Driving control device of double-propeller electric unmanned ship

Abstract

The utility model discloses a driving control device of a double-propeller electric unmanned ship. The driving control device comprises a microcontroller, a first brushless motor driving module, a second brushless motor driving module, a wireless transmission module, a sensor module and a battery module, the first brushless motor driving module controls a propeller on one side of the double-propeller electric unmanned ship to move, and the second brushless motor driving module controls a propeller on the other side of the double-propeller electric unmanned ship to move; the first brushless motor driving module and the second brushless motor driving module are connected with the battery module, and the wireless transmission module and the sensor module are respectively connected with the microcontroller and are connected with the battery module through the microcontroller. According to the utility model, the dual-core microcontroller is adopted to replace an upper computer and a lower computer or a parallel structure of two processor templates, and a peripheral circuit is greatly simplified, so that the size of the driving control device is reduced, and the weight of the driving control device is also reduced; meanwhile, compared with a conventional bus mode, the data transmission speed is greatly increased, and the response time is greatly shortened.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic control of unmanned boats, in particular to a driving control device of a double-propeller electric unmanned boat. Background Art

[0002] Unmanned boats are transport vehicles that can sail and operate autonomously on the water. They are mainly used to complete tasks such as water rescue, exploration and inspection. The power source mainly comes from fuel or batteries. Electric unmanned boats have received more and more attention from the industry due to their outstanding advantages such as lightness and flexibility, safety and reliability, cleanliness and quietness, low cost and easy maintenance. The double-propeller rudderless unmanned boat has higher propulsion redundancy and smaller turning radius, which is particularly suitable for special occasions such as narrow waterways and small working areas.

[0003] At present, the control system of electric unmanned boats is mainly divided into two parts: main control and drive. The control components of the main control part mainly include the main control board, radio station and various sensor components; the control components of the drive part mainly include controllers, MOSFET transistors and motors. Since the control components of the main control part and the control components of the drive part of the electric unmanned boat are set separately, on the one hand, the control system is bulky, and on the other hand, the data transmission time and response time of the control system are too long, which urgently needs to be optimized. Utility Model Content

[0004] An embodiment of the utility model provides a drive control device for a double-propeller electric unmanned boat, comprising a microcontroller, a first brushless motor drive module, a second brushless motor drive module, a wireless transmission module, a sensor module and a battery module; the first brushless motor drive module controls the movement of a propeller on one side of the double-propeller electric unmanned boat, and the second brushless motor drive module controls the movement of a propeller on the other side of the double-propeller electric unmanned boat; the microcontroller, the first brushless motor drive module and the second brushless motor drive module are connected to the battery module, and the wireless transmission module and the sensor module are respectively connected to the microcontroller and connected to the battery module through the microcontroller.

[0005] Furthermore, the first brushless motor drive module / second brushless motor drive module includes a first / second position sensor, a first / second current sensor, a first / second signal amplification circuit, a first / second isolation drive circuit, a first / second MOSFET transistor and a first / second paddle motor; the first / second position sensor is connected to the microcontroller through a position feedback interface; the drain of the first / second MOSFET transistor is connected to the battery module, the gate is connected to the first / second isolation drive circuit, the single-arm bridge output is connected to the three-phase input end of the first / second paddle motor, and the first / second current sensor is connected to the loop between the single-arm bridge and the signal ground; the first / second signal amplification circuit is connected between the end of the first / second current sensor away from the first / second MOSFET transistor and the microcontroller; the end of the first / second isolation drive circuit away from the first / second MOSFET transistor is connected to the microcontroller.

[0006] Furthermore, the wireless transmission module includes a wireless remote control module, a wireless communication module and a positioning module; the wireless remote control module includes a 433M data transmission module, which is connected to the microcontroller through an SPI interface; the wireless communication module includes a 4G module, which is connected to the microcontroller through a UART interface; the positioning module includes a multi-mode satellite positioning and navigation module, which is connected to the microcontroller through a UART interface.

