Redundant navigation control system of deep diving lifeboat

Abstract

The invention relates to a deep diving lifeboat redundant navigation control system, which comprises a console, a control panel module, a main control unit, a network switch, a PLC module, a serial port server and a slave control module, and is characterized in that the control panel module is connected with a coil of a panel switching relay, and a common end of the panel switching relay is connected with an analog quantity signal input end of a propeller module; a normally open contact of the panel switching relay is connected with the console, a normally closed contact of the panel switching relay is connected with a common end of the signal switching relay, a coil of the signal switching relay is connected with a relay control signal output end of the slave control module, and a normally closed contact of the signal switching relay is connected with an analog quantity signal output end of the PLC module. And a normally open contact of the signal switching relay is connected with an analog quantity signal output end of the slave control module. Redundancy from manipulation, control, signal transmission to execution of total elements can be realized, the reliability of navigation control is greatly improved, and successful rescue is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of deep-sea lifeboats, in particular to a redundant navigation control system for deep-sea lifeboats. Background Art

[0002] As the core equipment for submarine rescue, the deep-sea rescue boat has shown unique advantages. As a self-propelled, cable-free manned submersible, it can autonomously navigate to the location of the crashed submarine after being deployed by the supporting mother ship, achieve precise docking, and safely transfer the crew to the lifeboat, and finally return to the mother ship to send the crew to the surface, providing strong support for underwater rescue. The navigation control system is a very important component of the deep-sea rescue boat. It integrates multiple functions such as ship speed control, steering gear operation, radar monitoring, GPS navigation, and automatic driving. It can monitor the key information of the speed, position, heading, and control status of the vehicle in real time, thereby ensuring the safe and efficient operation of the vehicle, and plays a vital role in the safety, economy, and environmental protection performance of the deep-sea rescue boat.

[0003] In the prior art, the operation of the navigation control system mainly relies on manual input and monitoring. The driver's precise operation is used to achieve the actions of advancing, retreating, diving, floating, lateral movement and steering, so as to realize the navigation and docking of the deep-sea lifeboat. This method requires the driver to have superb skills and rich experience to ensure the smooth progress of the rescue mission. However, excessive reliance on the driver's manual operation will lead to the following problems:

[0004] (1) Manual operation requires extremely high skills and experience from the driver. Once an operation error occurs, it may lead to rescue failure and even endanger the safety of the lifeboat and crew;

[0005] (2) Manual control is difficult to cope with the complex and changeable underwater environment. For example, the impact of natural factors such as water currents and undercurrents on navigation stability increases the difficulty and risk of rescue.

[0006] In summary, improving the reliability of the navigation control system has become the key to ensuring the success of deep-sea lifeboat rescue and improving its own safety. Summary of the invention

[0007] In view of the shortcomings in the above-mentioned existing production technology, the applicant provides a redundant navigation control system for a deep-sea lifeboat, which can achieve redundancy of all elements from manipulation, control, signal transmission to execution, greatly improving the reliability of navigation control and ensuring successful rescue.

[0008] The technical solution adopted by the present invention is as follows:

[0009] A redundant navigation control system for a deep-sea lifeboat, comprising a control console, a control panel module, a main control unit, a network switch, a PLC module, a serial port server and a slave control module, wherein the main control unit transmits signals with the PLC module through the network switch, and the main control unit also transmits signals with the serial port server through the network switch;

[0010] The control panel module is connected to the coil of the panel switching relay, the common end of the panel switching relay is connected to the analog signal input end of the thruster module, the normally open contact of the panel switching relay is connected to the control console, the normally closed contact of the panel switching relay is connected to the common end of the signal switching relay, the coil of the signal switching relay is connected to the relay control signal output end of the slave control module, the normally closed contact of the signal switching relay is connected to the analog signal output end of the PLC module, and the normally open contact of the signal switching relay is connected to the analog signal output end of the slave control module;

[0011] The first serial port signal transmission end of the thruster module is connected to the serial port server, and the second serial port signal transmission end of the thruster module is connected to the serial port signal transmission end of the slave control module;

[0012] The main control unit collects the analog signal output by the control console through the PLC module and calculates to obtain the first control instruction. At the same time, the slave control module directly collects the analog signal output by the control console and calculates to obtain the second control instruction.

