation circuit module to control the electromagnetic execution module to adsorb or throw away the throw-away object. It realizes the effects of safety, reliability, and still ensuring effective and timely throwing-away in case of power failure and other faults.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of underwater jettisoning devices, and in particular to a jettisoning buoyancy regulating device based on redundant power supply and a regulating method. Background Art

[0002] The ocean is becoming a field that attracts human attention. Due to the complexity of the environment, the collection of ocean data and the detection of the ocean environment are increasingly dependent on autonomous underwater vehicles. When encountering complex and dangerous situations or when there are mission requirements, it is a key issue that must be solved to make the autonomous underwater vehicle float safely and reliably. In actual engineering applications, hydraulic transmission mechanical methods are generally used for dumping. However, due to the complex structure of the hydraulic transmission dumping method, it often has a large load. On this basis, it is generally necessary to dump some devices that the aircraft itself carries, such as battery packs, etc., and dumping battery packs will increase costs. The conventional electric dumping method is greatly affected by the power supply equipment, especially when there is a sudden or emergency state, it is impossible to dump the load in time, resulting in an increase in the potential danger of the aircraft. Therefore, providing a safe and reliable device and method that can still ensure effective and timely dumping in the event of power failure is an urgent problem to be solved by the present invention. Summary of the invention

[0003] To this end, an embodiment of the present invention provides a load-shedding buoyancy adjustment device and an adjustment method based on redundant power supply. Through the coordinated cooperation of a redundantly arranged main power supply module and a backup power supply module, it is ensured that load shedding can still be effectively achieved when a power failure occurs in the main power supply module. In addition, based on the introduction of a power switching adjustment module and an isolation circuit module, electrical parameters are adjusted, and the on-off circuit can be specifically controlled based on actual conditions, thereby ensuring the reliability of load shedding and increasing the overall safety performance.

[0004] In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:

[0005] In one aspect of an embodiment of the present invention, a jettisoning buoyancy regulating device based on redundant power supply is provided, comprising a main power supply module, a backup power supply module, a power switching regulating module, a control module, an isolation circuit module, an electromagnetic execution module, and a jettisoning object electromagnetically connected to the electromagnetic execution module; wherein,

[0006] The main power supply module and the backup power supply module are each electrically connected to the power supply switching adjustment module, and the power supply switching adjustment module selects the main power supply module or the backup power supply module as the power supply end, and supplies power after adjusting the electrical parameters;

[0007] The control module controls the adsorption or throwing of the thrown object by the electromagnetic execution module by controlling the on-off of the isolation circuit module.

[0008] As a preferred embodiment of the present invention, the power supply switching and regulating module includes a relay unit and a voltage conversion unit that are sequentially electrically connected from the main power supply module and the backup power supply module;

[0009] The relay unit is used to select the power supply of the main power supply module or the backup power supply module;

[0010] The voltage conversion unit is used to regulate the output voltages of the main power supply module and the backup power supply module.

[0011] As a preferred embodiment of the present invention, the relay unit includes a triode, a first relay, and a diode, and the voltage conversion unit includes a voltage conversion circuit; and,

[0012] The collector of the triode is electrically connected to the first branches of the main power supply module and the backup power supply module respectively, the base of the triode is electrically connected to the second branches of the main power supply module and the backup power supply module respectively, and the emitter of the triode is connected to the first relay and supplies power to the first relay;

[0013] The positive and negative poles of the first relay are connected through the diode;

[0014] The main power supply module is electrically connected to the normally open contact of the first relay, and the backup power supply module is electrically connected to the normally closed contact of the first relay.

[0015] As a preferred embodiment of the present invention, a voltage stabilizing unit is further provided on the main power supply module, and the voltage stabilizing unit is used to drive the main power supply module to be attracted to the first relay when the main power supply module supplies power, so that the main power supply module is turned on and self-locked.

[0016] As a preferred embodiment of the present invention, the electrical parameters of the main power supply module and / or the backup power supply module regulated by the power supply switching and regulating module are voltages, and the regulated voltage value is not greater than 6V;

[0017] And the output voltage of the regulated main power supply module is the same as the output voltage of the backup power supply module, or the error value is not greater than 0.5V.

