CN202975772U - Power management system of small autonomous underwater vehicle (AUV) - Google Patents
Power management system of small autonomous underwater vehicle (AUV) Download PDFInfo
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- CN202975772U CN202975772U CN2012207059712U CN201220705971U CN202975772U CN 202975772 U CN202975772 U CN 202975772U CN 2012207059712 U CN2012207059712 U CN 2012207059712U CN 201220705971 U CN201220705971 U CN 201220705971U CN 202975772 U CN202975772 U CN 202975772U
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Abstract
The utility model relates to a power management system of a small autonomous underwater vehicle (hereinafter referred to as AUV), wherein a power control circuit is connected with a power distribution circuit and a battery pack; the power control circuit is used for carrying out power distribution of the AUV, monitoring the real-time current of the entire AUV, communicating with a central control system through a CAN interface, and charging the battery pack after being connected with an external umbilical cable when the AUV lands; the power distribution circuit supplies the voltage output by the power control circuit to the center control system and a propulsion system after conversion; and the battery pack which is a main power supply in the power management system supplies power to the power control circuit. The power management system disclosed by the utility model manages the power of the self-carrying battery pack when a small AUV operates underwater, switches to the charging mode of the small AUV when the water surface is connected with the umbilical cable and supplies power to the system by using the umbilical power.
Description
Technical field
The utility model relates to the underwater robot power management, specifically a kind of small-sized autonomous underwater robot power distribution and monitoring system.
Background technology
Along with people are day by day frequent with exploitation to the exploration of ocean resources, underwater robot has obtained significant progress as a kind of effective carrier.For the relatively shallow region such as coastal waters, river, lake and reservoir, small-sized autonomous underwater robot (hereinafter to be referred as small-sized AUV) is with characteristics such as its portability, ease for use, low costs, and the aspects such as environmental monitoring and investigation under water are widely used under water.
Volume weight and mode of operation restriction due to small-sized AUV, the small-sized AUV of present stage nearly all adopts when working under water and carries rechargeable battery pack the energy is provided, and the size of electric battery also is subject to strict restriction, only have when it gets back on the bank, just can power supply is provided and be simultaneously small-sized AUV batteries charging with umbilical cord.In this case, small-sized AUV must have the power-supply management system of a cover mature and reliable, both can manage the energy distribution of self electric battery, again can be easily the switching of quick and safe under mode of operation and water surface mode of operation under water.
The utility model content
In order to solve the problem of above-mentioned existence, the purpose of this utility model is to provide a kind of small-sized AUV power-supply management system, the energy that carries electric battery during to small-sized AUV underwater operation uses and manages, can make simultaneously small-sized AUV can switch to charge mode when the water surface connects umbilical cord, and use the umbilical cord power supply to be system power supply.
The purpose of this utility model is achieved through the following technical solutions: a kind of small-sized autonomous underwater robot power-supply management system is characterized in that comprising: power control circuit is connected with power distribution circuit, electric battery;
Power control circuit: be used for carrying out the power distribution of AUV, and can monitor the real-time current of whole AUV; Communicate by the CAN interface with central control system; Can be connected and electric battery is charged with outside umbilical cable when AUV debarks;
Power distribution circuit: the voltage of power control circuit output is supplied with central control system and propulsion system through conversion;
Electric battery: be the primary power in power-supply management system, power to power control circuit;
Described power distribution circuit comprises solid-state relay and central control system power-switching circuit; The output head anode of solid-state relay is connected with the voltage output end of power control circuit, and negative pole of output end is connected with the power input of propulsion system; The propulsion system control output end of the control end of solid-state relay and central control system is connected; The input end of central control system power-switching circuit is connected with another voltage output end of power control circuit, and output terminal is connected with a voltage input end of power control circuit.
