CN108132631A - A kind of deep sea equipment electric power supply control system and method - Google Patents
A kind of deep sea equipment electric power supply control system and method Download PDFInfo
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- CN108132631A CN108132631A CN201810094176.6A CN201810094176A CN108132631A CN 108132631 A CN108132631 A CN 108132631A CN 201810094176 A CN201810094176 A CN 201810094176A CN 108132631 A CN108132631 A CN 108132631A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2639—Energy management, use maximum of cheap power, keep peak load low
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Supply And Distribution Of Alternating Current (AREA)
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Abstract
A kind of deep sea equipment electric power supply control system is provided in the embodiment of the present invention.The system comprises：Liquid level sensor, acceleration transducer and processor；The liquid level sensor, for the self-capacitance corresponding to varying environment residing for deep sea equipment to be sent to processor；The acceleration of motion for detecting the acceleration of motion of the deep sea equipment, and is sent to processor by the acceleration transducer；The processor for receiving the capacitance that the liquid level sensor is sent, judges the deep sea equipment local environment according to the capacitance；The acceleration information that the acceleration transducer is sent is received, and the motion state and location status of the deep sea equipment are judged according to the acceleration information；The power supply state of the deep sea equipment is controlled according to the deep sea equipment local environment, motion state and location status.The present invention also proposes a kind of deep sea equipment method for controlling power supply.The present invention can establish one's own system, and deep sea equipment is powered alone.
Description
Technical field
The present invention relates to deep-sea detecting technologies, and in particular, to a kind of deep sea equipment electric power supply control system and method.
Background technology
Deep-sea lander is compared to HOV (manned underwater vehicle), ROV (remotely pilotless submersible), AUV (untethered underwaters
People) etc., work capacity is limited, but since its structure and control mode are simple, relatively low occasion is required just to seem non-at some
Normal practicality, such as fixed point gathered data.Many pressure-resistant glass floating ball systems are contained on general lander, for example lead automatically controlled system
System, electric power system, camera system etc..The data of subsystems are focused in main electric-control system on lander, current lander
State be also sent in subsystems by main electric-control system, i.e., entire lander system forms star topology.Subsystem
Equipment power supply strategy in system is completed completely by main electric-control system.
The signal that star topology causes each system to require connect to main electric-control system is more, and be bound to main electric-control system
Enough data-interfaces must be reserved, for wiring simplicity, special junction box can be generally designed and carry out meet demand.Simultaneously because
Equipment power supply strategy in subsystem is completed completely by main electric-control system, so subsystem can not be detached from the independent work of main electric-control system
Make.Even if subsystem has individually power supply, unless it is constantly in the state of work in whole process, subsystem can not root
Corresponding reaction action is carried out according to the state of lander.Such as：Camera system needs to start to work after lander lands minute,
It must be just connected in main electric-control system from camera system subsystem by underwater electrical connector, by master control system after lander landing
System sends out order.
Invention content
In view of this, an embodiment of the present invention is intended to provide a kind of deep sea equipment electric power supply control system and methods, can make altogether
Electronic system has capacity of will, to reduce system line, reduces system control difficulty.
In order to achieve the above objectives, the technical solution of the embodiment of the present invention is realized in：
The embodiment of the present invention proposes a kind of deep sea equipment electric power supply control system, the system comprises：Liquid level sensor adds
Velocity sensor and processor；
The liquid level sensor, for the self-capacitance corresponding to varying environment residing for deep sea equipment to be sent to processing
Device；
The acceleration transducer, for detecting the acceleration of motion of the deep sea equipment, and by the acceleration of motion
It is sent to processor；
The processor, is configured with the operational order that processor can perform, and the operational order includes：
Receive the capacitance that the liquid level sensor is sent, the ring according to residing for the capacitance judges the deep sea equipment
Border；
The acceleration information that the acceleration transducer is sent is received, and the deep-sea is judged according to the acceleration information
The motion state and location status of equipment；
The power supply shape of the deep sea equipment is controlled according to the deep sea equipment local environment, motion state and location status
State.
Preferably, the system also includes relay module, the relay module is arranged on the processor and deep-sea
Between equipment, the relay module includes multiple relay module, and each relay module corresponds to a deep sea equipment,
The power supplying control signal input terminal of the relay module is connect with the power supplying control signal output terminal of the processor, it is described after
The power supplying control signal output terminal of electrical appliance module is connect with the power supplying control signal input terminal of the deep sea equipment.
