阅读说明：本技术 适用于水下无人潜航器的脉冲控制开关组件及其控制方法 (Pulse control switch assembly suitable for underwater unmanned underwater vehicle and control method thereof ) 是由 周继昆 张�荣 王珏 黄海莹 张志旭 张平 苏秀红 甄文强 于 2020-06-04 设计创作，主要内容包括：本发明公开了一种适用于水下无人潜航器的脉冲控制开关组件及其控制方法,开关组件包括固态继电器Ⅰ、固态继电器Ⅱ、固态继电器Ⅲ、光耦、DC/DC、CPLD；开关组件的控制方法,包括上电方法和断电方法；本申请通过脉冲发射装置发出相应的脉冲控制信号即可完成开关组件的导通与关断,从而实现舱内用电设备的上电与断电；开关组件采用固态继电器和光耦可以将开关组件控制端与内部功率电路隔离,在控制端入水后不会造成内部电路短路；设计了脉冲上电和断电的控制策略,通过CPLD对外部脉冲宽带进行判断,识别有效控制信号,提高开关组件的可靠性。(The invention discloses a pulse control switch component suitable for an underwater unmanned underwater vehicle and a control method thereof, wherein the switch component comprises a solid-state relay I, a solid-state relay II, a solid-state relay III, an optical coupler, a DC/DC and a CPLD; the control method of the switch assembly comprises a power-on method and a power-off method; according to the power-on and power-off control method and device, the pulse transmitting device sends out the corresponding pulse control signal to complete the on and off of the switch assembly, so that the power-on and power-off of the electric equipment in the cabin are achieved; the switch assembly adopts a solid relay and an optocoupler to isolate the control end of the switch assembly from an internal power circuit, and the internal circuit cannot be short-circuited after the control end enters water; a control strategy of pulse power-on and power-off is designed, an external pulse broadband is judged through the CPLD, effective control signals are identified, and the reliability of the switch assembly is improved.)

1. Pulse control switch subassembly suitable for unmanned underwater vehicle, its characterized in that includes:

a solid-state relay I;

a solid-state relay II;

a solid state relay III; the battery is electrically connected with the first end of the solid-state relay I, the first end of the solid-state relay II and the first end of the solid-state relay III respectively; the second end of the solid-state relay II and the second end of the solid-state relay III are electrically connected with the electric equipment in the cabin;

an optical coupler; the pulse transmitting device is electrically connected with a first end of the optical coupler and a second end of the solid-state relay I respectively; the pulse transmitting device is used for transmitting an electrifying pulse to the solid-state relay I and transmitting a power-off pulse to the optical coupler;

DC/DC; the second end of the optical coupler is electrically connected with the first end of the DC/DC; the third end of the solid-state relay I is electrically connected with the second end of the DC/DC; the third end of the DC/DC is electrically connected with the second end of the CPLD;

the CPLD is used for judging the external pulse broadband and identifying an effective control signal; the third end of the optocoupler is electrically connected with the first end of the CPLD; the third end of the solid-state relay II is electrically connected with the third end of the CPLD; and the third end of the solid-state relay III is electrically connected with the fourth end of the CPLD.

2. The control method of the pulse control switch component suitable for the underwater unmanned underwater vehicle is characterized by comprising a power-on method and a power-off method;

the power-on method comprises the following steps:

s1, sending an electrifying pulse to the solid-state relay I by the pulse emitting device, and conducting the solid-state relay I by an electrifying pulse signal; the power-on pulse signal is a high-level pulse signal with a first voltage and a first pulse width, and the first pulse width is larger than the set pulse width of the solid-state relay I;

s2, the output of the lithium battery is loaded to the DC/DC module, and the output of the lithium battery is converted into a second voltage through the DC/DC module to supply power for the CPLD; the second voltage is smaller than the first voltage, and the second voltage is the working voltage of the CPLD;

s3, starting an internal timing program to start timing after the CPLD is electrified, and taking an external electrifying pulse as an effective signal when the CPLD timing time exceeds the set pulse width of the solid-state relay I;

s4, the CPLD controls the conduction of the solid-state relay II and the solid-state relay III;

s5, withdrawing the power-on pulse of the pulse transmitting device, and disconnecting the solid-state relay I; the solid-state relay II provides a power supply path for the CPLD, the battery supplies power for the CPLD through the solid-state relay II, and the battery supplies power for the electric equipment in the cabin through the solid-state relay III;

