A multi-energy regulation method and device for a single-chip microcomputer-free small marine unmanned platform

Abstract

This invention discloses a multi-energy control method for a microcontroller-free small marine unmanned platform, relating to the field of energy management technology for marine observation equipment. The method switches between a primary energy source and a backup energy source, including: real-time sampling of the primary energy source voltage; comparing the sampled voltage value with a preset first threshold and a second threshold, wherein the second threshold is higher than the first threshold; when the sampled voltage value is lower than the first threshold, generating a first control signal based on the low voltage comparison result; delaying the first control signal using a hardware delay circuit to generate a delay trigger signal; locking the system to be powered by the backup energy source using a hardware latch based on the delay trigger signal; and in the locked state, generating a second control signal when the sampled voltage value is higher than the second threshold, switching and locking the system to be powered by the primary energy source in response to the second control signal. This technical solution implements energy switching purely in hardware, effectively avoiding erroneous switching caused by instantaneous voltage fluctuations.

Description

Technical Field

[0001] This application relates to the field of marine observation equipment technology, and in particular to a multi-energy control method and device for a microcontroller-free small marine unmanned platform. Background Technology

[0002] In the field of marine observation equipment technology, small unmanned marine platforms, such as surface drifting buoys, wave gliders, and autonomous underwater vehicles (AUVs), are widely used in ocean current monitoring, meteorological observation, marine ecological surveys, and long-distance communication relay due to their advantages of long-term unattended operation, flexible deployment, and wide coverage. Since these platforms are difficult to recover and maintain once deployed, the reliability of their power supply system directly determines the overall service life of the machine and the integrity of data acquisition. Therefore, extremely high requirements are placed on the stability and low power consumption characteristics of energy management.

[0003] To meet the above requirements, existing technical solutions generally use solar panels in combination with rechargeable batteries as the main energy source, supplemented by disposable batteries as backup power. The microcontroller or embedded controller collects parameters such as battery voltage, current and light intensity in real time, runs software algorithms to determine the energy status, and then controls relays or electronic switches to realize automatic switching between the main and backup power sources.

[0004] However, in long-term applications in complex ocean environments, existing technologies have gradually revealed several significant engineering problems. First, even in low-power mode, the static power consumption of the microcontroller and its peripheral circuits remains in the microamp to milliamp range. For small, unmanned marine platforms with extremely tight energy budgets, this continuous consumption significantly shortens the overall system endurance. Second, in the marine environment, light intensity fluctuates rapidly due to cloud cover and wave behavior. The main energy storage battery also experiences instantaneous voltage drops during sudden load changes. Existing control systems typically use instantaneous voltage threshold judgment, switching to backup power when the voltage is slightly below a set threshold and switching back to main power after the voltage recovers. This easily leads to "jittering" switching, where the main and backup power supplies repeatedly switch on and off within a short period. Such frequent switching not only accelerates the aging of relays or power MOSFETs but also causes momentary power outages, leading to communication module resets, data loss, and in severe cases, even system crashes. More importantly, in the high humidity, high salt spray and strong radiation environment of the open sea, the microcontroller may fail due to static electricity, radiation or memory damage. Once the energy management program is abnormal, it will directly cause the entire platform to lose its power supply scheduling capability, and its reliability cannot be fundamentally guaranteed. Summary of the Invention

[0005] This specification provides a multi-energy control method and device for a microcontroller-free small marine unmanned platform to solve at least one of the technical problems mentioned above.

[0006] To solve the above-mentioned technical problems, the embodiments in this specification are implemented as follows: According to a first aspect of the embodiments of this specification, a multi-energy control method for a microcontroller-free marine small unmanned platform is provided for switching between a main energy source and a backup energy source, comprising the following steps: The voltage of the main power source is sampled in real time to obtain the sampled voltage value. The main power source is used to power the load of the small marine unmanned platform. The sampled voltage value is compared with a preset first threshold voltage and a second threshold voltage, wherein the second threshold voltage is higher than the first threshold voltage; When the sampled voltage value is lower than the first threshold voltage, a first control signal is generated based on the low voltage comparison result; The first control signal is delayed by a hardware delay circuit to generate a delayed trigger signal. Based on the delayed trigger signal, the power supply state is locked to be powered by the backup energy source through a hardware latch, and the power supply path of the main energy source is disconnected to maintain the locked state. In the locked state, the sampled voltage value is continuously monitored. When the sampled voltage value is higher than the second threshold voltage, a second control signal is generated based on the high voltage comparison result. The generation of the second control signal does not require processing by a hardware delay circuit. In response to the second control signal, the power supply state is switched and locked to be powered by the main energy source through the hardware latch, and the power supply path of the backup energy source is disconnected.

[0007] In some optional implementations, a cold start step is also included, specifically including: During the power-on initialization phase, when the voltage of the main energy source is lower than the effective operating range of the voltage detection module, the low voltage comparison result is directly applied to the hardware latch, skipping the delay processing step of the hardware delay circuit in claim 1, and initializing the hardware latch to a locked state powered by the backup energy source, thereby realizing the automatic startup process driven by the backup energy source.

[0008] In some optional implementations, the step of delaying the first control signal using a hardware delay circuit to generate a delayed trigger signal includes: The voltage change of the first control signal is integrated by an RC delay network consisting of a delay resistor and a delay capacitor, such that the delay trigger signal is generated only when the duration of the sampled voltage value being lower than the first threshold voltage exceeds the delay threshold determined by the time constant of the RC delay network. If the sampled voltage value recovers to a value not lower than the first threshold voltage within the delay threshold, the generation of the delay trigger signal is canceled, and the state of being powered by the main energy source is maintained.

[0009] In some optional implementations, the method further includes an adaptive threshold adjustment step, specifically comprising: The voltage change characteristics of the main energy source at the moment of load change are detected by hardware circuitry, and the voltage change characteristics include the voltage change rate or change amplitude. Based on the voltage change characteristics, a compensation signal reflecting the transient response characteristics of the battery is generated; The compensation signal is superimposed on the reference voltage terminal of the first threshold voltage and / or the second threshold voltage to dynamically fine-tune the first threshold voltage and / or the second threshold voltage; The method of detecting the voltage change characteristics of the main energy source at the moment of load change includes: extracting the voltage drop slope signal at the moment of load switching through an RC differential network set in the voltage sampling path of the main energy source, as the voltage change characteristic; The generation of the compensation signal includes: when the voltage drop slope is detected to increase, generating a compensation signal to reduce the first threshold voltage, so as to reduce the sensitivity to transient voltage drop.