[0013] The PLC module generates a first analog quantity instruction signal and a first serial port instruction signal according to the first control instruction, and the slave control module generates a second analog quantity instruction signal and a second serial port instruction signal according to the second control instruction;

[0014] The master control unit cyclically sends a heartbeat signal to the slave control module through the network switch;

[0015] When the slave control module receives the correct heartbeat signal, the slave control module controls the normally closed contact of the signal switching relay to close and the normally open contact of the signal switching relay to open, so that the PLC module sends the first analog command signal to the normally closed contact of the panel switching relay;

[0016] When the slave control module receives an erroneous heartbeat signal or does not receive a heartbeat signal, the slave control module controls the normally closed contact of the signal switching relay to be disconnected and the normally open contact of the signal switching relay to be closed, so that the slave control module sends the second analog quantity command signal to the normally closed contact of the panel switching relay;

[0017] When the normally closed contact of the panel switching relay is closed and the normally open contact of the panel switching relay is opened, the first analog command signal or the second analog command signal is output to the analog signal input terminal of the thruster module according to the state of the signal switching relay, thereby controlling the action of the thruster module;

[0018] When the normally closed contact of the panel switching relay is disconnected and the normally open contact of the panel switching relay is closed, the control console directly outputs an analog signal to the analog signal input end of the thruster module, thereby controlling the action of the thruster module.

[0019] As a further improvement of the above technical solution:

[0020] The control console includes a main control console module and a slave control console module. The main control console module and the slave control console module are power-on interlocked through an interlocking circuit system, thereby ensuring that the slave control console module is in a power-off state when the main control console module is powered on, the slave control console module is in a power-on state when the main control console module is powered off, or both the main control console module and the slave control console module are in a power-off state.

[0021] The interlock circuit system includes a first power-on switch and a second power-on switch;

[0022] The on potential of the first power-on switch is connected to the on-coil of the first magnetic latching relay, the off potential of the first power-on switch is connected to the off-coil of the first magnetic latching relay, the input end of the first power-on switch is connected to a 24V DC power supply, and the 24V DC power supply supplies power to the internal circuit module of the main control console through the contacts of the first magnetic latching relay;

[0023] The 24V DC power supply is also connected to the input end of the second power-on switch, the on potential of the second power-on switch is connected to the power-on coil of the second magnetic latching relay, the off potential of the second power-on switch is connected to the power-off coil of the second magnetic latching relay, and the 24V DC power supply supplies power to the internal circuit module of the slave console through the contacts of the second magnetic latching relay;

[0024] The upper potential of the first power-on switch is connected to the power-off coil of the second magnetic latching relay through the first diode, and the upper potential of the second power-on switch is connected to the power-off coil of the first magnetic latching relay through the second diode;

[0025] When the upper potential of the first power-on switch is turned on, the power-on coil of the first magnetic latching relay is energized, so that the contact of the first magnetic latching relay is closed, and then the internal circuit module of the main control console is powered on. At the same time, the power-off coil of the second magnetic latching relay is energized through the first diode, so that the contact of the second magnetic latching relay is disconnected, and then the internal circuit module of the slave control console is powered off;

[0026] When the upper potential of the second power-on switch is turned on, the power-on coil of the second magnetic latching relay is energized, so that the contact of the second magnetic latching relay is closed, and then the internal circuit module of the slave console is powered on. At the same time, the power-off coil of the first magnetic latching relay is energized through the second diode, so that the contact of the first magnetic latching relay is disconnected, and then the internal circuit module of the main console is powered off;

[0027] When the off potential of the first power-on switch is turned on and the off potential of the second power-on switch is turned on, the contacts of the first magnetic latching relay and the contacts of the second magnetic latching relay are both in the disconnected state, thereby cutting off the power to the internal circuit module of the main control console and the internal circuit module of the slave control console.

[0028] The master control console module and the slave control console module both include joystick assemblies, and by operating the corresponding joystick assemblies, analog signals of advance, retreat, diving, lateral movement and steering are output accordingly.

[0029] A control panel switching relay is installed between the control panel and the normally open contact of the panel switching relay;

[0030] The coil of the control console switching relay is connected to the relay control signal output end of the slave control console module, the common end of the control console switching relay is connected to the normally open contact of the panel switching relay, the normally closed contact of the control console switching relay is connected to the analog signal output end of the main control console module, and the normally open contact of the control console switching relay is connected to the analog signal output end of the slave control console module.

[0031] The first serial port command signal is sent to the first serial port signal transmission end of the thruster module through the network switch and the serial port server in sequence, and the second serial port command signal is directly sent to the second serial port signal transmission end of the thruster module.

[0032] When the absolute value of the first analog command signal is less than 0.5V or the absolute value of the second analog command signal is less than 0.5V, the thruster module responds to the first serial port command signal and the second serial port command signal according to the priority.

[0033] When the thruster module receives the first serial port command signal, the thruster module responds to the first serial port command signal; when the first serial port command signal received by the thruster module is abnormal or the thruster module does not receive the first serial port command signal, the thruster module responds to the second serial port command signal.

[0034] The thruster module includes two main thrusters for realizing forward and backward motion, two vertical thrusters for realizing submerged and floating motion, and two side thrusters for realizing lateral shift and turning motion.