the power-off method comprises the following steps:

d1, sending a power-off pulse to the optical coupler by the pulse emitting device, and conducting the optical coupler by the power-off pulse; the power-off pulse is a high-level pulse signal with a second pulse width, and the power-off pulse width is larger than the set pulse width of the optical coupler;

d2, the output signal of the optical coupler jumps from a high level to a low level, the CPLD starts timing when detecting the jump, and when the CPLD detects that the output signal of the optical coupler has a low level signal with a second pulse width, the external power-off signal is effective, the solid-state relay II and the solid-state relay III are turned off, and the power-off operation is completed.

Technical Field

The invention belongs to the field of electrical control technology and embedded technology, and particularly relates to a pulse control switch assembly suitable for an underwater unmanned underwater vehicle and a control method thereof.

Background

The underwater unmanned underwater vehicle is mainly used for tasks such as underwater tests, surveying and mapping, environment monitoring and the like, parameters can be bound to a controller in the underwater vehicle through a ground measuring, transmitting and controlling device before the underwater vehicle enters water, the underwater vehicle is unfolded to work according to the bound parameters after the underwater vehicle enters the water, and the underwater vehicle floats to the water surface after the work is finished. The underwater vehicle is usually equipped with a plurality of instruments (such as a camera, sonar, a data acquisition system, etc.) to acquire relevant data. The submergence vehicle controller and the carried instrument are powered by a lithium battery in the submergence vehicle.

In order to improve the endurance of the lithium battery to the maximum extent, when the underwater vehicle does not work, the controller and other instruments are in a power-off state, the controller can be powered on only when parameters are bound before the underwater vehicle is prepared to enter water to work, and the underwater vehicle needs to be powered off after the underwater vehicle finishes the task and floats upwards. Because the underwater vehicle is a closed space, the lithium battery and the electric equipment are arranged in the closed space, the power supply and the power failure can not be directly carried out, and the power supply and the power failure are carried out in an indirect control mode.

Therefore, it is urgently needed to develop a pulse control switch assembly suitable for an underwater unmanned underwater vehicle and a control method thereof to solve the above problems.

Disclosure of Invention

To solve the problems set forth in the background art described above. The invention provides a pulse control switch assembly suitable for an underwater unmanned underwater vehicle and a control method thereof.

In order to achieve the purpose, the invention provides the following technical scheme:

a pulse control switch assembly suitable for use in an underwater unmanned vehicle, comprising:

a solid-state relay I;

a solid-state relay II;

a solid state relay III; the battery is electrically connected with the first end of the solid-state relay I, the first end of the solid-state relay II and the first end of the solid-state relay III respectively; the second end of the solid-state relay II and the second end of the solid-state relay III are electrically connected with the electric equipment in the cabin;

an optical coupler; the pulse transmitting device is electrically connected with a first end of the optical coupler and a second end of the solid-state relay I respectively; the pulse transmitting device is used for transmitting an electrifying pulse to the solid-state relay I and transmitting a power-off pulse to the optical coupler;

DC/DC; the second end of the optical coupler is electrically connected with the first end of the DC/DC; the third end of the solid-state relay I is electrically connected with the second end of the DC/DC; the third end of the DC/DC is electrically connected with the second end of the CPLD;

the CPLD is used for judging the external pulse broadband and identifying an effective control signal; the third end of the optocoupler is electrically connected with the first end of the CPLD; the third end of the solid-state relay II is electrically connected with the third end of the CPLD; and the third end of the solid-state relay III is electrically connected with the fourth end of the CPLD.

A control method of a pulse control switch assembly suitable for an underwater unmanned underwater vehicle comprises a power-on method and a power-off method;

the power-on method comprises the following steps:

s1, sending an electrifying pulse to the solid-state relay I by the pulse emitting device, and conducting the solid-state relay I by an electrifying pulse signal; the power-on pulse signal is a high-level pulse signal with a first voltage and a first pulse width, and the first pulse width is larger than the set pulse width of the solid-state relay I;

s2, the output of the lithium battery is loaded to the DC/DC module, and the output of the lithium battery is converted into a second voltage through the DC/DC module to supply power for the CPLD; the second voltage is smaller than the first voltage, and the second voltage is the working voltage of the CPLD;

