CN108988411A - A kind of unmanned machine waterborne and its energy control method - Google Patents
A kind of unmanned machine waterborne and its energy control method Download PDFInfo
- Publication number
- CN108988411A CN108988411A CN201810626217.1A CN201810626217A CN108988411A CN 108988411 A CN108988411 A CN 108988411A CN 201810626217 A CN201810626217 A CN 201810626217A CN 108988411 A CN108988411 A CN 108988411A
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- Prior art keywords
- power
- battery
- master control
- control unit
- accumulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
Unmanned machine waterborne and its energy control method proposed by the present invention can dynamically adjust the electricity of master control battery and power accumulator, and preferentially ensure the power supply of control unit, communication unit, so that the cruise duration of master control battery is consistently greater than power accumulator, and master control battery and power accumulator accurately calculate can the cruise duration of power accumulator as independent two battery units, make biggish fluctuation occur cruise duration without the interference by other power-consuming components.
Description
Technical field
The present invention relates to water based rescues field, in particular to a kind of unmanned machine waterborne with energy control device
And its control method.
Background technique
Overwater accident happens occasionally at present, and a lot of accidents waterborne can all occur every year for China or even the whole world, and
When most of accident waterborne occurs, rescue time be it is very limited, after even some natatory people are overboard,
If not in time rescue if, also due to body for a long time in water heat loss and be short of physical strength and bring life danger.Mesh
Its national aquatic life-saving equipment of preceding China and other most of regions of the world all relatively falls behind, on existing ship mostly
The lifesaving appliance of outfit is common life jacket or lifebuoy etc..Although life jacket or lifebuoy can rise when accident occurs on the water
To certain effect, still, for some special circumstances, for example, the perils of the sea generation when, ocean current can break up drowning people, if distance
Bank farther out when, even if being equipped with life jacket or lifebuoy, overboard people as safety zone can not be swum over to by being short of physical strength,
In this case, life jacket and lifebuoy energy role are limited.
In the prior art, such as Chinese patent 201521131034.0 discloses a kind of lifebuoy of drive device,
For another example Chinese patent 201220727304.4 discloses a kind of life jacket, and band Beidou RDSS navigation system makes it possess positioning function
Energy.But for water survival gear, the consumed energy is dependent on the battery of carrying, and the capacity of battery is limited
, how reducing energy consumption and extending the stand-by time of lifesaving appliance is the technical issues of existing lifesaving appliance is faced, simultaneously
Water survival gear in the prior art is not still high in the level intelligentized on the whole of design.
Summary of the invention
The present invention proposes a kind of unmanned machine waterborne, comprising: control unit, described control unit are used for entire nothing waterborne
People's equipment controls；Power supply unit, said supply unit are used to provide electric energy to other units of unmanned machine waterborne；Power list
Member, the power unit obtain electric energy from said supply unit, and unmanned machine waterborne is driven to advance；Help floating unit, it is described help it is floating
Unit is used to improve the buoyancy of the unmanned machine waterborne, can accept heavier goods and materials or be rescued personnel；Loading cell, institute
Loading cell is stated for storing or fixing goods and materials；Positioning unit, the positioning unit are used to determine current coordinate position, and will
The coordinate position is sent to control unit or communication unit；Communication unit, the communication unit are connect with described control unit, will
The signal or data received is transferred to control unit, and can externally send signal or data.
Said supply unit includes battery, and the battery is rechargeable type battery.Said supply unit further includes
Solar panel, the solar panel charge to the battery for collecting luminous energy.Particularly, the storage
Battery includes power accumulator and master control battery, and the power accumulator and master control battery are relatively independent batteries,
The cruise duration of the master control battery is greater than the power accumulator.The power accumulator and master control battery are respectively and too
Positive energy solar panel connection, described control unit can control solar panel respectively to the power accumulator and master control battery
Charging.The power accumulator is only used for powering to power unit, and the master control battery is used for the water life-saving equipment
Other units power supply other than power unit.The master control battery and power accumulator send respective information about power
To described control unit.