Preferably, the system also includes memory, data-signal input/output terminal and the processing of the memory
The data-signal input/output end connection of device；
The memory for store between the relay module and deep sea equipment the voltage value of power supply output channel and/
Or current value.
Preferably, the system also includes data interface module, the command signal input terminal of the data interface module with
The command signal output terminal connection of external equipment, the command signal output terminal of the data interface module and the finger of the memory
Signal input part is enabled to connect；
The data interface module, for receiving the power supply control directive script that the external equipment is sent, and by described in
Power supply control directive script is sent to memory；
The memory is additionally operable to the power supply control script that the data interface module is sent being sent to processor and deposit
Storage；
The processor, is configured with the operational order that processor can perform, and the operational order further includes：Receive institute
The power supply control directive script of processor transmission is stated, and the confession of the deep sea equipment is controlled according to the power supply control directive script
Electricity condition.
Preferably, the processor, is configured with the operational order that processor can perform, and the operational order also wraps
It includes：Judge whether the script in the power supply control directive script is finished, be, then the deep sea equipment is controlled to enter suspend mode
Pattern or power-off.
Preferably, the system also includes power module, the power module is used for the liquid level sensor, acceleration
Sensor, processor and the power supply of relay module.
The embodiment of the present invention also proposed a kind of deep sea equipment method for controlling power supply, the method includes：
Receive the environmental parameter of the deep sea equipment；
Current deep sea equipment local environment is judged according to the environmental parameter；
Receive the acceleration of motion of the deep sea equipment；
The motion state and location status of current deep sea equipment are judged according to the acceleration of motion；
The power supply shape of the deep sea equipment is controlled according to the deep sea equipment local environment, motion state and location status
State.
Preferably, the process for receiving the environmental parameter of the deep sea equipment includes：Receive the liquid being arranged on deep sea equipment
The capacitance of level sensor, the capacitance are the environmental parameter of the deep sea equipment.
Preferably, the method further includes：The power supply control directive script that external equipment is sent is received, and according to the confession
Electric control directive script controls the deep sea equipment power supply state.
Preferably, the method further includes：Judge whether the script in the power supply control directive script is finished,
It is that the deep sea equipment is then controlled to enter suspend mode or power-off.
Beneficial effects of the present invention are as follows：
Electric power supply control system proposed by the invention can judge whether current deep sea equipment is in by liquid level sensor
Under water, and by acceleration transducer the motion state and location status of current deep sea equipment then be may determine that, so as to pass through place
It manages device and autonomous control is carried out to the power supply of deep sea equipment to above-mentioned judgement information.Electric power supply control system of the present invention being capable of self-contained
System is alone powered deep sea equipment.Instruction transmission can also be carried out with external equipment, control confession is carried out by external equipment
Electricity condition, system line is simple, control difficulty is low, practicability is high.
Description of the drawings
Fig. 1 is the principle schematic of the deep sea equipment electric power supply control system described in the embodiment of the present invention；
Fig. 2 is the schematic view of the mounting position of the liquid level sensor described in the embodiment of the present invention；
Fig. 3 is the flow chart of the deep sea equipment method for controlling power supply described in the embodiment of the present invention.
Specific embodiment
In order to which technical solution in the embodiment of the present invention and advantage is more clearly understood, below in conjunction with attached drawing to the present invention
Exemplary embodiment be described in more detail, it is clear that described embodiment be only the present invention a part implement
The exhaustion of example rather than all embodiments.It should be noted that in the absence of conflict, embodiment and reality in the present invention
Applying the feature in example can be combined with each other.
Embodiment 1
As shown in Figure 1, the present embodiment proposes a kind of deep sea equipment electric power supply control system, the system comprises：Liquid level passes
Sensor, acceleration transducer and processor；
The liquid level sensor, for the self-capacitance corresponding to varying environment residing for deep sea equipment to be sent to processing
Device；
The acceleration transducer, for detecting the acceleration of motion of the deep sea equipment, and by the acceleration of motion
It is sent to processor；
The processor, is configured with the operational order that processor can perform, and the operational order includes：
Receive the capacitance that the liquid level sensor is sent, the ring according to residing for the capacitance judges the deep sea equipment
Border；
The acceleration information that the acceleration transducer is sent is received, and the deep-sea is judged according to the acceleration information
The motion state and location status of equipment；
The power supply shape of the deep sea equipment is controlled according to the deep sea equipment local environment, motion state and location status
State.