s3, starting an internal timing program to start timing after the CPLD is electrified, and taking an external electrifying pulse as an effective signal when the CPLD timing time exceeds the set pulse width of the solid-state relay I;

s4, the CPLD controls the conduction of the solid-state relay II and the solid-state relay III;

s5, withdrawing the power-on pulse of the pulse transmitting device, and disconnecting the solid-state relay I; the solid-state relay II provides a power supply path for the CPLD, the battery supplies power for the CPLD through the solid-state relay II, and the battery supplies power for the electric equipment in the cabin through the solid-state relay III;

the power-off method comprises the following steps:

d1, sending a power-off pulse to the optical coupler by the pulse emitting device, and conducting the optical coupler by the power-off pulse; the power-off pulse is a high-level pulse signal with a second pulse width, and the power-off pulse width is larger than the set pulse width of the optical coupler;

d2, the output signal of the optical coupler jumps from a high level to a low level, the CPLD starts timing when detecting the jump, and when the CPLD detects that the output signal of the optical coupler has a low level signal with a second pulse width, the external power-off signal is effective, the solid-state relay II and the solid-state relay III are turned off, and the power-off operation is completed.

Compared with the prior art, the invention has the beneficial effects that:

according to the power-on and power-off control method and device, the pulse transmitting device sends out the corresponding pulse control signal to complete the on and off of the switch assembly, so that the power-on and power-off of the electric equipment in the cabin are achieved; the switch assembly adopts a solid relay and an optocoupler to isolate the control end of the switch assembly from an internal power circuit, and the internal circuit cannot be short-circuited after the control end enters water; a control strategy of pulse power-on and power-off is designed, an external pulse broadband is judged through the CPLD, effective control signals are identified, and the reliability of the switch assembly is improved.

Drawings

FIG. 1 is a schematic view of a use environment of a switch assembly of the present application;

FIG. 2 is a block diagram of the internal circuitry of the switch assembly of the present application;

FIG. 3 is a power-on control strategy flow diagram of the present application;

the power down control strategy flow diagram of the application of FIG. 4;

in the figure: 1. the system comprises a pulse transmitting device, 2, a towing plug, 3, a battery, 4, a switch component, 41, solid-state relays I and 42, solid-state relays II and 43, solid-state relays III and 44, an optical coupler, 45.DC/DC, 46, CPLD and 5, and electrical equipment in a cabin.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention provides the following technical scheme:

as shown in fig. 1 and 2, a pulse control switch assembly suitable for an underwater unmanned vehicle comprises:

a solid-state relay I41;

a solid-state relay II 42;

a solid-state relay III 43; the battery 3 is respectively electrically connected with the first end of the solid-state relay I41, the first end of the solid-state relay II 42 and the first end of the solid-state relay III 43; the second end of the solid-state relay II 42 and the second end of the solid-state relay III 43 are both electrically connected with the electric equipment 5 in the cabin;

an optical coupler 44; the pulse transmitting device 1 is respectively electrically connected with a first end of the optical coupler 44 and a second end of the solid-state relay I41; the pulse transmitting device 1 is used for transmitting an electrifying pulse to the solid-state relay I41 and transmitting a power-off pulse to the optical coupler 44;

DC/DC 45; a second end of the optical coupler 44 is electrically connected to a first end of the DC/DC 45; the third end of the solid-state relay I41 is electrically connected with the second end of the DC/DC 45; the third end of the DC/DC45 is electrically connected with the second end of the CPLD 46;

the CPLD46 is used for judging the external pulse broadband and identifying effective control signals; the third end of the optical coupler 44 is electrically connected with the first end of the CPLD 46; the third end of the solid-state relay II 42 is electrically connected with the third end of the CPLD 46; and the third end of the solid-state relay III 43 is electrically connected with the fourth end of the CPLD 46.

In the present embodiment, the battery 3 is generally selected to be a lithium battery 3.

In this embodiment, the switch module 4, the lithium battery 3 and the in-cabin electric equipment 5 are arranged in the closed underwater vehicle, the control end of the underwater vehicle is led out and fixed to the underwater vehicle shell through the towing and inserting 2, the pulse transmitting device 1 is connected with the towing and inserting 2 through the ground cable, and then the corresponding pulse control signal is sent to the switch module 4 to complete the on and off of the switch module 4, so that the on and off of the in-cabin electric equipment 5 are realized.