[0010] In some optional implementations, the main energy source is powered by a solar charging unit, and the method further includes a maximum power point tracking step, specifically including: Independent voltage and current sampling were performed on the multiple solar cells deployed on the small unmanned marine platform. The perturbation-observation method, constructed using purely analog circuits, independently performs maximum power point tracking for each solar cell, generating a corresponding PWM modulation signal. Based on the PWM modulation signal, the corresponding DC-DC conversion circuit is controlled so that each solar cell independently outputs maximum power to the common DC bus to charge the main energy source.

[0011] In some alternative implementations, the perturbation-observation method constructed using purely analog circuitry performs maximum power point tracking independently for each solar cell, including: The output power of the current solar cell is obtained by simulating a multiplier; The power change before and after applying a small perturbation is compared by simulating a differential comparator circuit; A periodic perturbation signal is generated by an analog oscillator to automatically approximate the maximum power point of the solar cell.

[0012] In some optional embodiments, in the step of comparing the sampled voltage value with a preset first threshold voltage and a second threshold voltage, the first threshold voltage and the second threshold voltage are set based on the discharge characteristics of the lithium iron phosphate battery, wherein the first threshold voltage is set near the end-of-discharge voltage of the lithium iron phosphate battery, and the second threshold voltage is set near the discharge plateau voltage of the lithium iron phosphate battery, so as to form a hysteresis interval between the two.

[0013] In some optional implementations, the comparison between the sampled voltage value and a preset threshold and hysteresis control are achieved through a hardware Schmitt trigger circuit and a feedback resistor; wherein, the upward flip threshold voltage of the Schmitt trigger circuit corresponds to the second threshold voltage, and the downward flip threshold voltage corresponds to the first threshold voltage. A positive feedback network is used to make the difference between the upward flip threshold voltage and the downward flip threshold voltage form a defined hysteresis window, and the width of the hysteresis window is determined by the resistance value of the feedback resistor.

[0014] In some optional implementations, an anti-interference filtering step is also included, specifically including: before inputting the sampled voltage value into the voltage comparator for threshold comparison, performing low-pass filtering on the sampled voltage value through an anti-interference capacitor connected in parallel at the input of the comparator to suppress high-frequency noise and transient interference signals.

[0015] According to a second aspect of the embodiments of this specification, a multi-energy control device for surface drifting buoys without a microcontroller is provided for switching between a main energy source and a backup energy source, comprising: The voltage sampling module is used to sample the voltage of the main power source in real time and obtain the sampled voltage value. The main power source is used to supply power to the load of the small marine unmanned platform. A threshold comparison module is used to compare the sampled voltage value with a preset first threshold voltage and a second threshold voltage, wherein the second threshold voltage is higher than the first threshold voltage; The first control signal generation module is used to generate a first control signal based on the low voltage comparison result when the sampled voltage value is lower than the first threshold voltage. The delay processing module is used to perform delay processing on the first control signal through a hardware delay circuit to generate a delay trigger signal; The backup energy locking module is used to lock the power supply status to be powered by the backup energy through a hardware latch based on the delayed trigger signal, and disconnect the power supply path of the main energy to maintain the locked state. The monitoring and second control signal generation module is used to continuously monitor the sampled voltage value in the locked state, and when the sampled voltage value is higher than the second threshold voltage, generate a second control signal based on the high voltage comparison result. The generation of the second control signal does not require processing by a hardware delay circuit. The main power supply locking module is used to switch and lock the power supply state to be powered by the main power supply in response to the second control signal, and disconnect the power supply path of the backup power supply through the hardware latch.

[0016] One embodiment of this specification can achieve at least the following beneficial effects: In this application's technical solution, a complete pure hardware energy switching determination mechanism is formed by setting a second threshold voltage higher than the first threshold voltage and introducing a hardware delay circuit in the low voltage determination path, combined with a hardware latch to lock the power supply status. This mechanism does not immediately execute a switch when the sampled voltage value is lower than the first threshold. Instead, the hardware delay circuit first performs time-dimensional integral verification of the first control signal. Only when the main energy voltage remains lower than the first threshold for a duration exceeding a preset delay threshold is a delay trigger signal generated, and the hardware latch locks the power supply status to backup energy. Therefore, the introduction of the hardware delay circuit allows small marine unmanned platforms to effectively distinguish between instantaneous voltage drops caused by wave impacts and load changes in the marine environment and the true, continuous low power state of the main energy source, thus avoiding invalid switching triggered by brief fluctuations. Simultaneously, since the hardware latch remains locked after switching to backup power, and switching back to main energy supply requires a sampled voltage value higher than the second threshold, a clear hysteresis range is formed during voltage recovery, further preventing repeated switching due to minor fluctuations near the threshold. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of a multi-energy control method for a microcontroller-free marine small unmanned platform provided in the embodiments of this specification; Figure 2 For corresponding Figure 1 A schematic diagram of the structure of a multi-energy control device for a microcontroller-free small marine unmanned platform. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of one or more embodiments of this specification clearer, the technical solutions of one or more embodiments of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of one or more embodiments of this specification.

[0020] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another.

[0021] Figure 1 This is a flowchart of a multi-energy control method for a microcontroller-free marine small unmanned platform provided in the embodiments of this specification; Figure 2 For corresponding Figure 1 A schematic diagram of the structure of a multi-energy control device for a microcontroller-free small marine unmanned platform.

[0022] This application provides a multi-energy control method for a microcontroller-free small marine unmanned platform. In this method, a voltage hysteresis range is formed by setting a second threshold higher than a first threshold. An RC hardware delay network is introduced into the low-voltage determination path, ensuring that a sampled voltage value below the first threshold must continuously exceed a preset delay threshold before switching is triggered. Simultaneously, a hardware latch locks the power supply state, maintaining this state after switching to backup energy until the sampled voltage value exceeds the second threshold, at which point switching back to the main energy is allowed. This allows for dual determination of the main energy voltage amplitude and time without relying on any microcontroller or software algorithm, effectively distinguishing between instantaneous voltage fluctuations and true low-power states, and avoiding frequent and ineffective switching between main and backup power supplies. The following detailed description of the method is based on the accompanying drawings. Figure 1 As shown, the method may include: Step 102: Sample the voltage of the main power source in real time to obtain the sampled voltage value. The main power source is used to supply power to the load of the small marine unmanned platform.