Described power control circuit comprises single-chip microcomputer, power-switching circuit, sensor and a plurality of relay; Be connected with the output head anode of the solid-state relay of power distribution circuit after the voltage sensor series current sensor of electric battery parallel connection; The two-way coil control end of relay all passes through resistance, diode and is connected with OFF with the input end ON of outside umbilical cable respectively, also is connected by tongue tube and dry cell are anodal respectively; An output terminal of relay is connected with the control end of relay, the break-make of pilot relay output terminal, and the other end is unsettled; Relay output end is connected with the input end of central control system power-switching circuit; Relay is the relay of two parallel connections, the a pair of input end of the switch of each relay is connected with the output terminal of central control system power-switching circuit, another of switch is connected with the positive voltage input of umbilical cable input end, the output terminal of switch is connected with microcontroller power supply change-over circuit input end by diode, and two control coils of each relay are connected with two input ends of umbilical cable respectively.
Power-switching circuit comprises microcontroller power supply change-over circuit, CAN power-switching circuit and voltage sensor power-switching circuit; The input end of microcontroller power supply change-over circuit is connected through an end of diode with the output of the switch of relay, output terminal is connected with the microcontroller power supply end, and this output terminal also is connected with the power end of CAN power-switching circuit, voltage sensor power-switching circuit, safe condition testing circuit.
Described safe condition testing circuit comprises temperature sensing circuit, voltage detecting circuit, current detection circuit and the testing circuit that leaks.
The utlity model has following beneficial effect and advantage:
1. the utility model can be controlled the power supply connection of small-sized AUV system effectively by being used in combination of relay, completely will be isolated between electric battery and vehicle equipment, guarantee security of system.
2. the utility model uses the inner tongue tube magnetic switch of cabin body and outside hand switch Collaborative Control relay, make outside umbilical cord power supply and carry between electric battery and can independently power to carrier, can guarantee simultaneously in the plug umbilical cord, have at least one road power supply to be connected with system, make system can keep normal duty always.
The utility model can Real-Time Monitoring underwater operation state under electric battery state, the electricity consumption situation of vehicle equipment and the real time temperature in the body of cabin, electric battery place of carrier, pass to simultaneously the central control unit of carrier by the CAN bus, for the decision-making of central control unit provides foundation, has high security.
4. the utility model is isolated propulsion system power supply, control system power supply and recording geometry power supply effectively, can partly independently control each electricity consumption by the coordination of central control system.
5. the energy that carries electric battery during to small-sized AUV underwater operation uses and manages, and can make small-sized AUV can switch to charge mode simultaneously when the water surface connects umbilical cord, and use separately the umbilical cord power supply or be system power supply together with electric battery.
Description of drawings
Fig. 1 is power-supply management system functional schematic of the present utility model;
Fig. 2 is power-supply management system power distribution structural drawing of the present utility model;
Fig. 3 is power-supply management system interface connection diagram of the present utility model;
Fig. 4 is power-supply management system relay wiring circuit diagram of the present utility model;
Wherein, (a) be dry cell and tongue tube connecting circuit figure; (b) be relay 201 connecting circuit figure; (c) be relay 202 connecting circuit figure; (d) be relay 203 connecting circuit figure; (e) be anti-return diode connecting circuit figure;
Fig. 5 is the power distribution circuit figure of power-supply management system power control circuit of the present utility model;
Wherein, (a) for advancing power supply connecting circuit figure; (b) be microcontroller power supply distributor circuit figure; (c) be CAN communication chip power distribution circuit figure; (d) be voltage sensor power distribution circuit figure;
Fig. 6 is the one-chip machine port connecting circuit figure of power-supply management system power control circuit of the present utility model;
Wherein, (a) be the single-chip minimum system circuit diagram; (b) support circuit diagram for single chip communication; (c) be the jtag interface circuit diagram;
Fig. 7 is power-supply management system power control circuit safe condition testing circuit figure of the present utility model;
Wherein, (a) be temperature sensing circuit figure; (b) be voltage detecting circuit figure; (c) be current detection circuit figure; (d) be the testing circuit figure that leaks in the cabin.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figure 1, the power-supply management system that the utility model relates to mainly comprises power control circuit 1, power distribution circuit 2, and electric battery 5, its function comprise power supply control, power distribution, power supply status monitoring and single-chip data acquisition and communicate by letter.Carrier electric battery 5 directly is connected with power control circuit 1, and umbilical cable 6 only has on the coast and just is connected with the carrier power-supply management system.Power supply mainly is divided into three parts: power-supply management system microcontroller power supply, automatic Pilot cabin power supply and propulsion system power supply.