[0035] The control panel module includes a switching switch and an enabling switch, wherein the switching switch is used to switch the panel switching relay, and the enabling switch is used to activate the PLC module and the slave control module.

[0036] The beneficial effects of the present invention are as follows:

[0037] The present invention has a compact and reasonable structure and is easy to operate. By arranging a main control console module, a slave control console module, a control panel module, a main control unit, a network switch, a PLC module, a serial port server and a slave control module, full-factor redundancy of manipulation, control, signal transmission and execution of the thruster module can be achieved, which greatly improves the reliability of the navigation control system, effectively ensures the successful rescue of the deep-sea lifeboat, and significantly improves the safety of the deep-sea lifeboat itself. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of the present invention.

[0039] Figure 2 It is a schematic diagram of the interlocking circuit system in the present invention.

[0040] Among them: 1. Main control console module; 2. Slave control console module; 3. Control panel module; 4. Main control unit; 5. Network switch; 6. PLC module; 7. Serial port server; 8. Slave control module; 9. First analog quantity isolation module; 10. Thruster module; 11. Control console switching relay; 12. Panel switching relay; 13. Signal switching relay; 14. Second analog quantity isolation module;

[0041] 101. First power-on switch; 102. First magnetic latching relay; 103. Main console internal circuit module; 104. First diode;

[0042] 201. A second power-on switch; 202. A second magnetic latching relay; 203. An internal circuit module of a slave control console; 204. A second diode. DETAILED DESCRIPTION

[0043] The specific implementation of the present invention will be described below in conjunction with the accompanying drawings.

[0044] The structure and function of the present invention are as follows:

[0045] like Figure 1-Figure 2 As shown, a redundant navigation control system for a deep-sea lifeboat, such as Figure 1As shown, the redundant navigation control system of the deep-sea lifeboat of this embodiment includes a control console, a control panel module 3, a main control unit 4, a network switch 5, a PLC module 6, a serial port server 7 and a slave control module 8. The main control unit 4 transmits signals with the PLC module 6 through the network switch 5, and the main control unit 4 also transmits signals with the serial port server 7 through the network switch 5; the control panel module 3 is connected to the coil of the panel switching relay 12, the common end of the panel switching relay 12 is connected to the analog signal input end of the thruster module 10, the normally open contact of the panel switching relay 12 is connected to the control console, and the normally closed contact of the panel switching relay 12 is connected to the common end of the signal switching relay 13, and the signal switching relay The coil of the controller 13 is connected to the relay control signal output end of the slave control module 8, the normally closed contact of the signal switching relay 13 is connected to the analog signal output end of the PLC module 6, and the normally open contact of the signal switching relay 13 is connected to the analog signal output end of the slave control module 8; the first serial port signal transmission end of the thruster module 10 is connected to the serial port server 7, and the second serial port signal transmission end of the thruster module 10 is connected to the serial port signal transmission end of the slave control module 8; the main control unit 4 collects the analog signal output by the control console through the PLC module 6 and calculates to obtain the first control instruction. At the same time, the slave control module 8 directly collects the analog signal output by the control console and calculates to obtain the second control instruction; the PLC module 6 generates a control signal according to the first control instruction. The slave control module 8 generates a first analog quantity instruction signal and a first serial port instruction signal according to the second control instruction, and the slave control module 8 generates a second analog quantity instruction signal and a second serial port instruction signal according to the second control instruction; the main control unit 4 sends a heartbeat signal to the slave control module 8 in a loop through the network switch 5; when the slave control module 8 receives a correct heartbeat signal, the slave control module 8 controls the normally closed contact of the signal switching relay 13 to close and the normally open contact of the signal switching relay 13 to disconnect, so that the PLC module 6 sends the first analog quantity instruction signal to the normally closed contact of the panel switching relay 12; when the slave control module 8 receives an incorrect heartbeat signal or does not receive a heartbeat signal, the slave control module 8 controls the normally closed contact of the signal switching relay 13 to disconnect and the signal switch The normally open contact of relay 13 is closed, so that the slave control module 8 sends the second analog command signal to the normally closed contact of the panel switching relay 12; when the normally closed contact of the panel switching relay 12 is closed and the normally open contact of the panel switching relay 12 is disconnected, according to the state of the signal switching relay 13, the first analog command signal or the second analog command signal is output to the analog signal input end of the thruster module 10, thereby controlling the action of the thruster module 10; when the normally closed contact of the panel switching relay 12 is disconnected and the normally open contact of the panel switching relay 12 is closed, the control console directly outputs the analog signal to the analog signal input end of the thruster module 10, thereby controlling the action of the thruster module 10.