[0007] Furthermore, the wireless remote control module, the wireless communication module and the positioning module are each externally connected to an independent antenna.

[0008] Furthermore, the sensor module includes a posture sensor and an obstacle avoidance sensor; the posture sensor includes a 6-degree-of-freedom inertial sensor, which is connected to the microcontroller via an SPI interface; the obstacle avoidance sensor includes a 3D obstacle avoidance sonar, which is connected to the microcontroller via an Ethernet interface and an RS485 communication interface.

[0009] Furthermore, the battery module includes a battery and a battery monitoring circuit, the battery detection circuit includes a dual-channel 16-bit Σ-Δ analog-to-digital converter, and the battery detection circuit is connected between the microcontroller, the first brushless motor drive module, the second brushless motor drive module, and the junction point and the battery.

[0010] Furthermore, it also includes a communication interface, and the microcontroller receives the set navigation information through the communication interface.

[0011] Furthermore, the microcontroller is an integrated structure of a signal processing core and a drive control core; data is exchanged between the signal processing core and the drive control core via an internal shared memory.

[0012] Furthermore, the signal processing core receives return signals from the wireless transmission module, the sensor module, the battery module, the first brushless motor drive module and the second brushless motor drive module; and the drive control core outputs signals to the first brushless motor drive module and the second brushless motor drive module.

[0013] Furthermore, the microcontroller is implemented using an STM32H745 chip.

[0014] A technical solution in the above-mentioned embodiment of the utility model has the following advantages: the drive control device of a double-propeller electric unmanned boat of the utility model integrates the sensor, the controller and the driver, adopts a dual-core microcontroller to replace the usual upper and lower computers or two processor templates in parallel, and the peripheral circuit is greatly simplified, so that the drive control device can be reduced in size and weight; at the same time, the data transmission speed and response time are greatly improved compared with the conventional bus method. The utility model is conducive to realizing the intelligentization of the trajectory tracking control of the electric double-propeller unmanned boat, and is widely used in the field of unmanned boat automatic control technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the main structure of a driving control device for a double-propeller electric unmanned boat of the utility model;

[0016] Figure 2 This is a detailed structural diagram of a driving control device of a double-propeller electric unmanned boat of the utility model;

[0017] Figure 3 This is a schematic diagram of the circuit structure of a brushless motor drive module of a drive control device for a double-propeller electric unmanned boat of the utility model;

[0018] Figure 4 This is a schematic diagram of the circuit structure of a position sensor of a driving control device of a double-propeller electric unmanned boat of the utility model;

[0019] Figure 5 The utility model is a schematic diagram of a battery detection circuit structure of a driving control device of a double-propeller electric unmanned boat. DETAILED DESCRIPTION

[0020] The utility model is further explained and illustrated below in conjunction with the accompanying drawings and specific embodiments of the specification.

[0021] The step numbers in the following embodiments are only provided for the convenience of explanation and description, and no limitation is imposed on the order of the steps. The execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0022] Reference Figure 1An embodiment of the utility model provides a driving control device for a double-propeller electric unmanned boat, comprising a microcontroller, a first brushless motor driving module, a second brushless motor driving module, a wireless transmission module, a sensor module and a battery module; the first brushless motor driving module controls the movement of a propeller on one side of the double-propeller electric unmanned boat, and the second brushless motor driving module controls the movement of a propeller on the other side of the double-propeller electric unmanned boat; the microcontroller, the first brushless motor driving module and the second brushless motor driving module are connected to the battery module, and the wireless transmission module and the sensor module are respectively connected to the microcontroller and connected to the battery module through the microcontroller.

[0023] The detailed structural diagram of the utility model embodiment is shown in FIG. Figure 2 .