The present invention also proposes a kind of energy control method of unmanned machine waterborne, is based on above-mentioned unmanned machine waterborne,
Specific steps include:
(1) control unit obtains the information about power of the master control battery and power accumulator；Specifically, the electricity can
To refer to that cruise duration or remaining capacity account for the ratio of total capacity.
(2) when described control unit judges the master control accumulator electric-quantity less than or equal to second threshold, the control is single
Member controls the solar charging panel and charges to the master control battery.The second threshold is meant that when master control battery
When electricity is lower than the second threshold, the electricity of the master control battery is in the hole, and control unit is possible to disconnected
Electricity, entire water life-saving equipment have out of control danger.
(3) when described control unit judges that the master control accumulator electric-quantity is higher than second threshold and is less than or equal to the first threshold
When value, judge whether the power accumulator electricity is less than or equal to the 4th threshold value, if the power accumulator electricity is lower than
Or it is equal to the 4th threshold value, described control unit control solar panel charges to the power accumulator, otherwise, the control
Unit controls the solar charging panel and charges to the master control battery.The first threshold is meant that when master control battery
Electricity when being higher than the first threshold, the electricity of the master control battery is in sufficient state, and the meaning of the 4th threshold value
When the electricity of the power accumulator is equal to or less than four threshold value, the electricity of the power accumulator is in danger
State, power unit are possible to power off and entire water life-saving equipment is made to lose ability to act.
(4) when described control unit judges that the master control accumulator electric-quantity is higher than first threshold, judge that the power stores
Whether battery capacity is less than or equal to third threshold value, described if the power accumulator electricity is less than or equal to third threshold value
Control unit control solar panel charges to the power accumulator, and otherwise, described control unit controls the solar energy
Charging panel charges to the master control battery.When the electricity of the power accumulator is higher than described when the meaning of the third threshold value
When third threshold value, the electricity of the power accumulator is in sufficient state.
(5) when described control unit judges that the master control accumulator electric-quantity is full of, described control unit controls solar energy
Solar panel charges to the power accumulator.
In a still further embodiment, the control method further include:
(6) when the power accumulator electricity is less than four threshold values, described control unit control it is described it is waterborne nobody set
It is standby to make a return voyage.
Unmanned machine waterborne and its energy control method proposed by the present invention can dynamically adjust master control battery and move
The electricity of power battery, and preferentially ensure the power supply of control unit, communication unit, so that the cruise duration of master control battery begins
It is greater than power accumulator eventually, and master control battery and power accumulator make power electric power storage as independent two battery units
The cruise duration in pond can accurately calculate, make without the interference by other power-consuming components cruise duration occur compared with
Big fluctuation.
Detailed description of the invention
Fig. 1 is the structural block diagram of unmanned machine waterborne of the invention；
Specific embodiment
The present invention is further expalined below in conjunction with specific embodiment and Figure of description.
In one embodiment, the present invention proposes a kind of unmanned machine waterborne, may include unmanned boat waterborne or waterborne
Rescue aid (robot).By taking water life-saving equipment as an example, the water life-saving equipment includes control unit, described control unit
With control circuit and memory, in a preferred embodiment, the control circuit includes having data processing and computing capability
Processing chip or processor, such as AP, MCU and other control chips with programmable functions, the memory be used for
Data or instruction are stored.Control unit receives the transmission of other units for controlling entire water life-saving equipment
Status data or detection data, and the data are stored or are handled, and control movement and the communication unit of power unit
The data transmission of member.
