An integrated power supply control circuit and method for underwater autonomous vehicle

Abstract

The present invention relates to an integrated power supply control circuit for underwater autonomous vehicles. The control circuit includes: a main control module, which receives and processes host computer instructions, sets and saves the lower limit value and overcurrent protection value of each load DC resistance, and outputs a control signal according to the host computer instruction to independently control the power on / off of each load; a switchable multi-channel wide-range DC resistance measurement module, which measures the DC resistance of each load and determines the insulation state of the load; a multi-channel power supply and load capacitance self-discharge control module, which independently controls the power on / off of multiple loads through multi-channel relays, and discharges the load capacitance after the load is powered off; a programmable multi-channel overcurrent protection module, which detects the current of each load in real time, and automatically cuts off the power when the current of a load exceeds the set overcurrent value. The control circuit of the present invention solves the problems of insufficient load DC resistance measurement accuracy and insufficient overcurrent protection effectiveness, and improves the reliability and safety of the power supply for underwater autonomous vehicles.

Description

Technical Field

[0001] The present invention relates to the field of power supply control and management, and more particularly to power supply control and protection for an underwater autonomous vehicle (AUV). More specifically, the present invention relates to an integrated multifunctional power supply control circuit for efficiently and safely providing power to the AUV, measuring resistance, providing overcurrent protection, and controlling capacitor self-discharge in underwater environments. Background Art

[0002] In underwater autonomous vehicles (AUVs), power supply management and control is a key technology that impacts product power supply safety. Traditional power supply management circuits often struggle to meet the complex requirements of practical applications, such as self-testing for multiple load resistors and programmable overcurrent protection. Existing technologies for managing and protecting the various load power supplies within AUVs have the following deficiencies:

[0003] Low resistance measurement accuracy: Ensuring the insulation and electrical safety of loads is crucial for underwater vehicles. Resistance measurement is a key method for assessing load insulation. However, existing resistance measurement systems require separate maintenance and debugging equipment and cannot effectively eliminate the possibility of charged load capacitors during measurement, resulting in unreliable measurement results. This issue can affect system safety and fault prediction capabilities.

[0004] Limitations of overcurrent protection: During underwater robot operation, various loads may experience overcurrent, causing damage to the device or system failure. Traditional overcurrent protection mechanisms typically cannot set different protection values ​​for different loads and do not respond promptly to overcurrent conditions. This limitation can not only damage the device but also affect the normal operation of the system.

[0005] Low system integration: Existing power management and control systems are mostly single-function modules, lacking integration and synergy. This makes coordination between the various modules difficult, affecting overall work efficiency and operational convenience. Summary of the Invention

[0006] To address the aforementioned issues with traditional power management circuits, this paper proposes a novel, multifunctional, integrated power management circuit and method for underwater autonomous vehicles. This circuit and method not only independently controls multiple loads but also features high-precision resistance measurement, flexible overcurrent protection, and automated capacitor discharge. By integrating and optimizing the power management system, this paper significantly improves the performance, reliability, and maintenance safety of underwater robotic systems, addressing many shortcomings of existing technologies.

[0007] In order to achieve the above object, the present invention proposes the following technical solutions:

[0008] Specifically, the present invention provides an integrated power supply control circuit for an underwater autonomous vehicle. The integrated power supply control circuit includes a hardware circuit, which includes: a main control module, a switchable multi-channel wide-range DC resistance measurement module, a multi-channel power supply and load capacitance self-discharge control module, and a programmable multi-channel overcurrent protection module; wherein:

[0009] The main control module is used to receive and process host computer instructions, and set and save the lower limit value and overcurrent protection value of each load DC resistance, and output control signals according to the host computer instructions to independently control the power on / off of each load;

[0010] The switchable multi-channel wide-range DC resistance measurement module is used to accurately measure the DC resistance of each load and determine the insulation state of the load based on the preset resistance value to ensure the safety of the system circuit power supply;

[0011] The multi-channel power supply and load capacitance self-discharge control module independently controls the power supply / discharge of multiple loads through multiple relays, and autonomously discharges the load capacitance after the load is powered off, thereby improving the accuracy of subsequent DC resistance measurements and the safety of load inspection and maintenance.