[0024] In the embodiment of the utility model, the first brushless motor drive module and the second brushless motor drive module have the same structure, and respectively control the operation of one blade of the double-blade electric unmanned boat. Specifically, the first brushless motor drive module / the second brushless motor drive module includes a first / second position sensor, a first / second current sensor, a first / second signal amplification circuit, a first / second isolation drive circuit, a first / second MOSFET transistor and a first / second blade motor; the first / second position sensor is connected to the microcontroller through a position feedback interface; the drain of the first / second MOSFET transistor is connected to the battery module, the gate is connected to the first / second isolation drive circuit, the single-arm bridge output is connected to the three-phase input end of the first / second blade motor, and the first / second current sensor is connected to the loop of the single-arm bridge and the signal ground; the first / second signal amplification circuit is connected between the end of the first / second current sensor away from the first / second MOSFET transistor and the microcontroller; the end of the first / second isolation drive circuit away from the first / second MOSFET transistor is connected to the microcontroller.

[0025] Brushless motor drive module circuit diagram reference Figure 3. Each brushless motor drive module contains three groups of AND gate chips, an isolation driver chip, a MOSFET transistor single bridge, a current sensor chip and an operational amplifier, which are composed of a motor power drive and current detection component. Among them, the AND gate device U10 and the isolation driver chip U11 constitute an isolation drive circuit. U10 is used to prevent the MOSFET transistor from breaking down due to simultaneous conduction. U11 is used to convert the PWM signal sent by the microprocessor into an opening signal of the MOSFET transistor and improve the anti-interference ability of the circuit. The input of U10 is connected to the 1#-6# timer peripheral of the microcontroller, and the output is connected to the SD end of the isolation driver chip U11. The output of the isolation driver chip U11 is connected to the gate of the MOSFET transistor through the current limiting resistors R10 and R11. Q10 and Q11 are N-channel MOSFET transistors, which form a single bridge circuit. The output of the single-arm bridge output is connected to the U, V, and W ends of the brushless motor to drive the motor to operate. The current sensor chip U12 is a Hall current sensor, which is used to convert the current output to the motor into a voltage signal. Since the internal resistance of the circuit is extremely small, the system power consumption can be reduced; the input of the current sensor is connected to the signal ground loop of the MOSFET transistor single bridge, and the output is connected to the differential input end of the signal amplifier circuit U13. The signal amplifier circuit U13 is used to amplify the voltage signal output by the current sensor and migrate the level to the input range of the ADC; the output of the signal amplifier circuit is connected to the microcontroller 1#-6# ADC peripherals.

[0026] Figure 4 The figure shows the schematic diagram of the position sensor circuit. J21 and J22 are sockets, which are connected to the output terminals of the Hall elements of the first and second paddle motors respectively and power the Hall elements. U20 is a digital isolator, which is used to isolate the position signal sent by the Hall element and convert it into a microcontroller level signal, and transmit it to the EXTI peripheral interface of the microcontroller. The digital isolator can prevent external electrical noise from entering the microcontroller.

[0027] The wireless transmission module in the embodiment of the utility model includes a wireless remote control module, a wireless communication module and a positioning module. Among them, the 433M data transmission module as the wireless remote control module has its SPI interface connected to the 1#SPI peripheral of the microcontroller; the 4G module as the wireless communication module supports network protocols such as TCP and UDP, and its UART interface is connected to the 1#UART peripheral of the microcontroller; the multi-mode satellite positioning and navigation module as the positioning module has its UART interface connected to the 2#UART peripheral of the microcontroller.

[0028] The sensor module in the embodiment of the utility model includes a posture sensor and an obstacle avoidance sensor. Among them, the 6-DOF inertial sensor as the posture sensor has a built-in 3-axis accelerometer and gyroscope, and its SPI interface is connected to the 2#SPI peripheral of the microcontroller; the 3D obstacle avoidance sonar as the obstacle avoidance sensor has its Ethernet interface connected to the MAC peripheral communication port of the microcontroller; and the RS485 communication interface is connected to the 3#UART peripheral of the microcontroller.