The water life-saving equipment further includes power supply unit, and said supply unit is used to provide to the water life-saving equipment
Electric energy.Power supply unit of the invention includes battery, and the battery is rechargeable type battery, it is preferable that confession of the invention
Electric unit further includes solar panel, and the solar panel is laid on the above water of the rescue robot, can also
Using special solar-cell panel support, the solar panel is for collecting luminous energy, and the current transmission of generation is described in
Battery is saved, to extend the cruise duration of battery.Particularly, the battery includes power accumulator and master control electric power storage
Pond, the power accumulator and master control battery are relatively independent batteries, and the cruise duration of the master control battery is greater than
Power accumulator, so that can also ensure the power supply of control unit and communication unit in power accumulator not enough power supply.It is described
Power accumulator and master control battery are connect with solar panel respectively, and be can rely on the solar panel and filled
Electricity, described control unit can control solar panel to charge respectively to the power accumulator and master control battery.It is described dynamic
Power battery is only used for powering to power unit, and the master control battery is used for the water life-saving equipment in addition to power unit
Except other units power supply.It is single that respective information about power is sent to the control by the master control battery and power accumulator
Member.It should be noted that the capacity of power accumulator is much larger than master control battery, but power accumulator is needed to power unit
Power supply, therefore its cruise duration will be less than master control battery.
The water life-saving equipment further includes power unit, and the power unit includes driving motor, propeller, the drive
Dynamic motor obtains electric energy from said supply unit, and the propeller is driven to advance.The driving unit is connect with control unit, institute
State revolving speed and start and stop that control unit sends control instruction control driving motor.Preferably, the driving unit includes two groups of drives
Dynamic motor and propeller, described control unit send revolving speed and the start and stop that control instruction controls two groups of driving motors respectively.
The water life-saving equipment further includes positioning unit.The positioning unit for determining current coordinate position, and
The coordinate position is sent to control unit or communication unit.Specifically, the positioning unit can rely on GPS system and Beidou system
Double positioning units of system.The redundancy and reliability of entire positioning unit can be improved in double positioning units.
The water life-saving equipment further includes wireless communication unit, and the wireless communication unit and described control unit connect
It connects, the signal received or data is transferred to control unit, while externally sending signal or data.The wireless communication unit
Electromagnetic communication can be used, laser communication is communicated with control centre and data exchange.Further, the wireless communication is single
Member includes antenna, and the rescue robot is manipulated using wireless remotecontrol, and user passes through Digiplex to the rescue
Robot issues radio command, and the antenna of the rescue robot receives the radio command and is transferred to control unit, institute
It states control unit and executes the radio command.The communication unit is connect with control unit, and described control unit is led to described
Believe that unit sends control instruction to control the communication unit.
Image acquisition unit is housed, described image acquiring unit is set for obtaining water life-saving in the water life-saving equipment
The image in standby front.
The present invention also proposes a kind of energy control method of water life-saving equipment, is based on above-mentioned water life-saving equipment,
Specific steps include:
(1) control unit obtains the information about power of the master control battery and power accumulator；Specifically, the electricity can
To refer to that cruise duration or remaining capacity account for the ratio of total capacity.
(2) when described control unit judges the master control accumulator electric-quantity less than or equal to second threshold, the control is single
Member controls the solar charging panel and charges to the master control battery.Due to the master control battery to the main control unit,
Positioning unit, image acquisition unit or communication unit power supply, main control unit must preferentially ensure the electricity of master control battery, so that
Water life-saving equipment can obtain self-position in real time and keep the communication capacity with the external world, even if power accumulator is in low electricity
It measures and can not take action, can also ensure water life-saving equipment basic control function and communication capacity.The second threshold contains
Justice is when the electricity of master control battery is lower than the second threshold, and the electricity of the master control battery has been in dangerous shape
State, control unit are possible to power off, and entire water life-saving equipment has out of control danger.The second threshold can be according to reality
The setting of border situation, such as is set as the 5%-10% of master control battery total capacity, or being set as remaining cruise duration is 1 hour.When
When the electricity of the master control battery is lower than the second threshold, no matter the electricity of power accumulator is in any level, described
Control unit controls the solar panel and master control battery is preferentially given to charge.