[0012] The programmable multi-channel overcurrent protection module has a programmable adjustment function for the overcurrent protection value, which is used to detect the current of each load in real time. When the current of a load exceeds the set overcurrent value, the power supply of the load is automatically disconnected to prevent damage to the equipment.

[0013] Furthermore, the main control module in the integrated power supply control circuit of the underwater autonomous vehicle of the present invention includes: a main control minimum system, a communication interface unit, an I / O output control unit, and a storage unit; wherein:

[0014] The master control minimum system includes: a power supply circuit unit, a crystal oscillator circuit unit, a program download circuit unit, and a reset circuit unit, which are used to realize the basic working functions of the master control chip;

[0015] The communication interface unit includes: an IIC communication interface, an SPI communication interface, and a CAN communication interface, wherein: the IIC communication interface is used to realize the communication between the main control chip and each AD acquisition chip and the multi-channel digital-to-analog converter, the SPI communication interface is used to realize the communication between the main control chip and the digital potentiometer, and the CAN communication interface is used to realize the communication between the main control chip and the host computer;

[0016] The I / O output control unit uses a transistor optocoupler to isolate the output to achieve control of the main power control relay, load relay (also called load power supply relay) and magnetic latching relay;

[0017] The storage unit adopts a Flash storage chip to realize data preservation during power failure.

[0018] Furthermore, the switchable multi-channel wide-range DC resistance measurement module in the integrated power supply control circuit of the underwater autonomous vehicle of the present invention includes: a multi-channel analog switch, a digital potentiometer, a differential operational amplifier, and an AD acquisition chip; wherein:

[0019] The multi-channel analog switch (also called multi-way analog switch) uses multiple 8-channel analog switches to achieve programmable connectivity of power supply interfaces of multiple loads;

[0020] The digital potentiometer adopts a digital potentiometer with a maximum range of 100KΩ, a tap number of 256, and an SPI communication interface to achieve wide-range and high-precision DC resistance voltage division measurement;

[0021] The AD acquisition chip adopts an IIC communication interface and an AD sampling chip with 18-bit sampling accuracy to achieve high-precision measurement.

[0022] Furthermore, the multi-channel power supply and load capacitor self-discharge control module in the integrated power supply control circuit of the underwater autonomous vehicle of the present invention includes: two sets of normally open power relays (also called main power control relays), two sets of switching power relays (also called load (power supply) relays), and a power resistor; wherein:

[0023] The two groups of normally open power relays are used to control the supply / disconnection of the main power supply;

[0024] The two groups of switching power relays are used for load power on / off control; one group is normally open for switching and connected to the load, and the other group is normally closed for switching and connected to the power resistor;

[0025] The power resistor is used to discharge the capacitor after the load is powered off.

[0026] Furthermore, the programmable multi-channel overcurrent protection module in the integrated power supply control circuit of the underwater autonomous vehicle of the present invention includes: a magnetic latching relay, a Hall current sensor, a comparator, a transistor output optocoupler, and a multi-channel digital-to-analog converter; wherein:

[0027] The action coil of the magnetic latching relay is controlled by the main control I / O, and the reset coil is controlled by the comparator and the transistor output optocoupler output level. When an overcurrent abnormality occurs, the reset coil control contact is disconnected to complete the load power-off function;

[0028] The Hall current sensor is packaged on a PCB board and outputs an analog voltage signal to the comparator to achieve timely and effective detection of the load current;

[0029] The multi-channel digital-to-analog converter adopts an IIC communication interface to receive a master control instruction and adjust the analog voltage output according to the load overcurrent protection value.