[0029] The battery module in the embodiment of the utility model includes a battery and a battery monitoring circuit. The battery monitoring circuit structure is as follows Figure 5 As shown, the socket J30 is connected to the positive pole of the battery pack; U31 is a dual-channel analog-to-digital converter, which is used to convert the voltage and current signals output by the battery into digital quantities; U32 is a digital isolator, which is used to isolate the numerical signal of the digital-to-analog converter and send it to the microcontroller; U33 is a Hall current sensor, the source end is connected to the positive pole of the battery pack, and the signal line is connected to the 1st channel of the microprocessor ADC; it is used to convert the current input or output of the battery into a voltage signal. In the battery monitoring circuit, the voltage signal of the positive pole of the battery pack is divided by R31 and R32 and sent to the 2nd channel of the ADC. The SPI interface of the ADC is connected to the 3#SPI peripheral of the microcontroller through the digital isolator.

[0030] The driving control device of the double-propeller electric unmanned boat in the embodiment of the utility model further includes a communication interface, and the microcontroller receives the set navigation information through the communication interface.

[0031] In the embodiment of the utility model, the microcontroller is an integrated structure of a signal processing core and a drive control core; the signal processing core and the drive control core exchange data through an internal shared memory. For example, an STM32H745 chip can be used as the microcontroller of the embodiment of the utility model, with the M4 core as the signal processing core and the M7 core as the drive control core.

[0032] The working principle of the driving control device of the double-propeller electric unmanned boat in the embodiment of the utility model is described below: the DC power of the battery pack is sent to the drain of the MOSFET transistor through the battery monitoring circuit, and the microcontroller M4 core calculates the set speed of the blades on both sides of the electric unmanned boat according to the current and given speed and heading, and sends it to the M7 core; the M7 core calculates the control parameters of the blade motors on both sides of the electric unmanned boat based on this, and sends PWM pulses to the first and second brushless motor drive modules respectively through the timer. The PWM pulse signal is amplified by the isolation drive circuit and controls the gate of the MOSFET transistor, and the MOSFET transistor converts the DC power from the battery pack into U, V, W of the blade motor. The three-phase alternating voltage at the end drives the blade motors on both sides to rotate; the microcontroller M7 core calculates the output torque according to the current value detected by the current sensor, and adjusts the width of the PWM level applied to the MOSFET transistor in real time according to the actual rotor position information fed back by the position sensor, thereby adjusting the speed of the blade motors on both sides to the set value. When a sudden increase in current exceeding the threshold is detected, the current is blocked through the isolation drive circuit to protect the MOSFET transistor; the microcontroller M4 core detects the terminal voltage and current of the battery through the battery monitoring circuit. When it is detected that the battery voltage is too low or the current is too large, the output power is reduced in time to protect the battery, and an alarm signal is sent to the operator through the wireless transmission module.

[0033] The working process of the utility model is further explained below through the operating steps of the implementation example:

[0034] 1. Autonomous navigation mode. The operator sends the preset navigation track or the latitude and longitude of the target point, the sea chart of the working surface and other information to the microcontroller M4 core through the communication interface. The M4 core automatically plans the path, calculates the set heading and speed for each section, and calculates the current given speed and heading based on the GPS signal, and sends the set speed of the two propellers to the M7 core in combination with the current attitude of the hull given by the position sensor and attitude sensor.

[0035] 2. Remote control mode. The microcontroller M4 core obtains the current position of the hull from the multi-mode satellite positioning and navigation module, sends it to the operator through the wireless communication module, and receives the speed and heading instructions given by the operator through the wireless remote control module. Combined with the current attitude of the hull given by the position sensor and attitude sensor, it sends the set speed of the two propellers to the M7 core.

[0036] 3. Navigation emergency handling. During navigation, the microcontroller M4 core continuously receives obstacle information on the route from the obstacle avoidance sensor. When it is determined that a collision may occur, it automatically searches and adjusts the course; after bypassing the obstacle, it automatically returns to the original route.