(3) when described control unit judges that the master control accumulator electric-quantity is higher than second threshold and is less than or equal to the first threshold
When value, judge whether the power accumulator electricity is less than or equal to the 4th threshold value, if the power accumulator electricity is lower than
Or it is equal to the 4th threshold value, described control unit control solar panel charges to the power accumulator, otherwise, the control
Unit controls the solar charging panel and charges to the master control battery.The first threshold is meant that when master control battery
Electricity when being higher than the first threshold, the electricity of the master control battery is in sufficient state, and the meaning of the 4th threshold value
When the electricity of the power accumulator is equal to or less than four threshold value, the electricity of the power accumulator is in danger
State, power unit are possible to power off and entire water life-saving equipment is made to lose ability to act.Therefore, in master control battery
When electricity is not in sufficient state, unless power accumulator is in the hole, other situations are all preferentially stored to master control
Battery charging.The first threshold can be set to the 90% of master control battery total capacity, and the 4th threshold value can be set to
The 10% of power accumulator total capacity, or be set as remaining cruise duration be 30 minutes.
(4) when described control unit judges that the master control accumulator electric-quantity is higher than first threshold, judge that the power stores
Whether battery capacity is less than or equal to third threshold value, described if the power accumulator electricity is less than or equal to third threshold value
Control unit control solar panel charges to the power accumulator, and otherwise, described control unit controls the solar energy
Charging panel charges to the master control battery.When the electricity of the power accumulator is higher than described when the meaning of the third threshold value
When third threshold value, the electricity of the power accumulator is in sufficient state.Therefore, when the electricity of master control battery is in sufficient shape
When state, unless power accumulator is also at sufficient state, otherwise control unit preferentially charges to power accumulator.
(5) when described control unit judges that the master control accumulator electric-quantity is full of, described control unit controls solar energy
Solar panel charges to the power accumulator.
Above-mentioned control method can dynamically adjust the electricity of master control battery and power accumulator, and preferentially ensure control
The power supply of unit, communication unit processed, so that the cruise duration of master control battery is consistently greater than power accumulator, if water life-saving
The power accumulator not enough power supply of equipment and when can not move, control unit can control driving unit and halt to wait the sun
Energy solar panel charges to power accumulator, during this period, since master control accumulator electric-quantity is greater than power accumulator, during charging
It can keep the control of entire water life-saving equipment and be contacted with extraneous.In addition, by master control battery and power accumulator
Also there is additional benefit as independent two battery units, due to power accumulator only to power unit power, without to
The power supply of other units, this accurately calculate can the cruise duration of power accumulator, without by other power consumption portions
The interference of part and make biggish fluctuation occur cruise duration.
In a still further embodiment, the control method further include:
(6) when the power accumulator electricity is less than four threshold values, described control unit control it is described it is waterborne nobody set
It is standby to make a return voyage.When the electricity of the power accumulator is equal to or less than four threshold value, at the electricity of the power accumulator
In precarious position, power unit is possible to power off and entire water life-saving equipment is made to lose ability to act.In order to which careful is examined
Consider, control unit controls the water life-saving equipment and makes a return voyage.The finger control water life-saving equipment of making a return voyage returns to Original Departure Point, returns
It returns Succor plain stage or returns to designated place.When water life-saving equipment is in low battery, the control unit of water life-saving equipment is logical
Acquisition current location is crossed, and calculates path and reaches nearest Succor plain stage or designated place by positioning unit navigation, such as
Chargeable tender or depot.If midway power accumulator electricity exhausts, described control unit controls solar battery
Plate charges to master control battery and power accumulator, charge control method such as step (1)-(5).
The above is only the preferred embodiments of the disclosure, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, it is contemplated that change or replacement should all cover this
Within the protection scope of invention.