A control method of a pulse control switch assembly suitable for an underwater unmanned underwater vehicle comprises a power-on method and a power-off method;

the power-on method comprises the following steps:

s1, sending an electrifying pulse to the solid-state relay I41 by the pulse transmitting device 1, and conducting the solid-state relay I41 by an electrifying pulse signal; the power-on pulse signal is a high-level pulse signal with a first voltage and a first pulse width, and the first pulse width is larger than the set pulse width of the solid-state relay I41;

s2, the output of the lithium battery 3 is loaded to a DC/DC45 module, and the output of the lithium battery is converted into a second voltage through a DC/DC45 module to supply power for the CPLD 46; wherein the second voltage is less than the first voltage, and the second voltage is the working voltage of the CPLD 46;

s3, after the CPLD46 is electrified, an internal timing program is started to start timing, and when the CPLD46 timing time exceeds the set pulse width of the solid-state relay I41, the external electrifying pulse is an effective signal;

s4 and CPLD46 control the conduction of the solid relay II 42 and the solid relay III 43;

s5, withdrawing the power-on pulse of the pulse transmitting device 1, and disconnecting the solid-state relay I41; the solid-state relay II 42 provides a power supply path for the CPLD46, the battery 3 supplies power for the CPLD46 through the solid-state relay II 42, and the battery 3 supplies power for the electric equipment 5 in the cabin through the solid-state relay III 43;

the power-off method comprises the following steps:

d1, the pulse transmitting device 1 sends a power-off pulse to the optical coupler 44, and the power-off pulse conducts the optical coupler 44; wherein, the power-off pulse is a high-level pulse signal with a second pulse width, and the power-off pulse width is greater than the set pulse width of the optical coupler 44;

d2, optocoupler 44 output signal jump to low level from high level, CPLD46 starts timing when detecting jump, and when CPLD46 detects that optocoupler 44 outputs low level signal with second pulse width, then the external power-off signal is effective, solid-state relay II 42 and solid-state relay III 43 are turned off, and the power-off operation is completed.

As shown in fig. 3 and 4, an embodiment of a control method of the pulse control switch assembly 4 suitable for the underwater unmanned underwater vehicle is shown; the power-on flow of the switch assembly 4 is shown in fig. 3: the pulse transmitting device 1 transmits power-on pulses to the switch component 4, the power-on pulse signals are 5V high-level pulse signals, the pulse width is more than 500ms, the power-on pulse signals enable the solid-state relay I41 to be conducted, the lithium battery 3 outputs and loads the high-level pulse signals to the DC/DC45 module, the high-level pulse signals are converted into 3.3V through the DC/DC45 module to supply power to the CPLD46, an internal timing program is started to start timing after the CPLD46 is powered on, when the CPLD46 times for more than 500ms, the external power-on pulses are effective signals, the solid-state relay II 42 and the solid-state relay III 43 are controlled to be conducted, at the moment, the external power-on pulses are withdrawn, the solid-state relay I41 is disconnected, the solid-state relay II 42 provides a power supply path for the CPLD46, and the lithium battery 3 provides a common.

The underwater vehicle finishes the work, after the underwater vehicle floats upwards and is recovered, the power-off flow chart of the pulse control switch component 4 is shown in figure 4, and the power-off flow chart needs to power off the internal electric equipment in time: firstly, a ground pulse transmitting device 1 is connected with an underwater vehicle through a towing and inserting device 2, the pulse transmitting device 1 sends a power-off pulse to a switch component 4, the power-off pulse is a high-level pulse signal, the pulse width is more than 500ms, the power-off pulse conducts an optical coupler 44 in the component, the output of the optical coupler 44 jumps from high level to low level, the CPLD46 starts timing when detecting the jump, when the CPLD46 detects that the optical coupler 44 outputs 500ms of low level, an external power-off signal is considered to be effective, a solid-state relay II 42 and a solid-state relay III 43 are immediately turned off, and the power-off operation is completed.

In the application, the control strategy of pulse power-on and power-off has stronger anti-disturbance capacity, external pulse time is timed through the CPLD46, the pulse width is judged to be effective when exceeding a certain broadband, and otherwise, no action is executed.

The method and the device are also suitable for powering on and powering off the electric equipment in other closed spaces.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.