[0037] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the described implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions without violating the spirit of the present invention. These equivalent deformations or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A driving control device for a double-propeller electric unmanned boat, characterized in that: It includes a microcontroller, a first brushless motor drive module, a second brushless motor drive module, a wireless transmission module, a sensor module and a battery module; the first brushless motor drive module controls the movement of the propeller on one side of the double-blade electric unmanned boat, and the second brushless motor drive module controls the movement of the propeller on the other side of the double-blade electric unmanned boat; the microcontroller, the first brushless motor drive module and the second brushless motor drive module are connected to the battery module, the wireless transmission module and the sensor module are respectively connected to the microcontroller and connected to the battery module through the microcontroller; wherein the first brushless motor drive module / the second brushless motor drive module includes a first / second position sensor, a first / second electric A current sensor, a first / second signal amplifying circuit, a first / second isolation driving circuit, a first / second MOSFET transistor and a first / second paddle motor; the first / second position sensor is connected to the microcontroller via a position feedback interface; the drain of the first / second MOSFET transistor is connected to the battery module, the gate is connected to the first / second isolation driving circuit, the single-arm bridge output is connected to the three-phase input end of the first / second paddle motor, and the first / second current sensor is connected to the loop between the single-arm bridge and the signal ground; the first / second signal amplifying circuit is connected between the end of the first / second current sensor away from the first / second MOSFET transistor and the microcontroller; One end of the first / second isolation driving circuit away from the first / second MOSFET transistor is connected to a microcontroller.

2. The driving control device of a double-propeller electric unmanned boat according to claim 1, characterized in that: The wireless transmission module includes a wireless remote control module, a wireless communication module and a positioning module; the wireless remote control module includes a 433M data transmission module, which is connected to the microcontroller through an SPI interface; the wireless communication module includes a 4G module, which is connected to the microcontroller through a UART interface; the positioning module includes a multi-mode satellite positioning and navigation module, which is connected to the microcontroller through a UART interface.

3. The driving control device of a double-propeller electric unmanned boat according to claim 2, characterized in that: The wireless remote control module, the wireless communication module and the positioning module are each externally connected to an independent antenna.

4. The driving control device for a double-propeller electric unmanned boat according to claim 1, characterized in that: The sensor module includes a posture sensor and an obstacle avoidance sensor; the posture sensor includes a 6-degree-of-freedom inertial sensor, which is connected to the microcontroller via an SPI interface; the obstacle avoidance sensor includes a 3D obstacle avoidance sonar, which is connected to the microcontroller via an Ethernet interface and an RS485 communication interface.

5. The driving control device for a double-propeller electric unmanned boat according to claim 1, characterized in that: The battery module includes a battery and a battery monitoring circuit, the battery monitoring circuit includes a dual-channel 16-bit Σ-Δ analog-to-digital converter, and the battery monitoring circuit is connected between a microcontroller, a first brushless motor drive module, a second brushless motor drive module, and a junction point and the battery.

6. The driving control device of a double-propeller electric unmanned boat according to claim 1, characterized in that: It also includes a communication interface, and the microcontroller receives the set navigation information through the communication interface.

7. The driving control device for a double-propeller electric unmanned boat according to claim 1, characterized in that: The microcontroller is an integrated structure of a signal processing core and a drive control core; data is exchanged between the signal processing core and the drive control core via an internal shared memory.

8. The driving control device for a double-propeller electric unmanned boat according to claim 7, characterized in that: The signal processing core receives return signals from the wireless transmission module, the sensor module, the battery module, the first brushless motor driving module and the second brushless motor driving module; The drive control core outputs signals to the first brushless motor drive module and the second brushless motor drive module.

9. A driving control device for a double-propeller electric unmanned boat according to any one of claims 1 to 8, characterized in that: The microcontroller is implemented using an STM32H745 chip.

Images