[0018] As a preferred embodiment of the present invention, the isolation circuit module includes multiple groups of driving and optocoupler isolation units, the electromagnetic execution module correspondingly forms multiple electromagnetic execution units, and each electromagnetic execution unit is respectively connected with the thrown object;

[0019] Each of the driving and opto - coupler isolation units is electrically connected to one of the electromagnetic execution units;

[0020] The control module controls each group of the driving and opto - coupler isolation units respectively.

[0021] As a preferred embodiment of the present invention, the electromagnetic execution module is a power - off type electromagnet fixedly arranged, and the payload is magnetically attracted to the power - off type electromagnet.

[0022] As a preferred embodiment of the present invention, it further includes a backup payload circuit, and the backup power supply module is electrically connected to at least part of the electromagnetic execution modules through the backup payload module.

[0023] As a preferred embodiment of the present invention, the backup payload circuit at least includes a second relay. After adjusting the electrical parameters, the output end of the backup power supply module is electrically connected to the second relay for power supply;

[0024] The backup power supply module is switchably connected to the power supply switching and adjusting module and the backup payload circuit through a switching circuit.

[0025] As a preferred embodiment of the present invention, the payload at least includes a load block and a sleeve enclosing the load block.

[0026] In another aspect of the embodiments of the present invention, a payload - type buoyancy adjustment method based on redundant power supply is further provided. Using the payload - type buoyancy adjustment device described above, the method includes:

[0027] S100. The control module outputs a trigger signal to the isolation circuit module, and the isolation circuit module responds according to the trigger signal to realize the on - off between the power supply switching module and the electromagnetic execution module;

[0028] S200. When the main power supply module is effective, the power supply switching and adjusting module selects the main power supply module, adjusts the voltage and then outputs it to the isolation circuit module; when the main power supply module fails, the power supply switching and adjusting module selects the backup power supply module, adjusts the voltage and then outputs it to the isolation circuit module;

[0029] S300. The electromagnetic execution module completes the adsorption or payload of the payload according to the on - off of the isolation circuit module.

[0030] As a preferred embodiment of the present invention, step S200 further includes that when the backup power supply module is selected, the isolation circuit module is open - circuited, the backup power supply module is connected to the electromagnetic execution module through the backup payload circuit, and the control module triggers the backup payload circuit to complete the on - off of the backup power supply module to the electromagnetic execution module.

[0031] The embodiments of the present invention have the following advantages:

[0032] The present invention is based on the regulation of the electrical connection path, and further throws the thrown object through the electromagnetic execution module, so as to realize the indirect control and throwing of the thrown object by the electrical connection path. Based on the good sealing performance of the electromagnetic execution module, relatively good sealing of the entire throwing device can be achieved, enabling it to be applied to relatively harsh environments such as the deep sea; at the same time, based on the redundant cooperation of the main power supply module and the backup power supply module, it is ensured that throwing can still be effectively achieved when the main power supply module fails to supply power, ensuring the safe floating of the underwater vehicle. Description of the Drawings

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings described below are only exemplary, and for those of ordinary skill in the art, without creative efforts, other implementation drawings can be obtained according to the provided drawings.

[0034] The structures, ratios, sizes, etc. illustrated in this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limited conditions under which the present invention can be implemented. Therefore, they do not have technical essence. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope that can be covered by the technical content disclosed in the present invention.

[0035] Figure 1 It is a schematic structural diagram of the throwing type buoyancy adjustment device provided by the embodiment of the present invention;

[0036] Figure 2 It is a flowchart of the throwing type buoyancy adjustment method provided by the embodiment of the present invention;

[0037] Figure 3 It is a partial structural schematic diagram of the electromagnetic execution module provided by the embodiment of the present invention.

[0038] Wherein:

[0039] 1 - Electromagnet; 2 - Sleeve; 3 - Thrown object; 4 - Mounting plate; 5 - Connector. Detailed Embodiments

[0040] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0041] The following is further illustrated by specific embodiments.