[0046] The control console includes a main control console module 1 and a slave control console module 2. The main control console module 1 and the slave control console module 2 are power-on interlocked through an interlocking circuit system, thereby ensuring that the slave control console module 2 is in a power-off state when the main control console module 1 is powered on, the slave control console module 2 is in a power-on state when the main control console module 1 is powered off, or both the main control console module 1 and the slave control console module 2 are in a power-off state.

[0047] The interlocking circuit system includes a first power-on switch 101 and a second power-on switch 201; the upper potential of the first power-on switch 101 is connected to the power-on coil of the first magnetic latching relay 102, the lower potential of the first power-on switch 101 is connected to the power-off coil of the first magnetic latching relay 102, the input end of the first power-on switch 101 is connected to a 24V DC power supply, and the 24V DC power supply supplies power to the internal circuit module 103 of the main control console through the contacts of the first magnetic latching relay 102; the 24V DC power supply is also connected to the input end of the second power-on switch 201, the upper potential of the second power-on switch 201 is connected to the power-on coil of the second magnetic latching relay 202, the lower potential of the second power-on switch 201 is connected to the power-off coil of the second magnetic latching relay 202, and the 24V DC power supply supplies power to the internal circuit module 203 of the slave control console through the contacts of the second magnetic latching relay 202; the upper potential of the first power-on switch 101 is connected to the power-off coil of the second magnetic latching relay 202 through the first diode 104, and the second power-on switch 20 1 is connected to the power-off coil of the first magnetic latching relay 102 through the second diode 204; when the upper potential of the first power-on switch 101 is turned on, the power-on coil of the first magnetic latching relay 102 is energized, so that the contacts of the first magnetic latching relay 102 are closed, and then the internal circuit module 103 of the main control console is powered on. At the same time, the power-off coil of the second magnetic latching relay 202 is energized through the first diode 104, so that the contacts of the second magnetic latching relay 202 are disconnected, and then the internal circuit module 203 of the slave control console is powered off; when the upper potential of the second power-on switch 201 is turned on, the power-on coil of the second magnetic latching relay 202 is energized, so that the contacts of the second magnetic latching relay 202 are closed, and then the internal circuit module 203 of the slave control console is powered on. At the same time, the power-off coil of the first magnetic latching relay 102 is energized through the second diode 204, so that the contacts of the first magnetic latching relay 102 are disconnected, and then the internal circuit module 103 of the main control console is powered off;

[0048] When the off potential of the first power-on switch 101 is on and the off potential of the second power-on switch 201 is on, the contacts of the first magnetic latching relay 102 and the contacts of the second magnetic latching relay 202 are both in an off state, so that the internal circuit module 103 of the master console and the internal circuit module 203 of the slave console are both powered off. Specifically, when the off potential of the first power-on switch 101 is on and the off potential of the second power-on switch 201 is on, the power-off coil of the first magnetic latching relay 102 is energized, so that the contacts of the first magnetic latching relay 102 are disconnected, and then the internal circuit module 103 of the master console is powered off. At this time, under the action of the second diode 204, the first power-on switch 101 cannot supply power to the power-on coil of the second magnetic latching relay 202;

[0049] When the off potential of the second power-on switch 201 is connected, the power-off coil of the second magnetic holding relay 202 is energized, thereby disconnecting the contacts of the second magnetic holding relay 202, thereby cutting off the power to the internal circuit module 203 of the slave control console. At this time, under the action of the first diode 104, the second power-on switch 201 cannot supply power to the power-on coil of the first magnetic holding relay 102.

[0050] The main control console module 1 and the slave control console module 2 both include joystick assemblies, and by operating the corresponding joystick assemblies, analog signals for advance, retreat, buoyancy, lateral movement and steering are output accordingly. A single joystick assembly includes a main joystick with two degrees of freedom and an auxiliary joystick with three degrees of freedom.

[0051] The main control panel module 1 is also provided with a corresponding first control panel, which is a square structure and is vertically installed in front of the corresponding seat through a support rod; the slave control panel module 2 is also provided with a corresponding second control panel, which is hingedly hung above the corresponding seat through a bracket.

[0052] A control panel switching relay 11 is installed between the control panel and the normally open contact of the panel switching relay 12; the coil of the control panel switching relay 11 is connected to the relay control signal output end of the slave control panel module 2, the common end of the control panel switching relay 11 is connected to the normally open contact of the panel switching relay 12, the normally closed contact of the control panel switching relay 11 is connected to the analog signal output end of the main control panel module 1, and the normally open contact of the control panel switching relay 11 is connected to the analog signal output end of the slave control panel module 2.

[0053] The first serial port command signal is sent to the first serial port signal transmission end of the thruster module 10 through the network switch 5 and the serial port server 7 in sequence, and the second serial port command signal is directly sent to the second serial port signal transmission end of the thruster module 10 .