Specifically, the processor described in the present embodiment can be the programmable logic device such as microcontroller, CPU, FPGA.With depth
Extra large equipment for deep-sea lander glass floating ball system for, when glass floating ball system be located at it is waterborne when, do not need to glass usually
Glass floating ball internal system equipment works, even if work, the collected information of institute is also meaningless or meaning pole
Small.Therefore, if glass floating ball system be located at it is waterborne when internal unit also enter working condition if can waste electric power significantly
Resource.And positioned at it is underwater when internal unit is then needed to enter working condition, therefore, to the glass floating ball internal system equipment into
It is underwater that first premise of row power supply makes sure that the glass floating ball system enters.Level sensing used by the present embodiment
Device is contactless, is disposed at the inner wall of the glass floating ball system, as shown in Figure 2.At this point, liquid level sensor itself
Capacitance can change with the difference of glass floating ball system local environment, it is possible thereby to judge current glass floating ball system
Whether in underwater.
The second premise that glass floating ball internal system equipment is powered is sought to know the glass floating ball system position
In underwater position.The present embodiment is responsible for the motion state of real time monitoring glass floating ball system, packet using acceleration transducer
Include floating, dive and static and float or acceleration and speed during dive, and using the principle of inertial navigation, calculate
Go out the displacement of glass floating ball system dive.Then its motion state (gravity direction is downwards for just) is judged according to table 1.
Table 1
Also, after glass floating ball system initialization, each state can only be changed according to the sequence shown in table 1, such as glass
After glass floating ball system is located at " diving stations ", follow-up glass floating ball system can only be converted to " sitting bottom " state (only state 1 and state
It can switch between 2).
Further, the system also includes relay module, the relay module is arranged on the processor and depth
Between extra large equipment, the relay module includes multiple relay module, and each relay module corresponds to a deep-sea and sets
Standby, the power supplying control signal input terminal of the relay module is connect with the power supplying control signal output terminal of the processor, institute
The power supplying control signal output terminal for stating relay module is connect with the power supplying control signal input terminal of the deep sea equipment.
Specifically, still by taking glass floating ball system as an example, glass floating ball internal system equipment some may possess low-power consumption work(
Can, for having the function of the equipment of low-power consumption, system described in the present embodiment can not need to what is worked in glass floating ball system
When relevant device is made to enter low power consumpting state or dormant state, reawake the equipment again when needing work.And for not
The equipment for having the function of low-power consumption then needs using direct breakpoint and powers on to be controlled.The present embodiment then uses relay
Module directly controls the break-make of glass floating ball internal system equipment power supply.Include multiple relay moulds in its repeat circuit module
Block, one end of each relay module are correspondingly connected with an equipment, the other end then connection processing device, by processor according to practical work
Make demand respectively to control the power supply state of each equipment.It can realize that the confession to equipment is automatically controlled to the full extent with this
System and the utilization rate for improving the energy.
Further, the system also includes memory, data-signal input/output terminal and the places of the memory
Manage the data-signal input/output end connection of device；
The memory for store between the relay module and deep sea equipment the voltage value of power supply output channel and/
Or current value.
The system also includes data interface module, the command signal input terminal and external equipment of the data interface module
The connection of command signal output terminal, the command signal output terminal and the command signal of the memory of the data interface module be defeated
Enter end connection；
The data interface module, for receiving the power supply control directive script that the external equipment is sent, and by described in
Power supply control directive script is sent to memory；
The memory is additionally operable to the power supply control script that the data interface module is sent being sent to processor and deposit
Storage；
The processor, is configured with the operational order that processor can perform, and the operational order further includes：Receive institute
The power supply control directive script of processor transmission is stated, and the confession of the deep sea equipment is controlled according to the power supply control directive script
Electricity condition.
Specifically, EEPROM Electrically Erasable Programmable Read-Only Memory can be selected in the memory described in the present embodiment.It is described to deposit
Reservoir is responsible for recording the voltage of each power supply output channel output of each relay module, current data and from data-interface mould
RS232 data interface modules can be selected in the directive script that block receives, the data interface module.Wherein voltage and current data
It can reflect the working condition of electric power system described in the present embodiment in real time, so as to used in subsequent data statistics and plant maintenance.
And the data interface module can receive the directive script of external equipment transmission, then by memory input processor,
Realize the addition or replacement to directive script in processor.