[0030] On the other hand, the present invention also provides an integrated power supply control method for an underwater autonomous vehicle. This control method uses the above-mentioned integrated power supply control circuit for an underwater autonomous vehicle, and the control method includes the following steps:

[0031] S1, software initialization, initialization settings of system clock, communication interface unit, I / O output control unit, and storage unit;

[0032] S2. When the set lower limit value of the DC resistance of the load is received, the lower limit value of the DC resistance corresponding to the load is updated and stored in the storage unit;

[0033] S3. When the set load overcurrent protection value is received, the overcurrent protection value corresponding to the load is updated and stored in the storage unit;

[0034] S4. When receiving a single load DC resistance measurement instruction, executing a single load DC resistance measurement process;

[0035] S5. When receiving the instruction to measure the DC resistance of all loads of the product, measure the DC resistance of each load in turn according to the process of measuring the DC resistance of a single load;

[0036] S6. When a load power-on instruction is received, the load power-on process is executed;

[0037] S7. When a load power-off instruction is received, the relay corresponding to the load is controlled to be powered off, and the load capacitor self-discharge process is executed at the same time;

[0038] S8. When receiving the power-off instruction for all loads, control all load relays to power off and disconnect the main power control relay.

[0039] Furthermore, the single load DC resistance measurement process described in step S4 of the integrated power supply control method for underwater autonomous vehicles of the present invention includes:

[0040] S41, when the main power control relay is in a closed state, disconnecting the main power control relay;

[0041] S42, close the corresponding load power supply relay;

[0042] S43, controlling the analog switch (i.e., the multi-channel analog switch) to connect to the corresponding load;

[0043] S44, the main control module reads and analyzes the sample value of the AD acquisition chip;

[0044] S45. Forward the sampled value to the host computer and determine whether the sampled value is less than the load DC lower limit value. If it is less than the load DC lower limit value, mark the load insulation abnormality.

[0045] Furthermore, the load power-on process described in step S6 of the integrated power supply control method for underwater autonomous vehicles of the present invention includes:

[0046] S61, determining whether the main power control relay is closed, and if not, closing the main power control relay;

[0047] S62. Determine whether the insulation of the component is normal. If it is normal, close the load relay. If it is abnormal, feedback that the component is abnormal and do not close the load relay.

[0048] In addition, the present invention also provides an underwater autonomous vehicle integrated power supply control system, which implements the steps of the above-mentioned underwater autonomous vehicle integrated power supply control method when running.

[0049] In summary, the integrated power supply management and control circuit and control method for underwater autonomous vehicles of the present invention effectively solve the problems of insufficient load DC resistance measurement accuracy, insufficient overcurrent protection effectiveness, and low system integration, and greatly improve the reliability and safety of the power supply for underwater autonomous vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the description of the present invention. Obviously, the following drawings are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0051] Figure 1 This is a schematic diagram of the circuit composition structure of the integrated power supply control circuit of the present invention.

[0052] Figure 2 This is a schematic diagram of the principle circuit of the main control module of the integrated power supply management and control circuit of the present invention.

[0053] Figure 3 This is a schematic diagram of the principle of a switchable multi-channel wide-range DC resistance measurement module with integrated power supply control circuit of the present invention.

[0054] Figure 4 This is a schematic diagram of the principle of the multi-channel power supply and load capacitor self-discharge control module of the integrated power supply control circuit of the present invention.

[0055] Figure 5 This is a schematic diagram of the principle of a programmable multi-channel overcurrent protection module with integrated power supply control circuit of the present invention.

[0056] Figure 6 This is a functional flow chart of the main control software of the integrated power supply management and control circuit of the present invention. DETAILED DESCRIPTION

[0057] To make the objectives, technical solutions, and advantages of the present invention more clearly apparent, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The present invention may also be implemented or applied through different specific implementation methods, and the details in this specification may be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0058] At the same time, it should be understood that the scope of protection of the present invention is not limited to the specific embodiments described below; it should also be understood that the terms used in the embodiments of the present invention are for describing specific embodiments rather than for limiting the scope of protection of the present invention.