[0023] In the embodiments of this specification, a small marine unmanned platform can refer to a miniaturized unmanned equipment deployed in the marine environment, capable of long-term autonomous operation and performing tasks such as marine observation, monitoring, and communication relay, such as surface drifting buoys and wave gliders. For such small marine unmanned platforms, such as buoys, the main power battery is the primary power source for normal operation, and its voltage level directly reflects the remaining battery power and whether it has the ability to continue supplying power. Since small marine unmanned platforms operate in unattended open ocean environments for extended periods, the main power voltage is constantly changing due to various factors such as load switching, changes in illumination, and battery aging. Therefore, a means of real-time voltage tracking is needed to switch to backup power in a timely manner when the main power is insufficient, or to switch back after the main power is restored. From a hardware perspective, voltage sampling can be achieved by setting up a voltage divider network consisting of two resistors connected in series between the positive terminal of the main power battery and ground. The connection point between the two resistors serves as the sampling node, and the voltage value at this node is the sampled voltage value after scaling the main power voltage by a fixed ratio.

[0024] Step 104: Compare the sampled voltage value with a preset first threshold voltage and a second threshold voltage, wherein the second threshold voltage is higher than the first threshold voltage.

[0025] In this embodiment, the first threshold voltage can be understood as a threshold value for determining whether the main energy source has entered a low-power state. When the sampled voltage is lower than this value, it means that the main energy source may no longer be able to stably support the load operation, and it is necessary to consider activating the backup energy source. The second threshold voltage is a recovery threshold higher than the first threshold, used to determine whether the main energy source has regained sufficient power supply capability. Only when the sampled voltage rises back to and exceeds this value is it allowed to switch back to the main energy source from the backup energy source. By setting two different thresholds, a hysteresis range can be formed during the process of the main energy source voltage dropping and rising, thereby avoiding frequent switching caused by small voltage fluctuations.

[0026] From the perspective of actual operation of small marine unmanned platforms, the main power voltage is not stable and fluctuates due to various factors such as load switching, changes in lighting, and wave attitude. If only a single threshold is set, the platform will repeatedly switch between main and backup power supplies when the voltage fluctuates around that threshold, causing power outages and device damage. Using a comparison method combining a first and a second threshold has the advantage that when the voltage drops, it must fall to the first threshold to trigger switching preparation; when the voltage rises, it must cross the higher second threshold before switching back is allowed. The difference between the two thresholds constitutes a stable decision range, ensuring that normal voltage fluctuations within this range will not trigger switching.

[0027] Step 106: When the sampled voltage value is lower than the first threshold voltage, a first control signal is generated based on the low voltage comparison result.

[0028] In the embodiments described in this specification, the first control signal can refer to a level state signal output by the low-voltage comparator when it detects that the main power supply voltage is lower than a preset threshold. This signal is the trigger point for subsequent switching logic. When the sampled voltage value is lower than the first threshold voltage... When this happens, the output of the low-voltage comparator will undergo a level flip, for example, switching from a high level to a low level. This level change constitutes the first control signal. From the perspective of the hardware circuit, the first control signal itself does not directly drive the power switch to perform switching, but rather serves as a carrier to convey the state that "the main energy voltage has reached the low power warning line" to the subsequent delay circuit and latch unit.

[0029] In practical applications, the timing and accuracy of the first control signal generation directly affect the reliability of the entire energy switching process. Due to frequent voltage fluctuations in the marine environment, the generation of this signal must be strictly based on the real-time comparison of the sampled voltage with a first threshold, rather than any software algorithm or clock cycle intervention. When the comparator confirms that the sampled voltage is indeed lower than... At this time, the first control signal is generated and sent to the subsequent RC delay network to provide input for the subsequent delay determination. If the sampled voltage only drops momentarily and recovers in a very short time, the comparator output is reset, and the first control signal disappears, without triggering the subsequent switching action. Therefore, the first control signal generated in step 106 can be understood as an objective record of the main energy voltage state by the hardware comparator.

[0030] Step 108: Delay the first control signal using a hardware delay circuit to generate a delayed trigger signal.

[0031] In the embodiments of this specification, the hardware delay circuit can refer to an RC integral network composed of basic electronic components such as resistors and capacitors, whose function is to process the first control signal in the time dimension. For the energy management of small marine unmanned platforms, the generation of the first control signal only indicates that the main energy voltage is lower than a first threshold at a certain moment. However, in the marine environment, this instantaneous voltage drop may only be due to the brief fluctuation of solar panel output caused by wave impact, or the current surge caused by a sudden transmission from the communication module, and does not mean that the main energy has truly entered a sustained low-power state. The function of the hardware delay circuit is precisely to identify this situation. It does not respond to the first control signal immediately, but introduces it into a slow charging and discharging process, which is equivalent to setting an observation period or verification period for this signal.

[0032] In practical applications, the timing of the delayed trigger signal generation depends on the time constant of the RC network, which is the product of the resistance and capacitance values. When the first control signal arrives, the delay capacitor begins to slowly charge through the delay resistor, and the voltage across the capacitor gradually increases over time. Only when the first control signal persists long enough for the capacitor voltage to accumulate to a threshold level that can be recognized by the subsequent latching circuit will a valid delayed trigger signal be generated. This signal is the true authorization command for subsequent switching actions. Conversely, if the first control signal appears only briefly and disappears before the capacitor has finished charging, the capacitor will quickly discharge through the resistor, the entire delay process will automatically reset, and no delayed trigger signal will be generated. This design allows small marine unmanned platforms to distinguish between momentary disturbances and real faults, thereby avoiding incorrect switching responses to invalid, brief fluctuations.

[0033] Step 110: Based on the delayed trigger signal, lock the power supply status to be powered by the backup energy source through a hardware latch, and disconnect the power supply path of the main energy source to maintain the locked status.

[0034] In the embodiments of this specification, a hardware latch can refer to a bistable circuit composed of two NAND gates or two NOR gates cross-coupled, characterized by its state memory capability. For energy management of small marine unmanned platforms, the generation of a delayed trigger signal merely indicates that the main energy voltage has remained below a first threshold for a sufficiently long time, satisfying the condition for switching to backup energy. However, if the main energy voltage briefly rebounds due to some accidental factor after this moment, the system should not immediately switch back to the main energy, as this brief rebound may only be a momentary phenomenon and does not represent a stable recovery of the main energy. The function of the hardware latch is to respond to the delayed trigger signal, flipping its output state and locking it at the "powered by backup energy" position. Even if the input signal changes thereafter, the latch's output state will not change, thus achieving the memory function of switching decisions. In practical applications, when the latch is set by the delayed trigger signal, its output will simultaneously perform two actions: firstly, it outputs a high level to drive the power MOSFET on the backup energy path to conduct, allowing the backup energy to begin supplying power to the load. On the other hand, the low-level output controls the power MOSFET on the main power path to turn off, completely isolating the main power source from the load. These two actions are completed simultaneously, and because the two states output by the latch are inverses of each other, it ensures that the main and backup paths will never conduct simultaneously under any circumstances, avoiding current conflicts between power supplies. Furthermore, once the latch enters the backup power supply state, it will remain in this state, regardless of subsequent fluctuations in the main power supply voltage, without causing any change in the latch's state. Only when the second control signal arrives in subsequent steps will the latch be reset, switching back to main power supply and locking again. Through this hardware latching mechanism, the marine small unmanned platform can achieve deterministic maintenance of its power supply state, eliminating repeated switching caused by voltage fluctuations near the threshold.

