CN103809471A - Novel automatic switchover emergency processing device and implementing method thereof - Google Patents
Novel automatic switchover emergency processing device and implementing method thereof Download PDFInfo
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- CN103809471A CN103809471A CN201210460713.7A CN201210460713A CN103809471A CN 103809471 A CN103809471 A CN 103809471A CN 201210460713 A CN201210460713 A CN 201210460713A CN 103809471 A CN103809471 A CN 103809471A
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Abstract
The invention discloses a novel automatic switchover emergency processing device and an implementing method thereof. The novel automatic switchover emergency processing device comprises an emergency processing circuit; the emergency processing circuit comprises an emergency power supply module and an emergency function module, wherein the emergency power supply module supplies power for the emergency function module, and the emergency function module is used for taking over a host system to perform emergency processing; the emergency processing circuit is installed in the core control unit of an underwater robot, and is combined with the host system through certain logic judgment relation to achieve the emergency processing function jointly. When in normal mission execution period, the host system executes mission program, and outputs a control signal to drive external equipment; meanwhile, the emergency processing circuit real-time monitors serial port and parallel port data sent by the host system, if the host system has no fault, the emergency processing circuit does not execute any action, and when the host system breaks down, the emergency processing circuit is automatically switched to perform emergency processing.
Description
Technical field
The present invention relates to a kind of automatic switching control equipment of being changed to emergency processing circuit state of a control by host computer system state of a control, be specially a kind of new type auto switching emergency treatment device and implementation method.
Technical background
Host computer system is the core of autonomous underwater robot, whether normal, the stable success or failure that directly determined that autonomous underwater robot navigates in fact under water of its work.For reliability, the security of autonomous underwater robot, increase automatic switchover emergency processing circuit, provide reliable and secure assurance for being successfully completed underwater operation.
There is system, use complexity, high in cost of production shortcoming in the double copies system using in other products of existing market.And be difficult to realize and automatically switch, reliability is not high.
Summary of the invention
For meeting the navigational duty of autonomous underwater robot, the security in case of emergency of raising system, the invention provides a kind of new type auto switching emergency treatment device and implementation method, can in the time that host computer system is paralysed, take over work, there is automatic switchover, reliability high.
For achieving the above object, the present invention is achieved through the following technical solutions:
This design by host computer system+emergency processing circuit, reliability, the security that can improve system, avoid due to host computer system paralysis or cannot handling failure cause underwater robot host computer system always in malfunction; Meanwhile, the adapter of emergency processing circuit can realize various emergency and process operation, for location and the recovery of underwater robot provide sound assurance.
A kind of new type auto switching emergency treatment device, it comprises the emergency processing circuit that carries out data communication with host computer system serial ports/parallel port, it is arranged in the key control unit of underwater robot, judges that by certain logic relation and host computer system are grouped together, and complete emergency handling function; Described emergency processing circuit has emergency power pack module and emergency function module; The power supply input of outside many places provides power supply through described emergency power pack module for emergency function module, power supply is connected to driving external unit through the output of emergency function module, cannot receive when emergency processing circuit serial ports, the parallel port data that host computer system sends, emergency processing circuit will carry out emergency processing work to emergency processing state from host computer system state auto-switching on time.
Emergency power pack module is made up of power supply switch circuit and power-switching circuit, outside many power supply inputs are delivered to emergency function module through power supply switch circuit and power-switching circuit, can realize the automatic switchover between main battery power supply, emergency cell power supply, outside input power.
The power supply switch circuit of emergency power pack module, formed by multichannel diode MBR1660, latch relay J MC-153M, can realize the automatic switchover between main battery power supply, emergency cell power supply, outside input power, once guarantee to break down at above-mentioned any power supply, can automatically access other power supply, guarantee the not power-off of emergency processing circuit, emergency processing can normally be carried out.
The power-switching circuit of emergency power pack module comprises DC-DC power module VI-JW1-IW, power-supply filter VI-AWW-IU, each input supply voltage can be converted to standard+24V ,+12V ,+5V voltage and after filtering, export emergency function module to, guarantee the normal work of emergency processing circuit.
Emergency function module is made up of signal isolation circuit, controller, signal switching circuit, driving circuit and self-detection circuit; Its middle controller in real time carries out data communication with host computer system serial ports/parallel port, in the time that host computer system cannot normally be worked, takes over the work of host computer system driving external unit by the signal switching circuit of emergency function module.