[0054] When the absolute value of the first analog command signal is less than 0.5V or the absolute value of the second analog command signal is less than 0.5V, the thruster module 10 responds to the first serial port command signal and the second serial port command signal according to the priority.

[0055] When the thruster module 10 receives the first serial port command signal, the thruster module 10 responds to the first serial port command signal; when the first serial port command signal received by the thruster module 10 is abnormal or the thruster module 10 does not receive the first serial port command signal, the thruster module 10 responds to the second serial port command signal.

[0056] The thruster module 10 includes two main thrusters for realizing forward and backward motion, two vertical thrusters for realizing submerged and floating motion, and two side thrusters for realizing lateral shifting and turning motion.

[0057] The control panel module 3 includes a switching switch and an enabling switch, the switching switch is used to switch the panel switching relay 12, and the enabling switch is used to activate the PLC module 6 and the slave control module 8. The control panel module 3 is provided with a start signal output unit and a switching signal output unit, the start signal output unit is controlled by the enabling switch to output a signal, and the switching signal output unit is controlled by the switching switch to output a signal.

[0058] In the present invention, the PLC module 6 includes a first DI unit, a first AI unit, a first AO unit and a first CPU unit; the slave control module 8 includes a second DI unit, a second AI unit, a second AO unit, a second CPU unit, a network communication unit and a serial communication unit; in the slave control module 8, the second CPU unit transmits signals with the main control unit 4 via the network communication unit via the network switch 5, and the second CPU unit transmits serial signals with the thruster module 10 via the serial communication unit. The second CPU unit generates a second control instruction according to the analog signal output by the control console collected by the second AI unit, and sends the second control instruction to the second AO unit, thereby controlling the second AO unit to output a second analog instruction signal.

[0059] Specifically, the connection relationship between the modules in the redundant navigation control system of the deep-sea lifeboat of the present invention is as follows:

[0060] The analog signal output end of the master control console module 1 is connected to the input end of the first AI unit of the PLC module 6 through the first analog circuit, the first analog circuit is provided with a first forked circuit, the first forked circuit is connected to the input end of the second AI unit of the slave control module 8, the first forked circuit is provided with a second forked circuit, the second forked circuit is connected to the normally closed contact of the control console switching relay 11;

[0061] The analog signal output end of the slave control console module 2 is connected to the input end of the first AI unit of the PLC module 6 through the second analog circuit, the second analog circuit is provided with a third forked circuit, the third forked circuit is connected to the input end of the second AI unit of the slave control module 8, the third forked circuit is provided with a fourth forked circuit, the fourth forked circuit is connected to the normally open contact of the control console switching relay 11;

[0062] The main control console module 1 and the slave control console module 2 are powered on and interlocked through an interlocking circuit system;

[0063] The relay control signal output terminal of the control console module 2 is connected to the coil of the control console switching relay 11 through the first line;

[0064] The output end of the start signal output unit of the control panel module 3 is connected to the input end of the first DI unit of the PLC module 6 through the second line, and a fifth fork line is provided on the second line, and the fifth fork line is connected to the input end of the second DI unit of the slave control module 8; when the enable switch is turned on, the start signal output unit of the control panel module 3 outputs a start signal, and the first DI unit of the PLC module 6 and the second DI unit of the slave control module 8 are started after receiving the start signal, thereby activating the PLC module 6 and the slave control module 8;

[0065] The output end of the switching signal output unit of the control panel module 3 is connected to the coil of the panel switching relay 12 through the third line. When the switching switch is turned off, the coil of the panel switching relay 12 is not energized, the normally closed contact of the panel switching relay 12 remains in a normally closed state, and the normally open contact of the panel switching relay 12 remains in a normally open state; when the switching switch is turned on, the coil of the panel switching relay 12 is energized, the normally closed contact of the panel switching relay 12 is disconnected, and the normally open contact of the panel switching relay 12 is closed;

[0066] The output end of the first AO unit of the PLC module 6 is connected to the input end of the first analog quantity isolation module 9 through the fourth line, and the output end of the first analog quantity isolation module 9 is connected to the normally closed contact of the signal switching relay 13 through the fifth line;

[0067] The PLC module 6 transmits signals to the network switch 5 via the sixth line, the network switch 5 transmits signals to the serial port server 7 via the seventh line, the network switch 5 transmits signals to the network communication unit of the slave control module 8 via the eighth line, and the network switch 5 transmits signals to the master control unit 4 via the ninth line;

[0068] The serial port server 7 is connected to the first serial port signal transmission end of the thruster module 10 through the tenth line, and the second serial port signal transmission end of the thruster module 10 is connected to the serial port communication unit of the slave control module 8 through the eleventh line;

[0069] The output end of the second AO unit of the slave control module 8 is connected to the input end of the second analog quantity isolation module 14 through the twelfth line, the output end of the second analog quantity isolation module 14 is connected to the normally open contact of the signal switching relay 13 through the thirteenth line, and the coil of the signal switching relay 13 is connected to the relay control signal output end of the second CPU unit of the slave control module 8 through the fourteenth line.