Claims (5)
1. a kind of unmanned machine waterborne comprising:
Control unit, described control unit is for controlling the unmanned machine waterborne；
Power supply unit, said supply unit are used to provide electric energy to the unmanned machine waterborne；
Power unit, the power unit obtain electric energy from said supply unit, and unmanned machine waterborne is driven to advance；
It is characterized in that, said supply unit includes battery and solar panel, the solar panel is for collecting
Luminous energy charges to the battery.
2. unmanned machine waterborne as described in claim 1, which is characterized in that the battery includes power accumulator and master control
Battery, the power accumulator and master control battery are relatively independent battery, the power accumulator and master control electric power storage
Pond is connect with solar panel respectively, described control unit can control solar panel respectively to the power accumulator and
The charging of master control battery, the power accumulator are only used for powering to power unit, and the master control battery is used for the water
Other units power supply of the upper rescue aid other than power unit.
3. unmanned machine waterborne as claimed in claim 2, which is characterized in that the cruise duration of the master control battery is greater than institute
State power accumulator, respective information about power is sent to described control unit by the master control battery and power accumulator.
4. a kind of energy control method of unmanned machine waterborne, based on the unmanned machine waterborne as described in claim 1-3,
Specific steps include:
(1) control unit obtains the information about power of the master control battery and power accumulator；Specifically, the electricity can refer to
Cruise duration or remaining capacity account for the ratio of total capacity；
(2) when described control unit judges the master control accumulator electric-quantity less than or equal to second threshold, described control unit control
The solar charging panel is made to charge to the master control battery；
(3) when described control unit judges that the master control accumulator electric-quantity is higher than second threshold and is less than or equal to first threshold
When, judge whether the power accumulator electricity is less than or equal to the 4th threshold value, if the power accumulator electricity be lower than or
Equal to the 4th threshold value, described control unit control solar panel charges to the power accumulator, and otherwise, the control is single
Member controls the solar charging panel and charges to the master control battery；
(4) when described control unit judges that the master control accumulator electric-quantity is higher than first threshold, judge the power accumulator
Whether electricity is less than or equal to third threshold value, if the power accumulator electricity is less than or equal to third threshold value, the control
Unit control solar panel charges to the power accumulator, and otherwise, described control unit controls the solar recharging
Plate charges to the master control battery；
(5) when described control unit judges that the master control accumulator electric-quantity is full of, described control unit controls solar battery
Plate charges to the power accumulator.
5. energy control method as claimed in claim 4, which is characterized in that the energy control method further include:
(6) when the power accumulator electricity is less than four threshold values, described control unit controls the unmanned machine waterborne and returns
Boat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810626217.1A CN108988411A (en) | 2018-06-15 | 2018-06-15 | A kind of unmanned machine waterborne and its energy control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810626217.1A CN108988411A (en) | 2018-06-15 | 2018-06-15 | A kind of unmanned machine waterborne and its energy control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108988411A true CN108988411A (en) | 2018-12-11 |
Family
ID=64541473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810626217.1A Withdrawn CN108988411A (en) | 2018-06-15 | 2018-06-15 | A kind of unmanned machine waterborne and its energy control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108988411A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109850080A (en) * | 2019-03-14 | 2019-06-07 | 佛山市智阳能源有限公司 | A kind of automatic cruising method, system and the lifeboat of lifeboat |
| CN109911144A (en) * | 2019-03-25 | 2019-06-21 | 宁波靖海智航科技有限公司 | Rescue robot in a kind of modular water |
-
2018
- 2018-06-15 CN CN201810626217.1A patent/CN108988411A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109850080A (en) * | 2019-03-14 | 2019-06-07 | 佛山市智阳能源有限公司 | A kind of automatic cruising method, system and the lifeboat of lifeboat |
| CN109911144A (en) * | 2019-03-25 | 2019-06-21 | 宁波靖海智航科技有限公司 | Rescue robot in a kind of modular water |
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Application publication date: 20181211 |