[0042] As Figure 1 shown, the present invention provides a throwable buoyancy adjustment device based on redundant power supply, which includes two power supplies, namely a main power supply (corresponding to the main power supply module) and a backup power supply (corresponding to the backup power supply module). It should be noted that there can be multiple backup power supply modules in the present invention, and the number thereof can be selected accordingly according to actual needs. The connection manner of each backup power supply module is the same, and each time either the main power supply module or one of the backup power supply modules is selected to work. The two power supplies are switched through a power supply switching adjustment module. The main power supply is preferred first. When a power supply failure occurs in the main power supply, the power supply switching adjustment module will switch to the backup power supply for power supply. When in the normal working state, the main power supply supplies power to the drive and opto-isolation unit in the isolation circuit module, and the control signal of the external control unit is input to the drive chip in the drive and opto-isolation unit (the drive and opto-isolation unit includes a drive chip and an opto-isolation circuit controlled by the drive chip), so as to control whether the output of the opto-isolation circuit is a high voltage. The output of the opto-isolation circuit is connected to the positive pole of the electromagnetic execution module. The power-off type electromagnet in the electromagnetic execution module loses magnetism when energized and maintains magnetism when de-energized. The throwable object is magnetically connected to the electromagnetic execution module and is protected by a sleeve from underwater impact.

[0043] During the actual adjustment process, when the output of the external control unit is at a high level, there is voltage at the output end of the optocoupler isolation circuit, causing the power-off electromagnet to lose its magnetism and the payload to be discarded. When the signal output of the external control unit is at a low level, there is no voltage at the output end of the optocoupler isolation circuit, and the power-off electromagnet maintains its magnetism, so the payload is not discarded. It should be noted that the control module here feeds back to the power supply switching module based on the high and low level outputs, so as to select whether to be powered by the main power supply module or the backup power supply module. Specifically, the control unit here can be set on the control board of the underwater vehicle. After power-on, the control board sends a low level to the drive and optocoupler isolation unit through the IO port, and the drive and optocoupler isolation unit does not output voltage, and the power-off electromagnet of the electromagnetic execution module remains attracted; when a payload needs to be discarded, the control board sends a high level to the drive and optocoupler isolation unit through the IO port, the drive and optocoupler isolation unit outputs voltage, and the power-off electromagnet of the electromagnetic execution module loses its magnetism and releases the payload. The electromagnetic execution module is fixedly connected to the underwater vehicle, and the payload is attracted to the electromagnetic execution module by magnetic force.

[0044] When switching to the backup power supply, the backup power supply powers the backup payload circuit, and the payload can be discarded without passing through the drive and optocoupler isolation unit, ensuring normal operation and payload discarding even in the event of a main power failure. During the actual operation process, based on the control module continuously outputting a high level to the backup power supply or the backup payload circuit, the backup payload circuit is ineffective; when the control module fails, it cannot output a high level, then the backup power supply or the backup payload circuit becomes effective, and then directly controls the electromagnetic execution module through the backup payload circuit to complete direct payload discarding.

[0045] Specifically, the standby jettison circuit can be set up as follows. It includes a second relay, a diode, and necessary resistor components. The standby power supply converts the voltage to 5V and then connects to the positive electrode of the second relay to supply power to the coil. A diode is connected between the positive and negative electrodes of the second relay to prevent backflow. The input ends of a group of electromagnets in the electromagnetic execution module are connected to the output end of the second relay, and the control signals of this group are connected to the normally open contacts of the second relay. There are multiple groups of electromagnets here. For example, there can be two groups, mainly to cope with the three working conditions of sinking, floating, and rising in the sea. During actual operation, the main power supply module can control the two groups of electromagnets respectively for the main jettison circuit composed of the power supply switching module, isolation circuit module, and electromagnetic execution module as a whole, or the standby power supply module can supply power to the main jettison circuit to achieve normal control. At the same time, the standby power supply module can also achieve all jettisons through the standby jettison circuit. Of course, other suitable setting methods are not excluded here. For example, in another method, there are multiple groups of electromagnets here, that is, some (at least one group) can be directly connected to the standby power supply through the standby jettison circuit, while other electromagnets (at least one group) can still be connected based on the driving and optocoupler isolation unit, thus forming a connection method of multiple groups in parallel and independent of each other, and specifically jettisoning different groups of electromagnets through corresponding methods. Any suitable jettison method can be used here, and the present invention is not limited to the above-disclosed jettison mode and the setting method of electromagnets.