[0070] By providing the first analog quantity isolation module 9 and the second analog quantity isolation module 14, it is possible to prevent interference and noise from affecting the output signal, thereby effectively improving the stability and safety of the system.

[0071] The specific working process of the present invention is as follows:

[0072] S1. The driver needs to select the main control console module 1 or the slave control console module 2 as the driving control console module;

[0073] The driver selects a suitable driving mode through the control panel module 3, and the driving mode includes a normal driving mode and an emergency driving mode;

[0074] S1.1. When the main control console module 1 is selected as the driving control console module, the slave control console module 2 is powered off, the coil of the control console switching relay 11 is powered off, the normally closed contact of the control console switching relay 11 is closed and the normally open contact of the control console switching relay 11 is disconnected; at the same time, the main control console module 1 and the slave control console module 2 are powered on and interlocked;

[0075] When the slave control panel module 2 is selected as the driving control panel module, the main control panel module 1 is powered off, the coil of the control panel switching relay 11 is powered on, the normally closed contact of the control panel switching relay 11 is disconnected and the normally open contact of the control panel switching relay 11 is closed; at the same time, the main control panel module 1 and the slave control panel module 2 are powered on and interlocked;

[0076] S1.2. In the normal driving mode, the enable switch of the control panel module 3 is turned on and the switch is turned off, the start signal output unit of the control panel module 3 outputs a high-level signal, and the first DI unit of the PLC module 6 and the second DI unit of the slave control module 8 receive the start signal and start respectively, thereby activating the PLC module 6 and the slave control module 8;

[0077] When the PLC module 6 and / or the main control unit 4 are abnormal and the slave control module 8 is abnormal, the driver operates the switch to turn on. When the switch is turned on, the emergency driving mode is entered, and the coil of the panel switching relay 12 is energized, so that the normally closed contact of the panel switching relay 12 is disconnected and the normally open contact of the panel switching relay 12 is closed, so that the action of the thruster module 10 is directly controlled by the analog signal output by the driving console module;

[0078] S2. In the normal driving mode, the driver controls the action of the deep-sea lifeboat through the joystick assembly of the driving console module, thereby outputting the corresponding real-time analog signal;

[0079] S3. The main control unit 4 acquires real-time analog signals through the PLC module 6 and calculates the first control instruction. At the same time, the slave control module 8 directly acquires real-time analog signals and calculates the second control instruction;

[0080] The first CPU unit of the PLC module 6 generates a first analog quantity instruction signal and a first serial port instruction signal according to the first control instruction, and the second CPU unit of the slave control module 8 generates a second analog quantity instruction signal and a second serial port instruction signal according to the second control instruction;

[0081] S4. The master control unit 4 sends a heartbeat signal to the slave control module 8 through the network switch 5 in a loop, thereby controlling the action of the thruster module 10 through the first analog command signal or the second analog command signal;

[0082] When the network communication unit of the slave control module 8 receives the correct heartbeat signal, the second CPU unit of the slave control module 8 outputs a low-level signal, and the coil of the signal switching relay 13 is not energized, so that the normally closed contact of the signal switching relay 13 is closed and the normally open contact of the signal switching relay 13 is disconnected, so that the first AO unit of the PLC module 6 sends the first analog command signal to the analog signal input terminal of the thruster module 10, thereby controlling the action of the thruster module 10 through the first analog command signal;

[0083] When the network communication unit of the slave control module 8 receives an erroneous heartbeat signal or does not receive a heartbeat signal, the second CPU unit of the slave control module 8 outputs a high-level signal, and the coil of the signal switching relay 13 is energized, so that the normally closed contact of the signal switching relay 13 is disconnected and the normally open contact of the signal switching relay 13 is closed, so that the second AO unit of the slave control module 8 sends the second analog command signal to the thruster module 10, thereby controlling the action of the thruster module 10 through the second analog command signal;

[0084] S4.1. The heartbeat signal contains a specific check code, the second CPU unit from the control module 8 is preset with a preset check code, by comparing the check code contained in the heartbeat signal with the preset check code in the second CPU unit to determine whether the heartbeat signal is correct;

[0085] When the check code included in the heartbeat signal is consistent with the preset check code in the second CPU unit, the heartbeat signal is determined to be correct; otherwise, the heartbeat signal is wrong;

[0086] S5. When the absolute value of the first analog command signal is less than 0.5V or the absolute value of the second analog command signal is less than 0.5V, the thruster module 10 responds to the first serial port command signal and the second serial port command signal according to the priority;