As shown in Figure 2, in power-supply management system, primary power is+electric battery 5 of 36V left and right, by voltage sensor 206 monitoring electric battery both end voltage, by the real-time current of the current sensor 207 whole carrier systems of monitoring; Whole power supply is divided into two-way afterwards, one the tunnel through solid-state relay 7 be connected to propulsion system (+36V/T), the switch of solid-state relay 7 control by central authorities' control unit provide separately (+24V/T), other one tunnel process relay 202(AQZ262 of Panasonic) be linked into automatic Pilot cabin (AP cabin), we come the pilot relay 201(TQ2-L2-3V of Panasonic by the ON/OFF switch on umbilical cable 6 or dry-reed tube switch 204), and then be operatively connected to automatic Pilot cabin power supply (+36V/AP) switch.+ 36V/AP through outside power transfer module 8 become+24V/C1 gets back in power-supply management system, pass through again the relay 203(DS2E-ML2-DV24V of Panasonic) for power-supply management system single-chip microcomputer 4 and AP cabin control system power supply, guarantee enough sizes of electric current with two relays 203 here.The umbilical cable ON/OFF switch here plays a key effect, dry-reed tube switch 204 pilot relays 201 both can have been substituted, while is the connection of pilot relay 203 also: when ON presses, we make relay 201 connect, pilot relay 203 is connected to+24V/C1 simultaneously, and umbilical cord power supply and battery supply are powered simultaneously like this; When OFF pressed, we made relay 201 disconnect, and 203 of pilot relays are connected to the umbilical cord power supply simultaneously; After water surface task is completed, then press ON, battery is connected to again system like this, and umbilical cable 6 just can be pulled up, and small-sized AUV begins to carry out the underwater operation task.The benefit of design is mainly to control respectively being connected of umbilical cord power supply and battery supply like this, guarantees that battery has been connected to system after pulling up the umbilical cord power supply, and can not power to AUV not impact.The single-chip microcomputer of power-supply system inside mainly carries out the status monitoring of power-supply system, comprises voltage, electric current, temperature and the state that leaks, and carries out the data transmission by CAN bus and central control system.
Native system and electric battery together, when using battery as the energy, not connecting central control system (power supply conversion) can't work; Be not subjected to the restriction of central control system (power supply conversion) when connecting umbilical cable, can work.4 switch combinations that relay forms, the break-make of relay 201 pilot relays 202, the connection of the ON/OFF switch pilot relay 203 of umbilical cord, and and tongue tube 204 magnetic switches pilot relay 201 together, guarantee that in logic power supply is connected with carrier connection is arranged, and can freely control the switch of battery power.
What Fig. 3 showed is the interface definition of power-supply management system.On power board, one has five group interfaces, and umbilical cable provides+24V power supply and ON/OFF control information, is connected with the J1 of control panel; Draw three-way power (J2) from electric battery, wherein two-way is used for to propulsion system power supply (J5), and one the tunnel is connected to the automatic Pilot cabin through relay AQZ262 carries out power supply conversion (J4); J4 receives after the conversion of automatic driving cabin simultaneously+24V power supply and return to the automatic Pilot cabin through relay 203; Central control system is carried out communication by CAN bus and power control system, use interface J3, J3 upward also has the two-way water leakage detection warning simultaneously, and one road signal is detected by the single-chip microcomputer of power-supply management system oneself, one the road is connected to central control system detects, and forms the redundancy of leaking and detecting.
Between umbilical cable ON/OFF switch and relay 201, diode is arranged, prevent that the current reflux in reed switch circuit from forming the loop; Output terminal at relay 203 also has diode, prevents that when umbilical cord from connecting, current reflux is to the power supply conversion portion of central control system.