[0035] Step 112: In the locked state, the sampled voltage value is continuously monitored. When the sampled voltage value is higher than the second threshold voltage, a second control signal is generated based on the high voltage comparison result. The generation of the second control signal does not require processing by a hardware delay circuit.

[0036] In the embodiments of this specification, the locked state can refer to a stable power supply mode maintained by a hardware latch, that is, the small marine unmanned platform is currently powered by backup energy, and this state will not change due to short-term fluctuations in the main energy voltage. In the locked state, the voltage sampling circuit of the small marine unmanned platform continues to operate, constantly monitoring the real-time voltage value of the main energy. The significance of this continuous monitoring in the technical solution of this application is that although the small marine unmanned platform is currently powered by backup energy, changes in the state of the main energy are still worth noting, because once the main energy returns to normal, the small marine unmanned platform should switch back to the main energy as soon as possible to conserve backup energy. Therefore, even in the backup power supply phase, the monitoring of the sampled voltage value is never interrupted, preparing for possible subsequent reverse switching. In practical applications, when continuous monitoring detects that the sampled voltage value is higher than the second threshold voltage, it means that the main energy has stably recovered to a level with sufficient power supply capability. At this time, the high-voltage comparator COMP2 will output a high-level signal, namely the second control signal, which is directly sent to the reset terminal of the hardware latch. Unlike the switch from primary power to backup power, which requires a delay, the generation of the second control signal does not require any hardware delay circuitry. It should respond as quickly as possible to switch back to primary power supply promptly and avoid excessive consumption of backup power. Furthermore, the voltage rising above the second threshold is already a relatively stable state, eliminating the need for additional verification of its duration. Therefore, the delay-free design ensures timely switching and simplifies the circuit structure, enabling the small marine unmanned platform to respond quickly and correctly when primary power is truly restored.

[0037] Step 114: In response to the second control signal, the power supply state is switched and locked to be powered by the main energy source through the hardware latch, and the power supply path of the backup energy source is disconnected.

[0038] In the embodiments described in this specification, as explained in step 112, the second control signal can refer to a level state signal output by the high-voltage comparator when it detects that the main energy voltage is higher than the second threshold. This signal indicates that the main energy has the ability to resume power supply. For small marine unmanned platforms, previously, due to the continuous low voltage of the main energy, the platform switched to backup power supply and remained in a locked state of backup power supply. Although the main energy has been restored, the memory characteristic of the hardware latch keeps it in its original state. The second control signal serves as an unlocking command, directly sent to the reset input of the latch, instructing the latch to change its current output state and switch back from backup power supply to main energy supply. When the latch receives the second control signal, its output immediately flips, simultaneously executing two mutually exclusive control actions: on the one hand, it outputs a low or high level to control the power MOSFET on the main energy path to turn on, allowing the main energy to reconnect to the load; on the other hand, it correspondingly controls the power MOSFET on the backup energy path to turn off, completely isolating the backup energy from the load.

[0039] It should be noted that, unlike the delayed verification required when switching from main power to backup power, the process of switching back to main power from backup power in this application is direct and rapid. This aligns with the design objective of conserving backup power as quickly as possible, and since the main power voltage exceeding the second threshold is already a reliable criterion, no additional verification is needed. After the switch is completed, the latch re-enters the locked state, which locks the main power supply state. This means that even if the main power voltage subsequently fluctuates briefly, as long as the first control signal of the low-voltage comparator is not triggered, the small marine unmanned platform will be stably and continuously powered by the main power source.

[0040] In this application's technical solution, a complete pure hardware energy switching determination mechanism is formed by setting a second threshold voltage higher than the first threshold voltage and introducing a hardware delay circuit in the low voltage determination path, combined with a hardware latch to lock the power supply status. This mechanism does not immediately execute a switch when the sampled voltage value is lower than the first threshold. Instead, the hardware delay circuit first performs time-dimensional integral verification of the first control signal. Only when the main energy voltage remains lower than the first threshold for a duration exceeding a preset delay threshold is a delay trigger signal generated, and the hardware latch locks the power supply status to backup energy. Therefore, the introduction of the hardware delay circuit allows small marine unmanned platforms to effectively distinguish between instantaneous voltage drops caused by wave impacts and load changes in the marine environment and the true, continuous low power state of the main energy source, thus avoiding invalid switching triggered by brief fluctuations. Simultaneously, since the hardware latch remains locked after switching to backup power, and switching back to main energy supply requires a sampled voltage value higher than the second threshold, a clear hysteresis range is formed during voltage recovery, further preventing repeated switching due to minor fluctuations near the threshold.

[0041] Based on the technical solutions described above, this specification also provides some specific implementation schemes, which are described below.

[0042] In optional embodiments, a cold start step may also be included, which may specifically include: During the power-on initialization phase, when the voltage of the main energy source is lower than the effective operating range of the voltage detection module, the low voltage comparison result is directly applied to the hardware latch, skipping the delay processing step of the hardware delay circuit, and initializing the hardware latch to a locked state powered by the backup energy source, thereby realizing the automatic start-up process driven by the backup energy source.