[0059] Example: An integrated power supply control circuit for an underwater autonomous vehicle

[0060] An integrated power supply control circuit for an underwater autonomous vehicle includes a hardware circuit, the hardware circuit structure of which is as follows: Figure 1 The hardware circuit includes a main control module, a switchable multi-channel wide-range DC resistance measurement module, a multi-channel power supply and load capacitance self-discharge control module, and a programmable multi-channel overcurrent protection module.

[0061] The main control module is used to receive and process the host computer instructions, and set and save the lower limit value and overcurrent protection value of each load DC resistance. At the same time, it outputs control signals according to the host computer instructions to perform independent power on / off control and resistance measurement on multiple loads. Its hardware principle is as follows Figure 2 As shown, it includes a main control minimum system, a communication interface unit, an I / O output control unit and a storage unit. Among them, the communication interface unit mainly realizes communication with the AD acquisition chip, the digital potentiometer and the multi-channel digital-to-analog converter; the I / O output control unit mainly realizes the control of the relay and the setting of the multi-channel analog switch; the storage unit mainly realizes the power-off preservation of the lower limit value of the DC resistance of each load and the overcurrent protection value.

[0062] The switchable multi-channel wide-range DC resistance measurement module is used to accurately measure the DC resistance of each load and determine the insulation status of the load based on the preset resistance value, thereby ensuring the safety of the system circuit power supply. Its hardware principle is as follows: Figure 3As shown in the figure, it includes a multi-channel analog switch, a digital potentiometer, a differential op amp, and an AD acquisition chip. The main control module receives instructions from the host computer to set the multi-channel analog switch to connect to the corresponding load channel and sets the digital potentiometer value according to the preset load DC resistance lower limit. The AD acquisition chip then obtains the load DC resistance voltage divider value through the differential op amp and transmits it to the main control module through the communication interface. The main control module then analyzes and forwards it to the host computer.

[0063] The multi-channel power supply and load capacitance self-discharge control module independently controls the power supply / power-off of multiple loads through multiple relays. At the same time, it automatically discharges the load capacitance after the load is powered off, improving the accuracy of subsequent DC resistance measurement and the safety of load maintenance. Its hardware principle is as follows: Figure 4 As shown, it includes two groups of main power control relays (also called normally open power relays, used for main power control), two groups of conversion power relays (for load power on / off control) and power resistors (for capacitor discharge). When the power is normally supplied, the main power control relay and the two groups of conversion power relays corresponding to the load are closed; when the load DC resistance is measured, the main power control relay is disconnected, and the two groups of conversion power relays corresponding to the load are closed; when the power is normally off, the main power control relay and the two groups of conversion power relays corresponding to the load are both disconnected.

[0064] The programmable multi-channel overcurrent protection module has a programmable adjustment function for the overcurrent protection value. It can detect the current of each load in real time. When the current of a load exceeds the set overcurrent value, it will automatically disconnect the power supply of the load to prevent damage to the equipment. Its hardware principle is as follows: Figure 5 As shown, it includes a magnetic latching relay (a magnetic latching relay with a normally open contact) controlled by a main control module, a Hall current sensor, a comparator, a transistor output optocoupler and a multi-channel digital-to-analog converter. During the normal power supply process of the load, the magnetic latching relay controlled by the main control module is closed, and then the control signal is output in reverse. At the same time, according to the set load overcurrent value, the analog voltage reference value Vref corresponding to the output of the multi-channel digital-to-analog converter is set to the comparator. When the load current exceeds the set value during operation, the comparator controls the magnetic latching relay to disconnect through the transistor output optocoupler output, thereby disconnecting the load power relay and completing the stop of the load power output.