The signal isolation circuit of emergency function module comprises optocoupler TLP113, serial ports level transferring chip MAX232MJE, can drive signal and emergency power pack module controller to carry out signal isolation host computer system serial ports/parallel port signal and external unit, improve the reliability of emergency processing circuit.
The driving circuit of emergency function module comprises relay AQY212GH, can realize the driving function to external unit of host computer system or emergency processing unit.
The signal switching circuit of emergency function module comprises multicircuit relay JIRC-105M/5, can in the time that host computer system is paralysed, switch to the control of emergency processing circuit.
The self-detection circuit of emergency function module is made up of resistance, electric capacity, can detect the I/O control signal of emergent functional module, and result is fed back to host computer system by the controller of emergency function module.
An implementation method for new type auto switching emergency treatment device, comprises the steps:
To emergent treatment circuit initialization;
Emergency processing circuit automatically detects the status signal of external input/output interface by self-detection circuit, simultaneously by the result phase signal feedback checking to host computer system processes, host computer system shows the result of processing by host computer display;
Emergency processing circuit serial ports receive interruption;
The serial data that emergency processing circuit sends according to host computer system is carried out 2 kinds of operator schemes: hardware check pattern or mission pattern;
Judge information type;
In the time that information type is hardware check pattern, enter the hardware check model program stage;
The backed off after random hardware check pattern that is finished, then continues and carries out emergency processing circuit serial ports receive interruption program step.
When information type is hardware check pattern, enter hardware check pattern, its processing procedure comprises:
Host computer system is sent the instruction of emergency handling function hardware check by serial ports, emergency processing circuit receives after hardware check instruction, first the electric power thus supplied of self-verifying relevant device, the serial ports of being correlated with is switched to emergency processing circuit, automatically detect the input/output signal of relevant device by self-detection circuit, simultaneously by check feedback of status to host computer system, host computer system is processed the communication data receiving;
After inspection finishes, control is transferred to host computer system control, emergency processing circuit continues monitoring host computer system serial ports and waits for reception next instruction, continues and carries out emergency processing circuit serial ports receive interruption program step.
In the time that information type is mission pattern, serial ports, parallel port signal that emergency processing circuit real time monitoring host computer system sends, start parallel port, serial ports detection;
Calculate parallel port state by timer time delay, and judge that whether parallel port state is normal, as undesired in parallel port state, then gather parallel port data 3 times;
Judge com-state, undesired when com-state, after time delay, detect again and inform that main frame is undesired;
Judge serial ports and parallel port state simultaneously, when serial ports and parallel port all undesired, judge that whether mission finishes;
As mission does not finish, carry out emergency processing according to actual conditions, i.e. host computer system is taken in emergency processing, maintains external equipment power supply and communication, and assurance external equipment is normally worked.
If judge that mission finishes, do not carry out emergency processing.
When serial ports and parallel port have one normal, continue and carry out time delay part and carry out parallel port state judgement.
The beneficial effect that the present invention has and advantage:
1, automatically switch.The term of execution of present invention can be implemented in autonomous underwater robot mission, serial ports, parallel port signal that the emergency processing circuit real time monitoring host computer system of this device sends.Once host computer system breaks down, emergency processing circuit will automatically switch to the control of emergency processing circuit from host computer system control, and carry out emergency processing; The present invention can realize the automatic switchover between main battery power supply, emergency cell power supply, outside input power simultaneously, once guarantee to break down at any power supply, can automatically access other power supply, guarantee not power-off of emergency processing, emergency processing can be proceeded.
2, circuit design advanced person, integrated level is high, automatic switchover reliability is high.Emergency processing circuit design advanced person, integrated level are high, and wherein emergency power pack modular design adopts advanced DC/DC modular converter and filtration module integrated technology, have the protections such as the overvoltage of input, the output of voltage, under-voltage, overcurrent, short circuit.Emergency function modular design adopts advanced at present single-chip microcomputer to control, and signal is isolated rear input, output by buffer circuit, and signal switches employing electromagnetic relay and peripheral circuit, and automatic switchover reliability is high.
3, applied range.Apparatus of the present invention not only can be applied to autonomous underwater robot, can also be applied to other emergency processings of relevant device under water.