[0043] This embodiment of the technical solution considers that during the actual deployment or long-term operation of a small marine unmanned platform, situations may arise where the main power battery is completely depleted and the voltage is close to zero, or the main power battery has not been charged and the voltage has not yet reached the normal operating voltage range of the voltage comparator when it is first connected. In such cases, if the conventional switching logic still relies on sampling and delay-based determination of the main power battery voltage, the small marine unmanned platform will fail to start normally, and may even fall into a stalemate of "no power to determine, no power available." To solve the startup problem under this special operating condition, this embodiment of the technical solution introduces a cold start mechanism at the hardware level that is independent of the conventional delay-based determination logic. Specifically, during the power-on initialization phase, if the main power battery voltage is lower than a preset first threshold voltage... For example, if the main energy voltage is close to zero or significantly lower than the threshold, the output of the low-voltage comparator will directly enter the logic state that triggers the backup energy activation. In this state, the comparison result does not pass through the RC delay network used to suppress transient fluctuations, but directly acts on the energy mutual exclusion latch unit, so that the latch is locked in the "powered by backup energy" state at the initial power-on. At the same time, the backup energy power switch unit is turned on first, the main energy power switch remains off, and the load is directly powered by the backup energy, thereby completing the automatic startup of the small marine unmanned platform.

[0044] Since the voltage comparison, latching logic, and power switch control circuits are all powered by the backup energy source itself, even if the main energy source is completely depleted, the small marine unmanned platform can automatically identify the current operating condition and establish a power supply path without manual intervention or software initialization. The main energy battery will then be restored to its normal voltage range through solar charging or other means, and the conditions for switching to the main energy source (such as the voltage exceeding the second threshold) will be met. After that, the small marine unmanned platform can switch back to main power from backup power according to conventional logic. This cold start design in the technical solution of this embodiment can avoid the problem of the small marine unmanned platform being unable to autonomously wake up after its first launch or after a long period of main power depletion.

[0045] In an optional embodiment, the step of delaying the first control signal using a hardware delay circuit to generate a delayed trigger signal may include: The voltage change of the first control signal is integrated by an RC delay network consisting of a delay resistor and a delay capacitor, such that the delay trigger signal is generated only when the duration of the sampled voltage value being lower than the first threshold voltage exceeds the delay threshold determined by the time constant of the RC delay network. If the sampled voltage value recovers to a value not lower than the first threshold voltage within the delay threshold, the generation of the delay trigger signal is canceled, and the state of being powered by the main energy source is maintained.

[0046] As mentioned earlier, in marine environments, the main power voltage of small marine unmanned platforms often experiences rapid fluctuations on the order of milliseconds or even seconds due to changes in wave attitude, momentary cloud cover, or sudden transmissions from communication modules. If switching decisions are based solely on comparing the instantaneous voltage value with a single threshold, the voltage will be affected if it briefly drops below the first threshold. This will immediately trigger a switching action, resulting in frequent invalid switching between the primary and backup power supplies. Such switching not only accelerates the aging of power devices but may also cause momentary power outages to the load, and even data loss or system reset. To solve this problem, the technical solution in this embodiment introduces a low-voltage determination path based on... The start-up lockout mechanism of the delayed network incorporates voltage duration as a necessary condition for handover determination, thereby effectively distinguishing between transient disturbances and true continuous low-power states.

[0047] In practical implementation, a delay resistor can be set between the output of the low-voltage comparator and the input of the energy mutual exclusion latch unit. and delay capacitor Composition Integrating circuit. When the sampling voltage... Below the first threshold hour, The output level toggle signal does not directly drive the latch, but rather through a delay resistor. For delay capacitor Charging is performed, causing the voltage across the capacitor to rise slowly over time. This charging process essentially involves integrating the changes in the first control signal; only when... Persistently below The cumulative duration exceeds the time constant. Only when the determined delay threshold is reached does the capacitor voltage accumulate to a valid level sufficient to trigger the latch to flip, at which point the actual delay trigger signal is generated, allowing the small marine unmanned platform to switch to backup power. If, during the delay period, Restore to above, Output reset, delay capacitor pass Rapid discharge automatically cancels the integration process, prevents the generation of delayed trigger signals, and keeps the marine miniature unmanned platform powered by its main energy source. Through this dual determination method based on the superposition of voltage amplitude and duration, the technical solution of this embodiment can achieve hardware-level filtering of voltage fluctuations without relying on any software or clock.

[0048] In an optional embodiment, the method further includes an adaptive threshold adjustment step, which may specifically include: The voltage change characteristics of the main energy source at the moment of load change are detected by hardware circuitry, and the voltage change characteristics include the voltage change rate or change amplitude. Based on the voltage change characteristics, a compensation signal reflecting the transient response characteristics of the battery is generated; The compensation signal is superimposed on the reference voltage terminal of the first threshold voltage and / or the second threshold voltage to dynamically fine-tune the first threshold voltage and / or the second threshold voltage; The method of detecting the voltage change characteristics of the main energy source at the moment of load change includes: extracting the voltage drop slope signal at the moment of load switching through an RC differential network set in the voltage sampling path of the main energy source, as the voltage change characteristic; The generation of the compensation signal includes: when the voltage drop slope is detected to increase, generating a compensation signal to reduce the first threshold voltage, so as to reduce the sensitivity to transient voltage drop.

[0049] As small unmanned marine platforms operate in the open ocean environment for extended periods, the main power battery experiences a gradual increase in internal resistance due to cyclic charging and discharging and natural aging. This increased internal resistance leads to a significant increase in the magnitude and rate of voltage drop at the battery terminals during sudden load changes or current surges. However, such transient voltage drops do not necessarily indicate insufficient remaining battery capacity. If a completely fixed voltage threshold is used for judgment, the same load shock is more likely to trigger a low-voltage comparator flip-flop in the later stages of battery aging, resulting in frequent false switching. To address this issue, this embodiment introduces an adaptive threshold adjustment circuit into the voltage detection and threshold generation path. This circuit adjusts the first threshold based on the characteristics of transient voltage changes in the battery. and / or second threshold Perform dynamic fine-tuning.

[0050] In practical implementation, the adaptive threshold adjustment circuit can include a voltage change detection unit, an integration or differentiation processing unit, and a reference voltage modulation unit. The voltage change detection unit can be configured in the main energy source voltage sampling path. A differentiating network is used to extract the voltage drop slope signal during load switching. When a significant increase in the voltage drop slope is detected, it indicates that the battery's internal resistance is relatively high. The differentiating processing unit converts this change characteristic into a compensation signal reflecting the battery's transient response characteristics. This compensation signal is then superimposed onto the comparator's reference voltage terminal by the reference voltage modulation unit, thereby affecting the voltage response. Downward compensation is performed. Through this dynamic fine-tuning, the comparator's sensitivity to transient voltage drops is reduced accordingly, avoiding erroneous switching caused by increased internal resistance due to battery aging. When the battery is relatively new and the transient drop is small, the compensation signal approaches zero, and the threshold automatically recovers to the original design value. Through this purely hardware-implemented adaptive threshold adjustment mechanism, the technical solution of this application can achieve hardware-level automatic compensation for the impact of battery aging without introducing a microcontroller or software algorithm, enabling the energy regulation circuit to maintain stable switching judgment characteristics throughout the entire battery life.