Wherein, directive script includes two kinds of timi requirement modes, and one kind is positioned for absolute time, such as：Script command is
" 12 divide 11 seconds 1 power supplys of opening channel during 12 days 17 January in 2018 "；It is another then for relative time positioning method, such as：Script
It orders as " supported on the seabed condition opens 1 power supply of channel after five minutes ".After all scripts are performed both by device to be stored or glass
When floating ball system returns to the state 7 shown in table 1, the task that glass floating ball system is performed currently without any need is represented, then place
Reason device control relevant device enters suspend mode or directly powers off to save the energy.
Further, the system also includes power module, the power module is used for the liquid level sensor, acceleration
Spend sensor, processor and the power supply of relay module.
In addition, for having the function of the equipment of low-power consumption, directly the equipment can be powered by power module, so
The equipment is controlled to enter normal mode of operation or low-power consumption mode by processor afterwards.
Embodiment 2
As shown in figure 3, the present embodiment proposes a kind of deep sea equipment method for controlling power supply, the method includes：
S101, the environmental parameter for receiving the deep sea equipment, according to residing for the environmental parameter judges current deep sea equipment
Environment.
Specifically, by taking deep sea equipment is the glass floating ball system of deep-sea lander as an example, when glass floating ball system is located at water
When upper, do not needed to what glass floating ball internal system equipment worked usually, even if work, the collected information of institute is also
Meaningless or meaning is minimum.Therefore, if internal unit also enters working condition when glass floating ball system is located at waterborne
If can waste electric power resource significantly.And internal unit is then needed to enter working condition when being located at underwater, therefore, to the glass
It is underwater that first premise that floating ball internal system equipment is powered makes sure that the glass floating ball system enters.This implementation
Example can be used contactless liquid level sensor and environment where glass floating ball system be detected, and the liquid level sensor is set
Put the inner wall in the glass floating ball system.At this point, the capacitance of liquid level sensor itself can be with residing for glass floating ball system
The difference of environment and change, the capacitance is the environmental parameter of the deep sea equipment, it is possible thereby to judge current glass
Whether glass floating ball system is in underwater.
S102, the acceleration of motion for receiving the deep sea equipment, judge current deep sea equipment according to the acceleration of motion
Motion state and location status.
Specifically, the second premise being powered to glass floating ball internal system equipment seeks to know the glass floating ball
System is located at underwater position.The present embodiment is responsible for the movement shape of real time monitoring glass floating ball system using acceleration transducer
State, including floating, dive and static and float or acceleration and speed during dive, and using the principle of inertial navigation,
Calculate the displacement of glass floating ball system dive.Then its motion state (gravity direction is downwards for just) is judged according to above-mentioned table 1.
It is no longer repeated herein.
S103, the deep sea equipment is controlled according to the deep sea equipment local environment, motion state and location status
Power supply state.
Some may possess low-power consumption function to glass floating ball internal system equipment, for having the function of the equipment of low-power consumption,
The present embodiment the method can make relevant device enter low power consumpting state when glass floating ball system does not need to be worked
Or dormant state, the equipment is reawaked again when needing work.And it then needs to adopt for not having the equipment of low-power consumption function
With direct breakpoint and power on to be controlled.The present embodiment then directly controls glass floating ball internal system using relay module
The break-make of equipment power supply.Include multiple relay module in its repeat circuit module, one end of each relay module corresponds to
Connect an equipment, the other end then connection processing device, by processor according to the power supply to each equipment respectively of real work demand
State is controlled.It can realize to the power supply control of equipment and improve the utilization rate of the energy to the full extent with this.
In addition, the present embodiment the method can also receive the directive script of external equipment transmission, it is then defeated by memory
Enter in processor, realize the addition to directive script in processor or replacement.