[0065] A method for controlling an integrated power supply control circuit for an underwater autonomous vehicle is based on the hardware foundation described above and adopts the following Figure 6 The method flow shown specifically includes the following steps:

[0066] S1. Software initialization: initialization settings for system clock, communication interface, I / O output, and storage unit;

[0067] S2. When receiving a request to set a lower limit value of the DC resistance of the load, the lower limit value of the DC resistance corresponding to the load is updated and stored in the storage unit module;

[0068] S3. When receiving the load overcurrent protection value to be set, the overcurrent protection value corresponding to the load is updated and stored in the storage unit module;

[0069] S4. When receiving a single load DC resistance measurement instruction, execute a single load DC resistance measurement process. The method and steps are as follows:

[0070] S41, when the main power control relay is in a closed state, disconnecting the main power control relay;

[0071] S42, close the corresponding load power supply relay;

[0072] S43, controlling the analog switch to connect to the corresponding load;

[0073] S44, the main control module reads and analyzes the sample value of the AD acquisition chip;

[0074] S45, forwarding the sampled value to the host computer, and determining whether the sampled value is less than the DC lower limit of the load, and if so, marking the load insulation abnormality;

[0075] S5. When receiving the instruction to measure the DC resistance of all loads of the product, measure the DC resistance of each load in turn according to the process of measuring the DC resistance of a single load;

[0076] S6. When receiving the load power-on instruction, execute the following method and steps:

[0077] S61, determining whether the main power control relay is closed, and if not, closing the main power control relay;

[0078] S62, determining whether the insulation of the component is normal; if normal, closing the load relay; if abnormal, reporting that the component is abnormal, and not closing the load relay;

[0079] S7. When a load power-off instruction is received, the relay corresponding to the load is controlled to power off, and at the same time, the hardware executes the load capacitor self-discharge process;

[0080] S8. When receiving the power-off instruction for all loads, control all load relays to power off and disconnect the main power control relay.

[0081] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any technician familiar with the profession can make some changes or modifications to the technical content disclosed above without departing from the scope of the technical solution of the present invention to obtain equivalent embodiments with equivalent changes. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. An integrated power supply control circuit for an underwater autonomous vehicle, characterized in that: The integrated power supply control circuit includes a hardware circuit, which includes: a main control module, a switchable multi-channel wide-range DC resistance measurement module, a multi-channel power supply and load capacitance self-discharge control module, and a programmable multi-channel overcurrent protection module; wherein: The main control module is used to receive and process host computer instructions, and set and save the lower limit value and overcurrent protection value of each load DC resistance, and output control signals according to the host computer instructions to independently control the power on / off of each load; The switchable multi-channel wide-range DC resistance measurement module is used to accurately measure the DC resistance of each load and determine the insulation status of the load based on a preset resistance value to ensure the safety of the system circuit power supply. The switchable multi-channel wide-range DC resistance measurement module includes: a multi-channel analog switch, a digital potentiometer, a differential operational amplifier, and an AD acquisition chip; wherein: The multi-channel analog switch uses multiple 8-channel analog switches to achieve programmable connectivity of power supply interfaces for multiple loads; The digital potentiometer adopts a digital potentiometer with a maximum range of 100KΩ, a tap number of 256, and an SPI communication interface to realize DC resistance voltage division measurement; The AD acquisition chip adopts an IIC communication interface and an 18-bit sampling accuracy AD sampling chip; The multi-channel power supply and load capacitance self-discharge control module independently controls the power supply / discharge of multiple loads through multiple relays, and autonomously discharges the load capacitance after the load is powered off, thereby improving the accuracy of subsequent DC resistance measurements and the safety of load inspection and maintenance. The programmable multi-channel overcurrent protection module is used to detect the current of each load in real time, and automatically disconnect the power supply of a load when the current of a load exceeds the set overcurrent value to prevent equipment damage.