[0051] In an optional embodiment, the main energy source is powered by a solar charging unit, and the method further includes a maximum power point tracking step, which may specifically include: Independent voltage and current sampling were performed on multiple solar cells deployed on a small unmanned marine platform. The perturbation-observation method, constructed using purely analog circuits, independently performs maximum power point tracking for each solar cell, generating a corresponding PWM modulation signal. Based on the PWM modulation signal, the corresponding DC-DC conversion circuit is controlled so that each solar cell independently outputs maximum power to the common DC bus to charge the main energy source.

[0052] In the actual deployment environment of small marine unmanned platforms, the irradiance received by solar panels in different orientations often varies significantly due to the platform's swaying with the waves, cloud cover, or changes in the angle of sunlight incidence. Simply connecting all solar panels in parallel and performing maximum power point tracking (MPPT) uniformly results in a severe decrease in overall output efficiency due to localized shading, and may even lead to a failure to converge to the global maximum power point under multi-peak power curves. To solve this engineering challenge, this embodiment proposes a solution that, without the involvement of a microcontroller, uses a purely analog circuit to configure an independent MPPT module for each solar panel, enabling independent MPPT and parallel charging for each panel.

[0053] In practical implementation, the hull of the small marine unmanned platform can be equipped with multiple solar panels facing different directions, each corresponding to an independent MPPT submodule. This submodule can include a voltage sampling circuit, a current sampling circuit, an analog MPPT control core, and a DC-DC buck-boost converter circuit. The voltage sampling circuit uses a resistor divider structure to scale the solar panel output voltage to a range that the analog circuit can handle. The current sampling circuit obtains the current output current through a sampling resistor and an operational amplifier. The analog MPPT control core utilizes a multiplier, a differential comparator circuit, and an oscillator to construct a pure hardware implementation of the perturbation-observation method. Its working principle is as follows: the multiplier multiplies the sampled voltage and current to obtain the instantaneous power; the differential comparator circuit compares the direction of power change before and after applying a small perturbation; and the oscillator generates a periodic perturbation signal to adjust the PWM duty cycle, thereby enabling the DC-DC converter circuit to automatically approach and lock at the maximum power point under the current illumination conditions. The electrical energy output from each MPPT submodule is isolated by a Schottky diode and then fed into a common DC bus, which then charges the main power battery. The use of Schottky diodes prevents backflow of current between units, ensuring that independent MPPTs do not interfere with each other. Through this purely analog multi-unit independent MPPT structure, the technical solution of this embodiment can achieve precise energy harvesting from solar panels facing different directions without introducing any microcontrollers or digital logic, thereby solving the problem of overall efficiency degradation caused by partial shading.

[0054] In an optional embodiment, the perturbation-observation method constructed using purely analog circuits, which independently performs maximum power point tracking for each solar cell, may include: The output power of the current solar cell is obtained by simulating a multiplier; The power change before and after applying a small perturbation is compared by simulating a differential comparator circuit; A periodic perturbation signal is generated by an analog oscillator to automatically approximate the maximum power point of the solar cell.

[0055] In this embodiment of the invention, the perturbation-observation method is implemented through a purely analog circuit. That is, a hardware module simulates the iterative process of "perturbation-observation-adjustment," causing the operating point of the solar cell to automatically converge to near its maximum power point and remain stable. Unlike digital implementations, this analog scheme requires no analog-to-digital conversion, program storage, or clock signals. All calculations are performed in real time by analog devices, offering advantages such as fast response speed, no quantization error, and extremely low power consumption. This makes it suitable for resource-constrained applications of small, unmanned platforms drifting in the ocean.

[0056] In practice, the output voltage and current of each solar cell are first fed into an analog multiplier via a sampling circuit. The multiplier calculates their product in real time to obtain the instantaneous power value. Subsequently, an analog oscillator generates a periodic disturbance signal with a tiny cycle. This signal is superimposed on the PWM control terminal of the DC-DC converter circuit, causing a slight fluctuation in the converter's duty cycle, which in turn causes corresponding changes in the output voltage and current of the solar cell. At the instant the disturbance occurs, the analog differential comparator circuit samples and compares the power values ​​before and after the disturbance to determine the direction of the power change. Specifically, if the power increases after the disturbance, the original disturbance direction is maintained and adjustment continues; if the power decreases, the disturbance direction is changed. This process continues, ensuring that the operating point always moves in the direction of increasing power, eventually stabilizing near the maximum power point. The entire closed-loop regulation process is completed collaboratively by hardware modules such as the analog multiplier, differential comparator, and oscillator, enabling pure hardware maximum power point tracking without microcontroller intervention.

[0057] In an optional embodiment, in the step of comparing the sampled voltage value with a preset first threshold voltage and a second threshold voltage, the first threshold voltage and the second threshold voltage are set based on the discharge characteristics of the lithium iron phosphate battery. The first threshold voltage is set near the end-of-discharge voltage of the lithium iron phosphate battery, and the second threshold voltage is set near the discharge plateau voltage of the lithium iron phosphate battery, so as to form a hysteresis interval between the two.

[0058] In practical applications of lithium iron phosphate batteries, their discharge characteristics exhibit a relatively flat voltage plateau. Experimental data shows that under normal load conditions, the stable discharge plateau voltage of a single lithium iron phosphate battery is typically located at... to Within this range, although the battery's state of charge gradually decreases from near full charge to near depletion, the terminal voltage changes very slowly; only when the battery truly enters the final stage of discharge will the voltage drop rapidly from the plateau region. Based on this electrochemical characteristic, if only a single voltage threshold is set for energy switching, it will be difficult to distinguish between normal voltage fluctuations within the plateau region and the battery's true near-depletion state, easily leading to misjudgments due to load transients or temperature effects.

[0059] To solve this problem, the technical solution of this application can reduce the first threshold voltage. The value is set near the end-of-discharge voltage of the lithium iron phosphate battery; for example, its specific value could be approximately... This is used to characterize the critical point where the main energy source has entered a low-power risk zone, requiring consideration of activating backup energy. Simultaneously, the second threshold voltage... The value is set at the discharge platform voltage; for example, the specific value could be approximately... This is used to characterize a stable state where the main energy source has been restored to sufficient power supply capacity and is ready for switchback. Through... and Forming an agreement between The hysteresis range can be reached when the main energy voltage is briefly lower than the load fluctuation range. The backup power source is not switched on immediately, but only activated when the voltage remains low; and when the main power voltage recovers... Only when the threshold is above the specified value can the battery switch back from the backup power source. This effectively avoids frequent invalid switching caused by minor fluctuations near the platform voltage. This threshold setting method can make full use of the discharge curve characteristics of the lithium iron phosphate battery itself, and achieve hardware-level energy management that matches the battery characteristics without the need for software algorithms.