Accompanying drawing explanation
Fig. 1 is emergency processing the electric circuit constitute block scheme of the present invention;
Fig. 2 is emergency power pack module compositional block diagram of the present invention;
Fig. 3 is emergency function module compositional block diagram of the present invention;
Fig. 4 is the total program work process flow diagram of emergency processing circuit;
Fig. 5 is mission work pattern program flow diagram.
Embodiment
Below in conjunction with accompanying drawing and following examples, the present invention program is described in detail.
As shown in Figure 1, be emergency processing the electric circuit constitute block scheme of the present invention.It is a kind of new type auto switching emergency treatment device, it comprises the emergency processing circuit that carries out data communication with host computer system serial ports/parallel port, it is arranged in the key control unit of underwater robot, judges that by certain logic relation and host computer system are grouped together, and complete emergency handling function; Described emergency processing circuit has emergency power pack module and emergency function module; The power supply input of outside many places provides power supply through described emergency power pack module for emergency function module, power supply is connected to driving external unit through the output of emergency function module, cannot receive when emergency processing circuit serial ports, the parallel port data that host computer system sends, emergency processing circuit will carry out emergency processing work to emergency processing state from host computer system state auto-switching on time.
Referring to accompanying drawing 2, it is emergency power pack module compositional block diagram of the present invention.Wherein, emergency power pack module is made up of power supply switch circuit and power-switching circuit, outside many power supply inputs are delivered to emergency function module through power supply switch circuit and power-switching circuit, can realize the automatic switchover between main battery power supply, emergency cell power supply, outside input power.
The power supply switch circuit of emergency power pack module, formed by multichannel diode MBR1660, latch relay J MC-153M, can realize the automatic switchover between main battery power supply, emergency cell power supply, outside input power, once guarantee to break down at above-mentioned any power supply, can automatically access other power supply, guarantee the not power-off of emergency processing circuit, emergency processing can normally be carried out.
The power-switching circuit of emergency power pack module is made up of DC-DC power module VI-JW1-IW, power-supply filter VI-AWW-IU and resistance, electric capacity, each input supply voltage can be converted to standard+24V ,+12V ,+5V voltage and after filtering, export emergency function module to, guarantee the normal work of emergency processing circuit.
Referring to accompanying drawing 3, it is emergency function module compositional block diagram of the present invention.Emergency function module is made up of signal isolation circuit, controller, signal switching circuit, driving circuit and self-detection circuit; Its middle controller in real time carries out data communication with host computer system serial ports/parallel port, in the time that host computer system cannot normally be worked, takes over the work of host computer system driving external unit by the signal switching circuit of emergency function module.
The signal isolation circuit of emergency function module is made up of optocoupler TLP113, serial ports level transferring chip MAX232MJE, resistance, electric capacity, can drive signal and emergency power pack module controller to carry out signal isolation host computer system serial ports/parallel port signal and external unit, improve the reliability of emergency processing circuit.
The driving circuit of emergency function module is made up of relay AQY212GH, resistance, electric capacity, can realize the driving function to external unit of host computer system or emergency processing unit.
The signal switching circuit of emergency function module is made up of multicircuit relay JI RC-105M/5, resistance, can in the time that host computer system is paralysed, switch to the control of emergency processing circuit.
The self-detection circuit of emergency function module is made up of resistance, electric capacity, can detect the I/O control signal of emergent functional module, and result is fed back to host computer system by the controller of emergency function module.
Fig. 4 is emergency processing circuit program workflow diagram.Be a kind of implementation method of new type auto switching emergency treatment device, comprise the steps:
To emergent treatment circuit initialization;
Emergency processing circuit automatically detects the status signal of external input/output interface by self-detection circuit, simultaneously by the result phase signal feedback checking to host computer system processes, host computer system shows the result of processing by host computer display;
Emergency processing circuit serial ports receive interruption;
The serial data that emergency processing circuit sends according to host computer system is carried out 2 kinds of operator schemes: hardware check pattern or mission pattern;
Judge information type;
In the time that information type is hardware check pattern, enter the hardware check model program stage;
The backed off after random hardware check pattern that is finished, then continues and carries out emergency processing circuit serial ports receive interruption program step.
When information type is hardware check pattern, enter hardware check pattern, its processing procedure comprises:
Host computer system is sent the instruction of emergency handling function hardware check by serial ports, and emergency processing circuit receives after hardware check instruction,
First the electric power thus supplied of self-verifying relevant device, the serial ports of being correlated with is switched to emergency processing circuit,
Automatically detect the input/output signal of relevant device by self-detection circuit, simultaneously by check feedback of status to host computer system, host computer system is processed the communication data receiving;
After inspection finishes, control is transferred to host computer system control, emergency processing circuit continues monitoring host computer system serial ports and waits for reception next instruction, continues and carries out emergency processing circuit serial ports receive interruption program step.