2. The integrated power supply control circuit for underwater autonomous vehicles according to claim 1, characterized in that: The main control module includes: a main control minimum system, a communication interface unit, an I / O output control unit, and a storage unit; wherein: The master control minimum system includes: a power supply circuit unit, a crystal oscillator circuit unit, a program download circuit unit, and a reset circuit unit, which are used to realize the basic working functions of the master control chip; The communication interface unit includes: an IIC communication interface, an SPI communication interface, and a CAN communication interface, wherein: the IIC communication interface is used to realize the communication between the main control chip and each AD acquisition chip and the multi-channel digital-to-analog converter, the SPI communication interface is used to realize the communication between the main control chip and the digital potentiometer, and the CAN communication interface is used to realize the communication between the main control chip and the host computer; The I / O output control unit uses a transistor optocoupler to isolate the output to achieve control of the main power control relay, load relay and magnetic latching relay; The storage unit adopts a Flash storage chip to realize data preservation during power failure.

3. The integrated power supply control circuit for underwater autonomous vehicles according to claim 1, characterized in that: The multi-channel power supply and load capacitor self-discharge control module includes: two groups of normally open power relays, two groups of switching power relays, and a power resistor; wherein: The two groups of normally open power relays are used to control the supply / disconnection of the main power supply; The two groups of switching power relays are used for load power on / off control; one group is normally open for switching and connected to the load, and the other group is normally closed for switching and connected to the power resistor; The power resistor is used to discharge the capacitor after the load is powered off.

4. The integrated power supply control circuit for underwater autonomous vehicles according to claim 1, characterized in that: The programmable multi-channel overcurrent protection module includes: a magnetic latching relay, a Hall current sensor, a comparator, a transistor output optocoupler, and a multi-channel digital-to-analog converter; wherein: The action coil of the magnetic latching relay is controlled by the main control I / O, and the reset coil is controlled by the comparator and the transistor output optocoupler output level. When an overcurrent abnormality occurs, the reset coil control contact is disconnected to complete the load power-off function; The Hall current sensor is packaged on a PCB board and outputs an analog voltage signal to the comparator to detect the load current. The multi-channel digital-to-analog converter adopts an IIC communication interface to receive a master control instruction and adjust the analog voltage output according to the load overcurrent protection value.

5. A method for integrated power supply control of an underwater autonomous vehicle, characterized in that: The control method adopts the underwater autonomous vehicle integrated power supply control circuit according to claim 1, and the control method includes the following steps: S1, software initialization, initialization settings of system clock, communication interface unit, I / O output control unit, and storage unit; S2. When the set lower limit value of the DC resistance of the load is received, the lower limit value of the DC resistance corresponding to the load is updated and stored in the storage unit; S3. When the set load overcurrent protection value is received, the overcurrent protection value corresponding to the load is updated and stored in the storage unit; S4. When receiving a single load DC resistance measurement instruction, executing a single load DC resistance measurement process; S5. When receiving the instruction to measure the DC resistance of all loads of the product, measure the DC resistance of each load in turn according to the process of measuring the DC resistance of a single load; S6. When a load power-on instruction is received, the load power-on process is executed; S7. When a load power-off instruction is received, the relay corresponding to the load is controlled to be powered off, and the load capacitor self-discharge process is executed at the same time; S8. When receiving the power-off instruction for all loads, control all load relays to power off and disconnect the main power control relay.

6. The integrated power supply control method for underwater autonomous vehicles according to claim 5, characterized in that: The single load DC resistance measurement process described in step S4 includes: S41, when the main power control relay is in a closed state, disconnecting the main power control relay; S42, close the corresponding load power supply relay; S43, a multi-channel analog switch is connected to a corresponding load; S44, the main control module reads and analyzes the sample value of the AD acquisition chip; S45. Forward the sampled value to the host computer and determine whether the sampled value is less than the load DC lower limit value. If it is less than the load DC lower limit value, mark the load insulation abnormality.

7. An integrated power supply control system for underwater autonomous vehicles, characterized in that: When the control system is running, the steps of the underwater autonomous vehicle integrated power supply control method according to claim 5 or 6 are implemented.

Images