Wherein, directive script includes two kinds of timi requirement modes, and one kind is positioned for absolute time, such as：Script command is
" 12 divide 11 seconds 1 power supplys of opening channel during 12 days 17 January in 2018 "；It is another then for relative time positioning method, such as：Script
It orders as " supported on the seabed condition opens 1 power supply of channel after five minutes ".After all scripts are performed both by device to be stored or glass
When floating ball system returns to the state 7 shown in table 1, the task that glass floating ball system is performed currently without any need is represented, then place
Reason device control relevant device enters suspend mode or directly powers off to save the energy.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of deep sea equipment electric power supply control system, which is characterized in that the system comprises：Liquid level sensor, acceleration sensing
Device and processor；
The liquid level sensor, for the self-capacitance corresponding to varying environment residing for deep sea equipment to be sent to processor；
The acceleration transducer for detecting the acceleration of motion of the deep sea equipment, and the acceleration of motion is sent
To processor；
The processor, is configured with the operational order that processor can perform, and the operational order includes：
The capacitance that the liquid level sensor is sent is received, the deep sea equipment local environment is judged according to the capacitance；
The acceleration information that the acceleration transducer is sent is received, and the deep sea equipment is judged according to the acceleration information
Motion state and location status；
The power supply state of the deep sea equipment is controlled according to the deep sea equipment local environment, motion state and location status.
2. system according to claim 1, which is characterized in that the system also includes relay module, the relay
Module is arranged between the processor and deep sea equipment, and the relay module includes multiple relay module, each described
Relay module corresponds to a deep sea equipment, the power supplying control signal input terminal of the relay module and the confession of the processor
Electric control signal output terminal connects, and the power supplying control signal output terminal of the relay module and the confession of the deep sea equipment are automatically controlled
Signal input part connection processed.
3. system according to claim 2, which is characterized in that the system also includes memory, the number of the memory
It is believed that number input/output terminal is connect with the data-signal input/output end of the processor；
The memory is used to store the voltage value and/or electricity of power supply output channel between the relay module and deep sea equipment
Flow valuve.
4. system according to claim 3, which is characterized in that the system also includes data interface module, the data
The command signal input terminal of interface module and the command signal output terminal of external equipment connect, the instruction of the data interface module
Signal output end is connect with the command signal input terminal of the memory；
The data interface module, for receiving the power supply control directive script that the external equipment is sent, and by the power supply
Control directive script is sent to memory；
The memory is additionally operable to the power supply control script that the data interface module is sent being sent to processor and store；
The processor, is configured with the operational order that processor can perform, and the operational order further includes：Receive the place
The power supply control directive script that device is sent is managed, and the power supply shape of the deep sea equipment is controlled according to the power supply control directive script
State.
5. system according to claim 4, which is characterized in that the processor is configured with what processor can perform
Operational order, the operational order further include：Judge whether the script in the power supply control directive script is finished, be,
The deep sea equipment is then controlled to enter suspend mode or power-off.
6. system according to claim 5, which is characterized in that the system also includes power module, the power module
For powering to the liquid level sensor, acceleration transducer, processor and relay module.
7. a kind of deep sea equipment method for controlling power supply, which is characterized in that the method includes：
Receive the environmental parameter of the deep sea equipment；
Current deep sea equipment local environment is judged according to the environmental parameter；
Receive the acceleration of motion of the deep sea equipment；
The motion state and location status of current deep sea equipment are judged according to the acceleration of motion；
The power supply state of the deep sea equipment is controlled according to the deep sea equipment local environment, motion state and location status.
8. the method according to the description of claim 7 is characterized in that receive the process packet of the environmental parameter of the deep sea equipment
It includes：The capacitance for being arranged on the liquid level sensor on deep sea equipment is received, the capacitance is the environment of the deep sea equipment
Parameter.
9. according to the method described in claim 8, it is characterized in that, the method further includes：Receive the confession that external equipment is sent
Electric control directive script, and the deep sea equipment power supply state is controlled according to the power supply control directive script.
10. according to the method described in claim 9, it is characterized in that, the method further includes：Judge the power supply control script
Whether the script in instruction is finished, and is, then the deep sea equipment is controlled to enter suspend mode or power-off.
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| CN201810094176.6A CN108132631B (en) | 2018-01-31 | 2018-01-31 | power supply control system and method for deep sea equipment |
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|---|---|---|---|
| CN201810094176.6A CN108132631B (en) | 2018-01-31 | 2018-01-31 | power supply control system and method for deep sea equipment |
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| CN108132631A true CN108132631A (en) | 2018-06-08 |
| CN108132631B CN108132631B (en) | 2019-12-06 |
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| CN113703373A (en) * | 2021-09-06 | 2021-11-26 | 杭州瀚陆海洋科技有限公司 | Data storage and reading method for networking of deep sea intelligent lander |
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| CN113703373B (en) * | 2021-09-06 | 2022-10-14 | 杭州瀚陆信息技术有限公司 | Data storage and reading method for networking of deep sea intelligent lander |
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| CN108132631B (en) | 2019-12-06 |
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