Fig. 4 is power board relay wiring circuit diagram, in Fig. 4 (a), B is the 3V dry cell, G1, G2 are dry-reed tube switch, control respectively 4(b) in two loop break-makes of RELAY1, Fig. 4 (b) RELAY1(TQ2-L2-3V), be Fig. 4 (c) RELAY2(AQZ262) and Fig. 4 (d) RELAY3～4(DS2EML2-DV24V) relay, the function of describing according to Fig. 2 connects, wherein relay 201, relay 202 and the relay 203 in RELAY1, RELAY2, RELAY3～4 difference corresponding diagram 2; Fig. 4 (e) is diode, can holding circuit, make the electric current uniflux, and umbilical cord power supply+24V/Sur can not be connected with the 24V/OUT that electric battery produces.The ground wire that in Fig. 4, GND/Sur represents to plug umbilical cable after umbilical cable and+24V/C and+ground wire of 24V/C1 is connected.
Fig. 5 comprises the two large divisions, the J5(+36V in Fig. 3) namely in this Fig. 5 (a)+36V/OUT, be directly connected to solid-state relay SSD through after fuse, be connected to the propulsion electric machine end from solid-state relay 1-port pins.Fig. 5 (b)～Fig. 5 (d) is three voltage modules, S1(THL10-2411WI), S2(TSM0505S) and A1(TSM0512D) carry out the conversion of voltage, use through giving respectively single-chip microcomputer, CAN communication chip and voltage sensor after conversion.
Fig. 6 is the single-chip microcomputer connecting circuit figure of power-supply management system, and Fig. 6 (a) is the minimum system circuit diagram, and what D1 used is Atmega AT90CAN128 single-chip microcomputer, and this single-chip microcomputer carries the CAN controller; Fig. 6 (b) supports circuit for communication, and D2 is digital isolator ADuM1201, can reduce noise to the interference of signal; D3 is high-speed CAN transceiver controller TJA1050, carries out the data-switching of CAN communication, and output terminal is connected with outside central control system; In Fig. 6 (c), jtag interface gives over to debugging and program download use on sheet.This part mainly with single-chip microcomputer detected temperatures sensor information ADC0, voltage sensor information A DC1 and current sensor information ADC2～3 and the information PC0 that leaks, sends to central control system by the CAN bus.
Can carry out Single Chip Microcomputer (SCM) system on the plate of CAN communication, single-chip microcomputer gather the real-time status of power supply and by the CAN bus to the central control system report condition, for its further decision-making provides foundation.
Fig. 7 is power board safe condition testing circuit figure, mainly comprises four parts: temperature detection (a), voltage detecting (b), current detecting (c) and the detection (d) of leaking.As shown in Fig. 7 (a), temperature-monitoring function adopts temperature sensor AD 590, and it is equivalent to a current source, and size of current is by formula I
AD590=(273+t) uA calculates, and t is celsius temperature scale in front deck, by detecting resistance R 18 both end voltage value ADC0 indirect detection temperature values; As shown in Fig. 7 (b), voltage sensor adopts LEM LV-25P, and the R10 both end voltage is ADC1, and when using big or small resistance R 9 shown in figure (b) and R10, the voltage computing method of electric battery are V=14.4 * ADC1; As shown in Fig. 7 (c), current sensor adopts LEM HXS-20NP, and Information Monitoring is ADC2 and ADC3, the output current computing method be I=16 * | ADC2-ADC3|; As shown in Fig. 7 (d), D5 is diode, in case cabin body drain water, WS/BAT and GND short circuit, the level value that the PC0 port obtains will be by high step-down (becoming 0 by 1), guarantee in time to obtain corresponding information when leaking, be connected in addition simultaneously the central control system detection of leaking, make system more safe and reliable.ADC0 in Fig. 7, ADC1, ADC2, ADC3 and PC0 and are connected with the I/O of single-chip microcomputer.