Fig. 5 is mission work pattern program flow diagram.In the time that information type is mission pattern, serial ports, parallel port signal that emergency processing circuit real time monitoring host computer system sends, start parallel port, serial ports detection;
Calculate parallel port state by timer time delay, and judge that whether parallel port state is normal, as undesired in parallel port state, then gather parallel port data 3 times;
Judge com-state, undesired when com-state, after time delay, detect again and inform that main frame is undesired;
Judge serial ports and parallel port state simultaneously, when serial ports and parallel port all undesired, judge that whether mission finishes;
As mission does not finish, carry out emergency processing according to actual conditions, i.e. host computer system is taken in emergency processing, maintains external equipment power supply and communication, and assurance external equipment is normally worked.If judge that mission finishes, do not carry out emergency processing.
When serial ports and parallel port have one normal, continue and carry out time delay part and carry out parallel port state judgement.
In actual use, the serial data that emergency processing circuit sends according to host computer system is carried out 2 kinds of operator schemes: hardware check pattern and mission pattern;
Hardware check pattern is that host computer system is sent the instruction of emergency handling function hardware check by serial ports, parallel port, emergency processing circuit receives after the instruction of emergency function hardware check, first the electric power thus supplied of self-verifying relevant device, then the serial ports of being correlated with is switched to emergency processing circuit, automatically detect the input/output signal of relevant device by self-detection circuit, simultaneously by check feedback of status to host computer system.After inspection finishes, control is transferred to host computer system control, emergency processing circuit continues monitoring host computer system and waits for reception next instruction.
The term of execution of autonomous underwater robot mission, serial ports, parallel port signal (by certain logical relation composition, specifically seeing Fig. 1) that emergency processing circuit real time monitoring host computer system sends.Once host computer system breaks down, emergency processing circuit cannot be received serial ports, the parallel port data that host computer system sends on time, and emergency processing circuit will, from host computer system state auto-switching to emergency processing state, carry out follow-up emergency processing.
Claims (13)
1. a new type auto switching emergency treatment device, it is characterized in that: it comprises the emergency processing circuit that carries out data communication with host computer system serial ports/parallel port, it is arranged in the key control unit of underwater robot, judge that by certain logic relation and host computer system are grouped together, and complete emergency handling function; Described emergency processing circuit has emergency power pack module and emergency function module; The power supply input of outside many places provides power supply through described emergency power pack module for emergency function module, power supply is connected to driving external unit through the output of emergency function module, cannot receive when emergency processing circuit serial ports, the parallel port data that host computer system sends, emergency processing circuit will carry out emergency processing work to emergency processing state from host computer system state auto-switching on time.
2. according to the new type auto switching emergency treatment device of one claimed in claim 1, it is characterized in that: emergency power pack module is made up of power supply switch circuit and power-switching circuit, outside many power supply inputs are delivered to emergency function module through power supply switch circuit and power-switching circuit, can realize the automatic switchover between main battery power supply, emergency cell power supply, outside input power.
3. according to the new type auto switching emergency treatment device of the one described in claim 1 or 2, it is characterized in that: the power supply switch circuit of emergency power pack module, formed by multichannel diode MBR1660, latch relay J MC-153M, can realize the automatic switchover between main battery power supply, emergency cell power supply, outside input power.
4. according to the new type auto switching emergency treatment device of the one described in claim 1 or 2, it is characterized in that: the power-switching circuit of emergency power pack module comprises DC-DC power module VI-JW1-IW, power-supply filter VI-AWW-IU, each input supply voltage can be converted to standard+24V ,+12V ,+5V voltage and after filtering, export emergency function module to, guarantee the normal work of emergency processing circuit.
5. according to the new type auto switching emergency treatment device of one claimed in claim 1, it is characterized in that: emergency function module is made up of signal isolation circuit, controller, signal switching circuit, driving circuit and self-detection circuit; Its middle controller in real time carries out data communication with host computer system serial ports/parallel port, in the time that host computer system cannot normally be worked, takes over the work of host computer system driving external unit by the signal switching circuit of emergency function module.