[0060] In an optional embodiment, the comparison between the sampled voltage value and a preset threshold and hysteresis control are achieved through a hardware Schmitt trigger circuit and a feedback resistor. The upward flip threshold voltage of the Schmitt trigger circuit corresponds to the second threshold voltage, and the downward flip threshold voltage corresponds to the first threshold voltage. A positive feedback network is used to form a defined hysteresis window between the upward flip threshold voltage and the downward flip threshold voltage. The width of the hysteresis window is determined by the resistance value of the feedback resistor.

[0061] In this embodiment of the invention, the Schmitt trigger circuit is composed of a voltage comparator and a positive feedback network, characterized by having two different switching threshold voltages. Specifically, a feedback resistor is connected between the output and non-inverting input of the comparator, forming a positive feedback path from the output to the input. When the sampling voltage... As the voltage gradually increases, the comparator output is at a high level. At this time, the positive feedback network raises the reference voltage at the non-inverting input, which corresponds to the second threshold voltage. ;when Rise above When the comparator output flips to a low level, the positive feedback network immediately pulls down the reference voltage at the non-inverting input, and the corresponding flip threshold is the first threshold voltage. Through this mechanism, the Schmitt trigger circuit exhibits different switching points during voltage rise and fall, forming a distinct hysteresis characteristic.

[0062] In practical applications, the width of the hysteresis window can be determined by the resistance value of the feedback resistor. The feedback resistor and the input loop resistor form a voltage divider network, and their voltage division ratio directly controls the difference between the upward and downward flip thresholds. When the feedback resistor value is large, the positive feedback effect is strong, and the hysteresis window widens accordingly; when the feedback resistor value is small, the hysteresis window narrows. By appropriately selecting the resistance value of the feedback resistor, the hysteresis window width can be matched with the discharge platform characteristics of the main power battery. For example, in lithium iron phosphate battery applications, a value of approximately [value missing] can be set. The hysteresis range. This purely hardware-implemented hysteresis control mechanism enables small marine unmanned platforms to maintain a constant output state when the main energy voltage changes slightly due to load fluctuations, and the state only flips when the voltage crosses the entire hysteresis window. This can suppress jitter near the threshold and improve the stability of energy switching.

[0063] In optional embodiments, an anti-interference filtering step may also be included, which may specifically include: Before the sampled voltage value is input to the voltage comparator for threshold comparison, the sampled voltage value is low-pass filtered by an anti-interference capacitor connected in parallel at the input of the comparator to suppress high-frequency noise and transient interference signals.

[0064] Considering that small unmanned marine platforms may encounter extreme operating conditions during long-term continuous marine environmental observations, such as severe aging of the main power battery leading to a sharp increase in internal resistance, ineffective solar charging due to prolonged shading, or intermittent short-circuit faults in the load, the main power voltage may exhibit a cyclical pattern of brief rises followed by drops. Specifically, after switching to backup power, the main power voltage rises briefly above the second threshold voltage due to load removal, before switching back to main power. However, due to unresolved fundamental issues with the battery or charging system, the voltage quickly drops below the first threshold again after the main power is connected to the load, triggering another switch. This repeated switching not only wastes backup power but also continuously impacts the stability of power switching devices and load power supply. To address this potential problem, in an optional embodiment, when the hardware latch performs more than a preset number of switching actions within a preset monitoring period, and the main power voltage drops below the first threshold voltage again within a short period after each switch to backup power, it indicates that the current operating condition is no longer within the normal voltage fluctuation range but has entered a persistent fault state. At this point, a fault lockout state can be triggered, forcibly locking the power supply to backup power and blocking all subsequent switching attempts to avoid meaningless repeated switching between primary and backup power sources. The lockout will be automatically released and normal switching logic will resume once the primary power voltage has truly stabilized and recovered to above the second threshold and has remained above the preset recovery time threshold.

[0065] It should be understood that in the methods described in one or more embodiments of this specification, the order of some steps may be adjusted according to actual needs, or some steps may be omitted.

[0066] Based on the foregoing technical solutions, this invention also provides a multi-energy control device for a microcontroller-free small marine unmanned platform, such as... Figure 2 As shown, the device, from a macroscopic perspective, may include the following modules: The voltage sampling module 202 is used to sample the voltage of the main power source in real time and obtain the sampled voltage value. The main power source is used to supply power to the load of the small marine unmanned platform. Threshold comparison module 204 is used to compare the sampled voltage value with a preset first threshold voltage and a second threshold voltage, wherein the second threshold voltage is higher than the first threshold voltage; The first control signal generation module 206 is used to generate a first control signal based on the low voltage comparison result when the sampled voltage value is lower than the first threshold voltage. Delay processing module 208 is used to perform delay processing on the first control signal through hardware delay circuit to generate a delay trigger signal; The backup energy locking module 210 is used to lock the power supply state to be powered by the backup energy through a hardware latch based on the delayed trigger signal, and disconnect the power supply path of the main energy to maintain the locked state. The monitoring and second control signal generation module 212 is used to continuously monitor the sampled voltage value in the locked state, and generate a second control signal based on the high voltage comparison result when the sampled voltage value is higher than the second threshold voltage. The generation of the second control signal does not require processing by a hardware delay circuit. The main power supply locking module 214 is used to switch and lock the power supply state to be powered by the main power supply in response to the second control signal, and disconnect the power supply path of the backup power supply through the hardware latch.

[0067] Those skilled in the art will understand that the modules in the apparatus of the foregoing embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules, that is, the module division can be flexibly performed to implement the method embodiments described above.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-energy control method for a microcontroller-free marine small unmanned platform, used for switching between main energy and backup energy, characterized in that, Includes the following steps: The voltage of the main power source is sampled in real time to obtain the sampled voltage value. The main power source is used to power the load of the small marine unmanned platform. The sampled voltage value is compared with a preset first threshold voltage and a second threshold voltage, wherein the second threshold voltage is higher than the first threshold voltage; When the sampled voltage value is lower than the first threshold voltage, a first control signal is generated based on the low voltage comparison result; The first control signal is delayed by a hardware delay circuit to generate a delayed trigger signal. Based on the delayed trigger signal, the power supply state is locked to be powered by the backup energy source through a hardware latch, and the power supply path of the main energy source is disconnected to maintain the locked state. In the locked state, the sampled voltage value is continuously monitored. When the sampled voltage value is higher than the second threshold voltage, a second control signal is generated based on the high voltage comparison result. The generation of the second control signal does not require processing by a hardware delay circuit. In response to the second control signal, the power supply state is switched and locked to be powered by the main energy source through the hardware latch, and the power supply path of the backup energy source is disconnected.