[0087] When the thruster module 10 receives the first serial port command signal, the thruster module 10 responds to the first serial port command signal;

[0088] When the first serial port command signal received by the thruster module 10 is abnormal or the thruster module 10 does not receive the first serial port command signal, the thruster module 10 responds to the second serial port command signal;

[0089] S5.1. Both the first serial port command signal and the second serial port command signal contain ID address information, and the control unit of the thruster module 10 is preset with preset ID address information;

[0090] By comparing the ID address information contained in the first serial port command signal with the preset ID address information in the thruster module 10, it is determined whether the currently received signal is the first serial port command signal; by comparing the ID address information contained in the second serial port command signal with the preset ID address information in the thruster module 10, it is determined whether the currently received signal is the second serial port command signal;

[0091] When the ID address information contained in the first serial port command signal is consistent with the preset ID address information in the thruster module 10, it is determined that the currently received signal is the first serial port command signal; otherwise, it is determined that the currently received signal is not the first serial port command signal;

[0092] When the ID address information contained in the second serial port command signal is consistent with the preset ID address information in the thruster module 10, it is determined that the currently received signal is the second serial port command signal; otherwise, it is determined that the second serial port command signal is not the second serial port command signal;

[0093] When the second serial port command signal is an abnormal signal or the second serial port command signal is not received, the driver can switch the control system to enter the emergency driving mode.

[0094] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. A redundant navigation control system for a deep-sea lifeboat, characterized in that: The system comprises a control console, a control panel module (3), a main control unit (4), a network switch (5), a PLC module (6), a serial port server (7) and a slave control module (8), wherein the main control unit (4) transmits signals with the PLC module (6) via the network switch (5), and the main control unit (4) also transmits signals with the serial port server (7) via the network switch (5); The control panel module (3) is connected to the coil of the panel switching relay (12), the common end of the panel switching relay (12) is connected to the analog signal input end of the thruster module (10), the normally open contact of the panel switching relay (12) is connected to the control console, the normally closed contact of the panel switching relay (12) is connected to the common end of the signal switching relay (13), the coil of the signal switching relay (13) is connected to the relay control signal output end of the slave control module (8), the normally closed contact of the signal switching relay (13) is connected to the analog signal output end of the PLC module (6), and the normally open contact of the signal switching relay (13) is connected to the analog signal output end of the slave control module (8); The first serial port signal transmission end of the thruster module (10) is connected to the serial port server (7), and the second serial port signal transmission end of the thruster module (10) is connected to the serial port signal transmission end of the slave control module (8); The main control unit (4) collects the analog signal output by the control console through the PLC module (6) and calculates to obtain the first control instruction, and at the same time, the slave control module (8) directly collects the analog signal output by the control console and calculates to obtain the second control instruction; The PLC module (6) generates a first analog quantity instruction signal and a first serial port instruction signal according to a first control instruction, and the slave control module (8) generates a second analog quantity instruction signal and a second serial port instruction signal according to a second control instruction; The master control unit (4) cyclically sends a heartbeat signal to the slave control module (8) via the network switch (5); When the slave control module (8) receives a correct heartbeat signal, the slave control module (8) controls the normally closed contact of the signal switching relay (13) to close and the normally open contact of the signal switching relay (13) to open, thereby causing the PLC module (6) to send the first analog quantity command signal to the normally closed contact of the panel switching relay (12); When the slave control module (8) receives an erroneous heartbeat signal or does not receive a heartbeat signal, the slave control module (8) controls the normally closed contact of the signal switching relay (13) to be disconnected and the normally open contact of the signal switching relay (13) to be closed, so that the slave control module (8) sends the second analog quantity instruction signal to the normally closed contact of the panel switching relay (12); When the normally closed contact of the panel switching relay (12) is closed and the normally open contact of the panel switching relay (12) is opened, the first analog command signal or the second analog command signal is output to the analog signal input end of the thruster module (10) according to the state of the signal switching relay (13), thereby controlling the action of the thruster module (10); When the normally closed contact of the panel switching relay (12) is disconnected and the normally open contact of the panel switching relay (12) is closed, the control console directly outputs an analog signal to the analog signal input end of the thruster module (10), thereby controlling the action of the thruster module (10).

2. The redundant navigation control system for a deep-sea lifeboat as claimed in claim 1, characterized in that: The control console comprises a main control console module (1) and a slave control console module (2), wherein the main control console module (1) and the slave control console module (2) are interlocked at power on via an interlocking circuit system, thereby ensuring that when the main control console module (1) is powered on, the slave control console module (2) is in a power off state, when the main control console module (1) is powered off, the slave control console module (2) is in a power on state, or both the main control console module (1) and the slave control console module (2) are in a power off state.