[0046] In the entire jettison device, the voltage conversion unit is used to convert the voltage of the main power supply or standby power supply into a low voltage, such as 5V, for driving and protecting other parts of the circuit. The power supply switching and adjustment module is used for switching between the main power supply and the standby power supply, including a first relay, a diode, a triode, and a voltage conversion unit. The main power supply is connected to the collector of the triode. The main power supply is converted to 5V through the voltage conversion unit and connected to the base of the triode. The emitter of the triode is connected to the first relay to supply power to the first relay. A diode is connected between the positive and negative electrodes of the first relay to achieve the function of preventing backflow. The main power supply is connected to the normally open contact of the first relay. When the main power supply is supplying power normally, the first relay is powered by the main power supply and outputs the voltage provided by the main power supply. The standby power supply is connected to the normally closed contact of the first relay. When the main power supply stops supplying power, the electromagnet of the first relay is not powered, and the output end outputs the voltage provided by the standby power supply.

[0047] That is, according to the above, when the main power supply fails, in one way, the standby power supply here can directly copy the control method of the main power supply by turning the first relay on and off, and then realize the jettison or adsorption of the jettison object; in another way, directly cut off the path of the driving and optocoupler isolation unit here, and the standby power supply is directly electrically connected to the electromagnetic execution module through the standby jettison circuit, and through the corresponding control of the control module, realize the jettison or adsorption of the jettison object.

[0048] The driving and opto - coupled isolation unit includes a driving chip, an opto - coupled isolation chip, and necessary resistors and capacitors. There are two identical sets of the driving and opto - coupled isolation unit. The input end of the driving chip in each set is connected to the corresponding control signal, and the output end of the opto - coupled isolation chip outputs a voltage signal, which is connected to the input end of the electromagnetic actuator.

[0049] The electromagnetic execution module consists of four power - off electromagnets 1 and corresponding four cylindrical sleeves 2. The whole electromagnetic execution module can be fixed to the lower part of the underwater vehicle. The cylindrical sleeve 2 is fixed outside the electromagnet 1. The throw - off load 3 is placed inside the sleeve 2 to prevent the throw - off load 3 from accidentally falling due to underwater impact. At the same time, the sleeve 2 plays a guiding role to make the throw - off load 3 be thrown off more smoothly. And there is a fixedly - arranged mounting plate 4, which is fixedly connected to the underwater vehicle. The sleeve 2 is also fixedly arranged. For example, it can be fixedly connected to the mounting plate 4, and the electromagnet 1 can be fixedly connected to the mounting plate 4 through connecting parts 5 such as bolts. At the same time, every two of the power - off electromagnets 1 here form a group, and each group is controlled by a different control signal. By using the power - off electromagnets 1 here, there is no magnetism when powered on and magnetism when powered off. That is, in normal use (i.e., the load - carrying state), there is no need to be powered on at all, and only when an immediate throw - off is required, power needs to be supplied to it to complete the throw - off operation, greatly reducing the power consumption.

[0050] Although the present invention has been described in detail with general descriptions and specific embodiments above, based on the present invention, some modifications or improvements can be made, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection required by the present invention.

Claims

1. A throwable buoyancy adjustment device based on redundant power supply, characterized in that, It includes a main power supply module, a backup power supply module, a power supply switching and regulating module, a control module, an isolation circuit module, an electromagnetic execution module, and a projectile that is electromagnetically connected to the electromagnetic execution module; wherein, The main power supply module and the backup power supply module are each electrically connected to the power supply switching and regulating module, and the power supply switching and regulating module is used to select the main power supply module or the backup power supply module as the power supply end, and supply power after adjusting the electrical parameters; The control module controls the adsorption or throwing of the projectile by the electromagnetic execution module by controlling the on-off of the isolation circuit module; It also includes a standby throwing circuit, and the backup power supply module is electrically connected to at least part of the electromagnetic execution module through the standby throwing circuit; The backup power supply module is switchably connected to the power supply switching and regulating module and the standby throwing circuit through a switching circuit; When the control module fails, the standby throwing circuit becomes effective.