2. The multi-energy control method for a microcontroller-free marine small unmanned platform according to claim 1, characterized in that, It also includes a cold start procedure, specifically including: During the power-on initialization phase, when the voltage of the main energy source is lower than the effective operating range of the voltage detection module, the low voltage comparison result is directly applied to the hardware latch, skipping the delay processing step of the hardware delay circuit in claim 1, and initializing the hardware latch to a locked state powered by the backup energy source, thereby realizing the automatic startup process driven by the backup energy source.

3. The multi-energy control method for a microcontroller-free marine small unmanned platform according to claim 1, characterized in that, The step of delaying the first control signal using a hardware delay circuit to generate a delayed trigger signal includes: The voltage change of the first control signal is integrated by an RC delay network consisting of a delay resistor and a delay capacitor, such that the delay trigger signal is generated only when the duration of the sampled voltage value being lower than the first threshold voltage exceeds the delay threshold determined by the time constant of the RC delay network. If the sampled voltage value recovers to a value not lower than the first threshold voltage within the delay threshold, the generation of the delay trigger signal is canceled, and the state of being powered by the main energy source is maintained.

4. The multi-energy control method for a microcontroller-free marine small unmanned platform according to claim 1, characterized in that, The method further includes an adaptive threshold adjustment step, specifically comprising: The voltage change characteristics of the main energy source at the moment of load change are detected by hardware circuitry, and the voltage change characteristics include the voltage change rate or change amplitude. Based on the voltage change characteristics, a compensation signal reflecting the transient response characteristics of the battery is generated; The compensation signal is superimposed on the reference voltage terminal of the first threshold voltage and / or the second threshold voltage to dynamically fine-tune the first threshold voltage and / or the second threshold voltage; The method of detecting the voltage change characteristics of the main energy source at the moment of load change includes: extracting the voltage drop slope signal at the moment of load switching through an RC differential network set in the voltage sampling path of the main energy source, as the voltage change characteristic; The generation of the compensation signal includes: when the voltage drop slope is detected to increase, generating a compensation signal to reduce the first threshold voltage, so as to reduce the sensitivity to transient voltage drop.

5. The multi-energy control method for a microcontroller-free marine small unmanned platform according to claim 1, characterized in that, The main energy source is powered by a solar charging unit, and the method further includes a maximum power point tracking step, specifically including: Independent voltage and current sampling were performed on the multiple solar cells deployed on the small unmanned marine platform. The perturbation-observation method, constructed using purely analog circuits, independently performs maximum power point tracking for each solar cell, generating a corresponding PWM modulation signal. Based on the PWM modulation signal, the corresponding DC-DC conversion circuit is controlled so that each solar cell independently outputs maximum power to the common DC bus to charge the main energy source.

6. The multi-energy control method for a microcontroller-free marine small unmanned platform according to claim 5, characterized in that, The perturbation-observation method, constructed using purely analog circuits, independently performs maximum power point tracking for each solar cell, including: The output power of the current solar cell is obtained by simulating a multiplier; The power change before and after applying a small perturbation is compared by simulating a differential comparator circuit; A periodic perturbation signal is generated by an analog oscillator to automatically approximate the maximum power point of the solar cell.

7. The multi-energy control method for a microcontroller-free marine small unmanned platform according to claim 1, characterized in that, In the step of comparing the sampled voltage value with a preset first threshold voltage and a second threshold voltage, the first threshold voltage and the second threshold voltage are set based on the discharge characteristics of the lithium iron phosphate battery. The first threshold voltage is set near the end-of-discharge voltage of the lithium iron phosphate battery, and the second threshold voltage is set near the discharge plateau voltage of the lithium iron phosphate battery, so as to form a hysteresis interval between the two.

8. The multi-energy control method for a microcontroller-free marine small unmanned platform according to claim 1, characterized in that, The comparison between the sampled voltage value and the preset threshold and hysteresis control are realized by a hardware Schmitt trigger circuit and a feedback resistor. The upper flip threshold voltage of the Schmitt trigger circuit corresponds to the second threshold voltage, and the lower flip threshold voltage corresponds to the first threshold voltage. The difference between the upper flip threshold voltage and the lower flip threshold voltage forms a clear hysteresis window through a positive feedback network. The width of the hysteresis window is determined by the resistance value of the feedback resistor.

9. The multi-energy control method for a microcontroller-free marine small unmanned platform according to claim 1, characterized in that, It also includes an anti-interference filtering step, specifically including: Before the sampled voltage value is input to the voltage comparator for threshold comparison, the sampled voltage value is low-pass filtered by an anti-interference capacitor connected in parallel at the input of the comparator to suppress high-frequency noise and transient interference signals.

10. A multi-energy control device for a microcontroller-free marine small unmanned platform, used for switching between main energy and backup energy, characterized in that, include: The voltage sampling module is used to sample the voltage of the main power source in real time and obtain the sampled voltage value. The main power source is used to supply power to the load of the small marine unmanned platform. A threshold comparison module is used to compare the sampled voltage value with a preset first threshold voltage and a second threshold voltage, wherein the second threshold voltage is higher than the first threshold voltage; The first control signal generation module is used to generate a first control signal based on the low voltage comparison result when the sampled voltage value is lower than the first threshold voltage. The delay processing module is used to perform delay processing on the first control signal through a hardware delay circuit to generate a delay trigger signal; The backup energy locking module is used to lock the power supply status to be powered by the backup energy through a hardware latch based on the delayed trigger signal, and disconnect the power supply path of the main energy to maintain the locked state. The monitoring and second control signal generation module is used to continuously monitor the sampled voltage value in the locked state, and when the sampled voltage value is higher than the second threshold voltage, generate a second control signal based on the high voltage comparison result. The generation of the second control signal does not require processing by a hardware delay circuit. The main power supply locking module is used to switch and lock the power supply state to be powered by the main power supply in response to the second control signal, and disconnect the power supply path of the backup power supply through the hardware latch.

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