3. The redundant navigation control system for a deep-sea lifeboat as claimed in claim 2, characterized in that: The interlock circuit system comprises a first power-on switch (101) and a second power-on switch (201); The on potential of the first power-on switch (101) is connected to the on-coil of the first magnetic latching relay (102), the off potential of the first power-on switch (101) is connected to the off-coil of the first magnetic latching relay (102), the input end of the first power-on switch (101) is connected to a 24V DC power supply, and the 24V DC power supply supplies power to the internal circuit module (103) of the main control console through the contacts of the first magnetic latching relay (102); The 24V DC power supply is also connected to the input end of the second power-on switch (201); the on potential of the second power-on switch (201) is connected to the on coil of the second magnetic latching relay (202); the off potential of the second power-on switch (201) is connected to the off coil of the second magnetic latching relay (202); the 24V DC power supply supplies power to the internal circuit module (203) of the slave control console through the contacts of the second magnetic latching relay (202); The upper potential of the first power-on switch (101) is connected to the power-off coil of the second magnetic latching relay (202) through the first diode (104), and the upper potential of the second power-on switch (201) is connected to the power-off coil of the first magnetic latching relay (102) through the second diode (204); When the upper potential of the first power-on switch (101) is turned on, the power-on coil of the first magnetic latching relay (102) is energized, so that the contacts of the first magnetic latching relay (102) are closed, and the internal circuit module (103) of the main control console is powered on. At the same time, the power-off coil of the second magnetic latching relay (202) is controlled to be energized through the first diode (104), so that the contacts of the second magnetic latching relay (202) are disconnected, and the internal circuit module (203) of the slave control console is powered off; When the upper potential of the second power-on switch (201) is turned on, the power-on coil of the second magnetic latching relay (202) is energized, so that the contacts of the second magnetic latching relay (202) are closed, and the internal circuit module (203) of the slave console is powered on. At the same time, the power-off coil of the first magnetic latching relay (102) is controlled to be energized through the second diode (204), so that the contacts of the first magnetic latching relay (102) are disconnected, and the internal circuit module (103) of the master console is powered off. When the off potential of the first power-on switch (101) is turned on and the off potential of the second power-on switch (201) is turned on, the contacts of the first magnetic latching relay (102) and the contacts of the second magnetic latching relay (202) are both in an off state, thereby powering off the internal circuit module (103) of the master control console and the internal circuit module (203) of the slave control console.

4. The redundant navigation control system for a deep-sea lifeboat as claimed in claim 2, characterized in that: The master control console module (1) and the slave control console module (2) both include a joystick assembly, and by operating the corresponding joystick assembly, analog signals of advance, retreat, diving, lateral movement and steering are output accordingly.

5. The redundant navigation control system for a deep-sea lifeboat as claimed in claim 2, characterized in that: A control panel switching relay (11) is installed between the control panel and the normally open contact of the panel switching relay (12); The coil of the control console switching relay (11) is connected to the relay control signal output end of the slave control console module (2), the common end of the control console switching relay (11) is connected to the normally open contact of the panel switching relay (12), the normally closed contact of the control console switching relay (11) is connected to the analog signal output end of the main control console module (1), and the normally open contact of the control console switching relay (11) is connected to the analog signal output end of the slave control console module (2).

6. The redundant navigation control system for a deep-sea lifeboat as claimed in claim 1, characterized in that: The first serial port command signal is sent to the first serial port signal transmission end of the thruster module (10) via the network switch (5) and the serial port server (7) in sequence, and the second serial port command signal is sent directly to the second serial port signal transmission end of the thruster module (10).

7. The redundant navigation control system for a deep-sea lifeboat as claimed in claim 6, characterized in that: When the absolute value of the first analog command signal is less than 0.5V or the absolute value of the second analog command signal is less than 0.5V, the thruster module (10) responds to the first serial port command signal and the second serial port command signal according to priority.

8. The redundant navigation control system for a deep-sea lifeboat as claimed in claim 7, characterized in that: When the thruster module (10) receives a first serial port command signal, the thruster module (10) responds to the first serial port command signal; when the first serial port command signal received by the thruster module (10) is abnormal or the thruster module (10) does not receive the first serial port command signal, the thruster module (10) responds to a second serial port command signal.

9. The redundant navigation control system for a deep-sea lifeboat as claimed in claim 1, characterized in that: The thruster module (10) comprises two main thrusters for realizing forward and backward movement, two vertical thrusters for realizing submerged and floating movement, and two side thrusters for realizing lateral movement and turning movement.

10. The redundant navigation control system for a deep-sea lifeboat as claimed in claim 1, characterized in that: The control panel module (3) comprises a switching switch and an enabling switch, wherein the switching switch is used to switch the panel switching relay (12), and the enabling switch is used to activate the PLC module (6) and the slave control module (8).

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