2. The buoyancy adjustment device based on redundant power supply and throwing type according to claim 1, characterized in that, The power supply switching and regulating module includes a relay unit and a voltage conversion unit that are sequentially electrically connected from the main power supply module and the backup power supply module; The relay unit is used to select the main power supply module or the backup power supply module for power supply; The voltage conversion unit is used to adjust the output voltages of the main power supply module and the backup power supply module.

3. The buoyancy adjustment device based on redundant power supply and throwing type according to claim 2, characterized in that, The relay unit includes a triode, a first relay, and a diode, and the voltage conversion unit includes a voltage conversion circuit; and, The collector of the triode is electrically connected to the first branches of the main power supply module and the backup power supply module respectively, the base of the triode is electrically connected to the second branches of the main power supply module and the backup power supply module respectively, and the emitter of the triode is connected to the first relay and supplies power to the first relay; The positive and negative poles of the first relay are connected through the diode; The main power supply module is electrically connected to the normally open contact of the first relay, and the backup power supply module is electrically connected to the normally closed contact of the first relay.

4. The throwable buoyancy adjustment device based on redundant power supply according to claim 3, characterized in that, A voltage stabilizing unit is also provided on the main power supply module, and the voltage stabilizing unit is used to drive the main power supply module to attract the first relay when the main power supply module supplies power, so that the main power supply module is turned on and self-locked.

5. A throwable buoyancy adjustment device based on redundant power supply according to any one of claims 1-4, characterized in that The electrical parameter of the main power supply module and / or the backup power supply module adjusted by the power supply switching and regulating module is voltage, and the adjusted voltage value is not greater than 6V; And the error value between the output voltage of the adjusted main power supply module and the output voltage of the backup power supply module is not greater than 0.5V.

6. A throwable buoyancy adjustment device based on redundant power supply according to any one of claims 1-4, characterized in that, The isolation circuit module includes multiple groups of driving and opto-coupler isolation units, and the electromagnetic execution module correspondingly forms multiple electromagnetic execution units, and each electromagnetic execution unit is respectively connected with the projectile; Each group of the driving and opto-coupler isolation units is electrically connected to one of the electromagnetic execution units respectively; The control module controls each group of the driving and opto-coupler isolation units respectively.

7. A throwable buoyancy adjustment device based on redundant power supply according to claim 6, characterized in that, The electromagnetic execution module is a fixed power-off type electromagnet, and the projectile is magnetically attracted to the power-off type electromagnet.

8. A throwable buoyancy adjustment device based on redundant power supply according to claim 7, characterized in that, The standby throwing circuit at least includes a second relay, and after the backup power supply module adjusts the electrical parameters, the output end is electrically connected to the second relay for power supply.

9. The throwable buoyancy adjustment device based on redundant power supply according to claim 8, characterized in that, The thrown object at least includes a load block and a sleeve enclosing the load block.

10. A throwing-type buoyancy adjustment method based on redundant power supply, characterized in that, Using the throwing-type buoyancy adjustment device according to any one of claims 1-9, the method includes: S100. The control module outputs a trigger signal to the isolation circuit module, and the isolation circuit module responds according to the trigger signal to realize the on-off between the power supply switching module and the electromagnetic execution module; S200. When the main power supply module is effective, the power supply switching and adjustment module selects the main power supply module, adjusts the voltage, and then outputs it to the isolation circuit module; when the main power supply module fails, the power supply switching and adjustment module selects the backup power supply module, adjusts the voltage, and then outputs it to the isolation circuit module; S300. The electromagnetic execution module completes the adsorption or throwing of the thrown object according to the on-off of the isolation circuit module.

11. A throwable buoyancy adjustment method based on redundant power supply according to claim 10, characterized in that, Step S200 further includes that when the backup power supply module is selected, the isolation circuit module is open, the backup power supply module is connected to the electromagnetic execution module through the standby throwing circuit, and the control module triggers the standby throwing circuit to complete the on-off of the backup power supply module to the electromagnetic execution module.

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