The principle of work of native system is:
1. when on the coast carrier being detected, connect umbilical cable, press switch OFF, make system work under the umbilical cord power supply, carrier is carried out initialization and equipment Inspection, press afterwards switch ON, make system work under electric battery and umbilical cord dual power supply, pull up afterwards umbilical cable, small-sized AUV carrier is put into water;
2. under water after the robot entry, send instruction by central control system to the power-supply management system single-chip microcomputer, single-chip microcomputer is reported current electric battery situation as requested, the data analysis that central control system sends over by power-supply management system rationally uses propulsion system and other part power supplys;
3. in temporary transient end mission, if do not need uploading data, use magnet slip tongue tube magnetic switch, make system closing, when again descending water, system powers on when using magnet slip dry-reed tube switch;
4. after mission is finished under water, reclaim carrier, connect umbilical cable, press OFF, cut off battery voltage, use umbilical cord to carry out data record, pull up at last umbilical cord, mission finishes.
Claims (5)
1. small-sized autonomous underwater robot power-supply management system, it is characterized in that comprising: power control circuit (1) is connected with power distribution circuit (2), electric battery (5);
Power control circuit (1): be used for carrying out the power distribution of AUV, and can monitor the real-time current of whole AUV; Communicate by the CAN interface with central control system; Can be connected with outside umbilical cable (6) and electric battery (5) be charged when AUV debarks;
Power distribution circuit (2): the voltage of power control circuit (1) output is supplied with central control system and propulsion system through conversion;
Electric battery (5): be the primary power in power-supply management system, give power control circuit (1) power supply.
2. a kind of small-sized autonomous underwater robot power-supply management system according to claim 1, it is characterized in that comprising: described power distribution circuit (2) comprises solid-state relay (7) and central control system power-switching circuit (8); The output head anode of solid-state relay (7) is connected with the voltage output end of power control circuit (1), and negative pole of output end is connected with the power input of propulsion system; The propulsion system control output end of the control end of solid-state relay (7) and central control system is connected; The input end of central control system power-switching circuit (8) is connected with another voltage output end of power control circuit (1), and output terminal is connected with a voltage input end of power control circuit (1).
3. a kind of small-sized autonomous underwater robot power-supply management system according to claim 1, it is characterized in that comprising: described power control circuit (1) comprises single-chip microcomputer (4), power-switching circuit (208), sensor and a plurality of relay; Voltage sensor (206) the series current sensor 207 in parallel with electric battery (5)) be connected with the output head anode of the solid-state relay (7) of power distribution circuit (2) after; The two-way coil control end of relay (201) all passes through resistance, diode and is connected with OFF with the input end ON of outside umbilical cable (6) respectively, also is connected by tongue tube (204) and dry cell are anodal respectively; An output terminal of relay (201) is connected with the control end of relay (202), the break-make of pilot relay (202) output terminal, and the other end is unsettled; Relay 202) output terminal is connected with the input end of central control system power-switching circuit (8); Relay (203) is the relay of two parallel connections, the a pair of input end of the switch of each relay is connected with the output terminal of central control system power-switching circuit (8), another of switch is connected with the positive voltage input of umbilical cable (6) input end, the output terminal of switch is connected with microcontroller power supply change-over circuit (2-8) input end by diode, and two control coils of each relay are connected with two input ends of umbilical cable (6) respectively.
4. a kind of small-sized autonomous underwater robot power-supply management system according to claim 1, it is characterized in that comprising: power-switching circuit (208) comprises microcontroller power supply change-over circuit, CAN power-switching circuit and voltage sensor power-switching circuit; The input end of microcontroller power supply change-over circuit is connected through an end of diode with the switch output of relay (203), output terminal is connected with single-chip microcomputer (4) power end, and this output terminal also is connected with the power end of CAN power-switching circuit, voltage sensor power-switching circuit, safe condition testing circuit.