6. according to the new type auto switching emergency treatment device of the one described in claim 1 or 5, it is characterized in that: the signal isolation circuit of emergency function module comprises optocoupler TLP113, serial ports level transferring chip MAX232MJE, can drive signal and emergency power pack module controller to carry out signal isolation host computer system serial ports/parallel port signal and external unit.
7. according to the new type auto switching emergency treatment device of the one described in claim 1 or 5, it is characterized in that: the driving circuit of emergency function module comprises relay AQY212GH, can realize host computer system or the emergency processing unit driving function to external unit.
8. according to the new type auto switching emergency treatment device of the one described in claim 1 or 5, it is characterized in that: the signal switching circuit of emergency function module comprises multicircuit relay JIRC-105M/5, can in the time that host computer system is paralysed, switch to the control of emergency processing circuit.
9. according to the new type auto switching emergency treatment device of the one described in claim 1 or 5, it is characterized in that: the self-detection circuit of emergency function module is made up of resistance, electric capacity, can detect the I/O control signal of emergent functional module, and result is fed back to host computer system by the controller of emergency function module.
10. according to the implementation method of a kind of new type auto switching emergency treatment device claimed in claim 1, it is characterized in that: comprise the steps:
To emergent treatment circuit initialization;
Emergency processing circuit automatically detects the status signal of external input/output interface by self-detection circuit, simultaneously by the result phase signal feedback checking to host computer system processes, host computer system shows the result of processing by host computer display;
Emergency processing circuit serial ports receive interruption;
The serial data that emergency processing circuit sends according to host computer system is carried out 2 kinds of operator schemes: hardware check pattern or mission pattern;
Judge information type;
In the time that information type is hardware check pattern, enter the hardware check model program stage;
The backed off after random hardware check pattern that is finished, then continues and carries out emergency processing circuit serial ports receive interruption program step.
11. according to the implementation method of a kind of new type auto switching emergency treatment device claimed in claim 10, it is characterized in that: when information type is hardware check pattern, enter hardware check pattern, its processing procedure comprises:
Host computer system is sent the instruction of emergency handling function hardware check by serial ports, emergency processing circuit receives after hardware check instruction, first the electric power thus supplied of self-verifying relevant device, the serial ports of being correlated with is switched to emergency processing circuit, automatically detect the input/output signal of relevant device by self-detection circuit, simultaneously by check feedback of status to host computer system, host computer system is processed the communication data receiving; After inspection finishes, control is transferred to host computer system control, emergency processing circuit continues monitoring host computer system serial ports and waits for reception next instruction, continues and carries out emergency processing circuit serial ports receive interruption program step.
12. according to the implementation method of a kind of new type auto switching emergency treatment device claimed in claim 10, it is characterized in that: in the time that information type is mission pattern, serial ports, parallel port signal that emergency processing circuit real time monitoring host computer system sends, start parallel port, serial ports detection;
Calculate parallel port state by timer time delay, and judge that whether parallel port state is normal, as undesired in parallel port state, then gather parallel port data 3 times; Judge com-state, undesired when com-state, after time delay, detect again and inform that main frame is undesired; Judge serial ports and parallel port state simultaneously, when serial ports and parallel port all undesired, judge that whether mission finishes; As mission does not finish, carry out emergency processing according to actual conditions, i.e. host computer system is taken in emergency processing, maintains external equipment power supply and communication, and assurance external equipment is normally worked.
13. according to the implementation method of a kind of new type auto switching emergency treatment device described in claim 12, it is characterized in that: when serial ports and parallel port have one normal, continue and carry out time delay part and carry out parallel port state judgement.
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| CN105807761B (en) * | 2015-09-02 | 2019-07-12 | 南京乐朋电子科技有限公司 | A kind of control system of bionic intelligence machine fish |
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| CN108508826A (en) * | 2018-03-20 | 2018-09-07 | 广州大学 | A kind of apparatus and system for preventing artificial intelligence behavior body out of control |
| CN114772494A (en) * | 2022-04-25 | 2022-07-22 | 湖州越球电机有限公司 | Aerostat electric cable emergency switching towing system and method |
| CN114706408A (en) * | 2022-06-06 | 2022-07-05 | 山东科技大学 | Low-power consumption intelligent underwater robot control system |
| CN116016131A (en) * | 2022-12-09 | 2023-04-25 | 中国科学院沈阳自动化研究所 | Automatic switching device and method for network communication of manned submersible |
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