5. a kind of small-sized autonomous underwater robot power-supply management system according to claim 4, it is characterized in that comprising: described safe condition testing circuit comprises temperature sensing circuit, voltage detecting circuit, current detection circuit and the testing circuit that leaks.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012207059712U CN202975772U (en) | 2012-12-19 | 2012-12-19 | Power management system of small autonomous underwater vehicle (AUV) |
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| CN2012207059712U CN202975772U (en) | 2012-12-19 | 2012-12-19 | Power management system of small autonomous underwater vehicle (AUV) |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103885391A (en) * | 2012-12-19 | 2014-06-25 | 中国科学院沈阳自动化研究所 | Small autonomous underwater robot power management system |
| CN104678931A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Intelligent battery pack detection and control device and intelligent battery pack detection and control method for underwater robot |
| CN105446203A (en) * | 2016-01-04 | 2016-03-30 | 杭州亚美利嘉科技有限公司 | Robot power control method and system |
| CN105529574A (en) * | 2015-12-30 | 2016-04-27 | 中国船舶重工集团公司第七○二研究所 | Low power consumption power supply management apparatus and power supply management method for underwater glider |
| CN105974825A (en) * | 2016-02-18 | 2016-09-28 | 青岛克路德机器人有限公司 | Fire robot power supply management method, management system and fire robot |
| CN108021055A (en) * | 2016-10-28 | 2018-05-11 | 中国科学院沈阳自动化研究所 | Based on reconfigurable tactful small-sized AUV low power consumption controls device and control method |
| CN111452941A (en) * | 2020-05-14 | 2020-07-28 | 浙江九段智能科技有限公司 | Power management system of autonomous underwater vehicle |
-
2012
- 2012-12-19 CN CN2012207059712U patent/CN202975772U/en not_active Withdrawn - After Issue
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103885391B (en) * | 2012-12-19 | 2016-08-03 | 中国科学院沈阳自动化研究所 | A kind of small-sized autonomous underwater robot power-supply management system |
| CN103885391A (en) * | 2012-12-19 | 2014-06-25 | 中国科学院沈阳自动化研究所 | Small autonomous underwater robot power management system |
| CN104678931A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Intelligent battery pack detection and control device and intelligent battery pack detection and control method for underwater robot |
| CN104678931B (en) * | 2013-11-30 | 2017-06-30 | 中国科学院沈阳自动化研究所 | A kind of underwater robot intelligent battery group Detection ＆ Controling devices and methods therefor |
| CN105529574A (en) * | 2015-12-30 | 2016-04-27 | 中国船舶重工集团公司第七○二研究所 | Low power consumption power supply management apparatus and power supply management method for underwater glider |
| CN105529574B (en) * | 2015-12-30 | 2017-11-10 | 中国船舶重工集团公司第七○二研究所 | Underwater glider low-power dissipation power supply managing device and method for managing power supply |
| CN105446203A (en) * | 2016-01-04 | 2016-03-30 | 杭州亚美利嘉科技有限公司 | Robot power control method and system |
| CN105446203B (en) * | 2016-01-04 | 2018-08-17 | 杭州亚美利嘉科技有限公司 | A kind of robot power supply control method and system |
| CN105974825A (en) * | 2016-02-18 | 2016-09-28 | 青岛克路德机器人有限公司 | Fire robot power supply management method, management system and fire robot |
| CN108021055A (en) * | 2016-10-28 | 2018-05-11 | 中国科学院沈阳自动化研究所 | Based on reconfigurable tactful small-sized AUV low power consumption controls device and control method |
| CN108021055B (en) * | 2016-10-28 | 2020-03-31 | 中国科学院沈阳自动化研究所 | Small AUV low-power-consumption controller based on reconfigurable strategy and control method |
| CN111452941A (en) * | 2020-05-14 | 2020-07-28 | 浙江九段智能科技有限公司 | Power management system of autonomous underwater vehicle |
| CN111452941B (en) * | 2020-05-14 | 2024-05-17 | 浙江九段智能科技有限公司 | Power management system of autonomous underwater vehicle |
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Granted publication date: 20130605 Effective date of abandoning: 20160803 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20130605 Effective date of abandoning: 20160803 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |