CN110347079A - A kind of unmanned boat control circuit and unmanned boat with fail safe function - Google Patents
A kind of unmanned boat control circuit and unmanned boat with fail safe function Download PDFInfo
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Classifications
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- 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
-
- 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
- G05B19/0421—Multiprocessor system
-
- 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
- G05B19/0428—Safety, monitoring
-
- 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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0286—Modifications to the monitored process, e.g. stopping operation or adapting control
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
The present invention provides a kind of unmanned boat control circuit and unmanned boat with fail safe function, and the circuit includes: the main control module for exporting control signal；It is connect with main control module, for generating the secondary control module of operation driving signal according to control signal；For the execution module according to operation driving signal control unmanned boat gear；And it is connected between secondary control module and execution module; it is used for transmission operation driving signal; and when detecting that at least one in main control module and secondary control module breaks down, neutral gear is set by unmanned boat, so that unmanned boat stops the fail safe module of navigation.The present embodiment can set unmanned boat to stop operational configuration rapidly when unmanned boat breaks down, and prevent from causing hull damage and navigation accident；Technical solution unmanned boat safety protection function with higher provided by the invention, security level is higher, so that unmanned boat safely executes complicated task in each environment, compatibility is wider.
Description
Technical field
The invention belongs to electronic circuit technology fields more particularly to a kind of unmanned boat with fail safe function to control electricity
Road and unmanned boat.
Background technique
With the fast development of modern science and technology, unmanned boat technology has obtained long-term development, can pole by unmanned boat
The earth improves the working efficiency of people；Unmanned boat has the characteristics that high degree of automation and intelligent control are widely used because of it
The fields such as rescue, cruise, shipping, security protection and military affairs at sea.Wherein since unmanned boat has telecommunication and long-range
Control function, on the one hand, operator can make unmanned boat complete corresponding function according to command adapted thereto by remote control unmanned boat
Can, and then can realize that substitution is artificial and efficiently execute task.On the other hand, unmanned boat can also be according to preset program control
System completes the operation such as automatic obstacle-avoiding, path planning and pattern-recognition.Furthermore unmanned boat also has that work efficiency is high, mobility
By force, the advantages such as robustness is high and operating cost is low, therefore significant progress has been obtained in the research of unmanned boat the relevant technologies.
In unmanned boat navigation, safety problem is in the factor of main consideration always；Due to the particularity of marine environment, nothing
People's ship, which will receive stormy waves and ocean current etc., to be influenced and generates interference and damage, such as unmanned boat realizes intelligence fortune using remote control
Row, signal of communication will appear a degree of distortion and loss in transmission process, reduce the precise control and control of unmanned boat
Stability processed.For another example, the electronic component in unmanned boat is due to carrying out good watertight processing, in a humid environment pole
Easily cause the ageing failure of electronic component.Further, since remote control device is malfunctioned by false triggering or control, nothing is also resulted in
The control failure of people's ship causes the hull damage and navigation accident of unmanned boat.
Currently available technology can not realize the protection that ceases to be in force automatically when navigation failure and electric fault occurs in unmanned boat, therefore
Reduce unmanned boat operation safety and reliability, unmanned boat during navigation by biggish physical hazard when, because of nothing
Method automatically restores to safe physical state, and then easily causes hull damage and navigation accident.
Summary of the invention
In view of this, the unmanned boat control circuit that the embodiment of the invention provides a kind of with fail safe function and nobody
Ship, it is intended to when solving unmanned boat failure in traditional technical solution, fast quick-recovery can not be carried out for unmanned boat to safety
Physical state, cause unmanned boat to be subject to damage, the lower problem of safety.
The first aspect of the embodiment of the present invention provides a kind of unmanned boat control circuit with fail safe function, packet
It includes:
For exporting the main control module of control signal；
It is connected to the main control module, the auxiliary for generating operation driving signal according to the control signal controls mould
Block；
For the execution module according to the operation driving signal control unmanned boat gear；And
It is connected between the secondary control module and the execution module, is used for transmission the operation driving signal, and
When detecting that at least one in the main control module and the secondary control module breaks down, set empty for the unmanned boat
Gear, so that the unmanned boat stops the fail safe module of navigation.
In one of them embodiment, the operation driving signal includes: first voltage driving signal, second voltage drive
Dynamic signal and tertiary voltage driving signal；
The execution module includes being used for:
The unmanned boat, which is controlled, according to the first voltage driving signal is set as forward gear；
The unmanned boat, which is controlled, according to the second voltage driving signal is set as pause gear；
The unmanned boat, which is controlled, according to the tertiary voltage driving signal is set as retreating gear.
In one of them embodiment, the secondary control module includes:
It is connected to the main control module, is used for transmission the communication unit of the control signal；With
It is connect with the communication unit and the fail safe module, for generating the operation according to the control signal
The Solid rocket engine unit of driving signal.
In one of them embodiment, the fail safe module includes:
For generating the voltage reference unit of voltage reference signal；
It is connect with the secondary control module, described in the reset signal detection for being exported according to the secondary control module
Whether main control module and the secondary control module break down, and work as in the main control module and the secondary control module extremely
Few one then generates shift control signal when breaking down and resets the watchdog unit of Restart Signal；The reset Restart Signal
For restarting the secondary control module reset；
It is connect with the watchdog unit and secondary control module, for being controlled to the shift control signal and the auxiliary
The logic control element of gear switching signal is generated after the shutdown control signal progress logical process of molding block output；And
Connect with the voltage reference unit, the logic control element, the secondary control module and the execution module
It connects, for carrying out selection switching to the operation driving signal and the voltage reference signal according to the gear switching signal,
To export the voltage reference signal and set the unmanned boat to the switch unit of neutral gear.
In one of them embodiment, the reset signal of the secondary control module output includes:
When at least one in the main control module and the secondary control module breaks down, then the reset signal is the
One level state；
When the main control module and the secondary control module are without failure, then the reset signal is second electrical level
State.
In one of them embodiment, the execution module is mechanical controling part or electric controling part.
In one of them embodiment, the watchdog unit includes:
Watchdog chip U1, the first control chip U2, first resistor R1, second resistance R2,3rd resistor R3, the 4th resistance
R4, the 5th resistance R5 and first capacitor C1；
The of the power pin of the watchdog chip U1, the first end of the first capacitor C1 and the first resistor R1
One end is connected to the first DC power supply altogether, and the ground pin of the second end of the first capacitor C1 and the watchdog chip U1 connect altogether
Yu Di；
The first end of the second end of the first resistor R1, the first end of the second resistance R2 and the 3rd resistor R3
It is connected to the voltage monitoring pin of the watchdog chip U1, the second end ground connection of the second resistance R2, the house dog core altogether
The reset signal input pin of piece U1 connects the secondary control module, the second end of the 3rd resistor R3 and the house dog core
The first voltage information output pin of piece U1 is connected to the first logical signal input pin of the first control chip U2 altogether；
The second logic letter of the second voltage information output pin of the watchdog chip U1, the first control chip U1
The first end of number input pin and the 5th resistance R5 connect the shift control end to form the watchdog unit altogether, described to guard the gate
The shift control of dog unit terminates the logic control element；
The reset trigger pin of the watchdog chip U1 connects the control signal output pin of the first control chip U2；
The first end of the reset signal output pin of the watchdog chip U1 and the 4th resistance R4 connect to form institute altogether
The reset signal output end of watchdog unit is stated, the reset signal output of the watchdog unit terminates the auxiliary and controls mould
Block；
The second end of the 4th resistance R4 and the second end of the 5th resistance R5 are connected to the second DC power supply altogether.
In one of them embodiment, the logic control element includes:
Second control chip U3, the 6th resistance R6, the 7th resistance R7, the 8th resistance R8 and the second capacitor C2；
The first logical signal input pin of the second control chip U3 connects the watchdog unit, second control
The second logical signal input pin of chip U3 and one end of the 6th resistance R6 are connected to the secondary control module altogether, described
The both ends of 7th resistance R7 are coupled with the 6th resistance R6 and the second control chip U3 respectively；
The control signal output pin of the second control chip U3 and the first end of the 8th resistance R8 are connected to institute altogether
State switch unit, the second end of the 8th resistance R8, the power pin of the second control chip U3 and second capacitor
The first end of C2 is connected to third DC power supply, the ground connection of the second end of the second capacitor C2 and the second control chip U3 altogether
Pin is connected to ground altogether.
In one of them embodiment, the voltage reference unit includes:
Power supply control chip U4, third control chip U5, the 9th resistance R9, variable resistance RD and third capacitor C3；
The first end of the third capacitor C3 and the power pin of the power supply control chip U4 are connected to the 4th direct current altogether
Source, the second end of the third capacitor C3 and the ground pin of the power supply control chip U4 are connected to ground altogether；
The voltage output pin of the power supply control chip I4 connects the first end of the 9th resistance R9, the 9th resistance
The second end of R9 and the first end of the variable resistance RD are connected to the voltage control pin of the third control chip U5, institute altogether
State the second end ground connection of variable resistance RD；
The Voltage Feedback pin of the third control chip U5 and the voltage output pin of third control chip U5 are total
It is connected to the switch unit.
The above-mentioned unmanned boat control circuit with fail safe function realizes central controlled function by main control module,
Secondary control module controls the working condition of execution module according to control signal, so that execution module can change unmanned boat in real time
Gear, when unmanned boat is in different gears, unmanned boat has different navigation directions and route speed, and then unmanned boat
Operating status has good controllability and flexibility；And when unmanned boat control circuit breaks down, then fail safe mould
Block plays fail safe function to unmanned boat, sets neutral gear for unmanned boat, stops unmanned boat navigation；Prevent unmanned boat in failure
It is continued to run under state, and then leads to that unmanned boat is out of control, unmanned boat self structure is by biggish physical hazard；Therefore the present invention
Unmanned boat control circuit in embodiment automatically processes the failure realization of unmanned boat, so that unmanned boat can restore rapidly to pacifying
Full operating status, improve unmanned boat security level and control flexibility, unmanned boat job stability with higher and
Working efficiency, compatibility are stronger.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is that a kind of structure for the unmanned boat control circuit with fail safe function that one embodiment of the invention provides is shown
It is intended to；
Fig. 2 is another structure for the unmanned boat control circuit with fail safe function that one embodiment of the invention provides
Schematic diagram；
Fig. 3 is the structural schematic diagram for the fail safe module that one embodiment of the invention provides；
Fig. 4 is the circuit diagram for the watchdog unit that one embodiment of the invention provides；
Fig. 5 is the circuit diagram for the logic control element that one embodiment of the invention provides；
Fig. 6 is the circuit diagram for the voltage reference unit that one embodiment of the invention provides；
Fig. 7 is the structural schematic diagram for the unmanned boat that one embodiment of the invention provides.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Referring to Fig. 1, the structure of the unmanned boat control circuit 10 provided in an embodiment of the present invention with fail safe function
Schematic diagram can carry out automatic, quick processing by unmanned boat control circuit 10 to the failure of unmanned boat, and unmanned boat can return rapidly
It is back to safe condition, to ensure that unmanned boat can be always in stable, safe operating status；For ease of description, it illustrates only
Part related to the present embodiment, details are as follows:
Above-mentioned unmanned boat control circuit 10 include: main control module 101, secondary control module 102, execution module 103 and
Fail safe module 104.
Wherein, main control module 101 is for exporting control signal.
Main control module 101 realizes central controlled function in unmanned boat control circuit 10, and control signal includes corresponding
Information is controlled, under the centralized control of control signal, each circuit module in unmanned boat control circuit 10 can be at safe
Working condition ensures the control security and stability of unmanned boat；Unmanned boat control circuit can be changed by the main control module 101
10 actual working state, so that unmanned boat instructs operation, and then the nothing in the present embodiment according to the practical operation of technical staff
The control function of people's ship control circuit 10 has extremely strong flexibility and adjustability, and the control function of unmanned boat control circuit 10 can
Meet the practical operation demand of technical staff.
Secondary control module 102 is connect with main control module 101, for generating operation driving signal according to control signal.
Secondary control module 102 has the operating status driving function of electronic component, when main control module 101 believes control
When number being transmitted to secondary control module 102, secondary control module 102 realizes function switching signal according to the control signal, in turn
The operation driving signal that secondary control module 102 exports can be directly changed the operating status of unmanned boat, promote unmanned boat control
The control response speed of circuit 10, by secondary control module 102 can make control information unmanned boat inside keep quickly,
Stable transmission；It runs driving signal and includes the operation activation bit of electronic equipment, and then be directly changed the practical work of unmanned boat
Make state；Therefore the present embodiment by secondary control module 102 can Direct Recognition control signal control information, to drive nobody
Ship simplifies the transmission process and transmitting step of control information according to the control corresponding circuit function of information realization.
Execution module 103 is used to control unmanned boat gear according to operation driving signal.
Wherein, the operating mode of unmanned boat gear and unmanned boat corresponds, when unmanned boat gear changes, nobody
The speed of service and traffic direction of ship can all occur to change accordingly, therefore by adjusting unmanned boat gear, can make unmanned boat
Adaptively changing occurs for operating status；Unmanned boat can change the operating status of itself according to the actual demand of technical staff, in turn
Unmanned boat control flexibility with higher and controllability, the control precision of unmanned boat in the present embodiment is higher.
Specifically, secondary control module 102 is exported driving signal is run to execution module 103, pass through operation driving letter
It number can be directly changed the working condition of execution module 103, so that adaptively changing occurs for unmanned boat gear；Unmanned boat can be according to control
Information processed rapidly switches the gear of itself, the control efficiency with higher of execution module 103 and the scope of application；Execution module
103 receive and parse movement activation bit, to change unmanned boat gear, the operating status of the unmanned boat in the present embodiment in time
Control efficiency with higher and control accuracy, easy to operate, unmanned boat can keep stable, safety in different environment
State of a control is run, to meet the actual circuit functional requirement of technical staff.
Fail safe module 104 is connected between secondary control module 102 and execution module 103, is used for transmission operation and is driven
When moving signal, and detecting that at least one in main control module 101 and secondary control module 102 breaks down, unmanned boat is arranged
For neutral gear, so that unmanned boat stops navigation.
Wherein, the communication compatibility with higher of fail safe module 104, and then fail safe module 104 and unmanned boat
Each control module in control circuit 10 keeps good signal interaction function；Specifically, fail safe module 104 and auxiliary
Control module 102 can realize that information exchange, fail safe module 104 and execution module 103 can realize information exchange, on the one hand,
Operation driving signal can be accurately transmitted by fail safe module 104, execution module can be driven by the operation driving signal
103 change unmanned boat gear, have ensured the control precision and control response speed of the operating status of unmanned boat, unmanned boat is each
It can be in stable and reliable operational configuration in environment；On the other hand, by fail safe module 104 can real-time detection it is auxiliary
Help the actual motion state of control module 102 and the actual motion state of main control module 101, when secondary control module 102 and/or
When main control module 101 breaks down, then neutral gear is set by unmanned boat, unmanned boat is in halted state, and then has ensured nobody
Physical security when ship is nonserviceabled, so that unmanned boat keeps higher physical security in various external environments；Therefore originally
Each control module keeps the communications status of safety in fail safe module 104 and unmanned boat control circuit 10 in embodiment,
So that fail safe module 104 can accurately detect the malfunction of each control module in unmanned boat control circuit 10, realize
For the overall monitor function of unmanned boat operating status；When unmanned boat breaks down, then fail safe module 104 immediately will
Unmanned boat is set as halted state, to ensure the physical security and operational safety of unmanned boat；Unmanned boat is avoided to lead due to failure
The problem of causing out of control, the hardware security of damage unmanned boat itself, navigation accident can be caused when serious.
Illustratively, at least one failure includes: in main control module 101 and secondary control module 102
Occur communication failure, such as main control module 101 and auxiliary control between main control module 101 and secondary control module 102
Communicating interrupt between molding block 102；
Secondary control module 102 is carrying out control signal error and loss occur in conversion process and transmission process,
Such as there is biggish distortion and loss in control signal, has exceeded the security control threshold value of unmanned boat；
Secondary control module 102 occur internal control instruction run fly failure when, secondary control module 102 is unable to control nobody
The operating status of ship, unmanned boat is in complete runaway condition at this time, and then can cause hull damage and navigation accident.
If therefore above-mentioned failure occur in main control module 101 and/or secondary control module 102, illustrate unmanned boat control electricity
Road 10 is in control failure；It needs to control unmanned boat by fail safe module 104 at this time and is in halted state, to prevent nobody
There is hull damage and navigation accident in ship；When unmanned boat is in halted state, then it can ensure that the internal physical safety of unmanned boat,
Unmanned boat control circuit 10 is back to safe state, has greatly ensured operation stability and the safety of unmanned boat；Therefore
The present embodiment can control the various failures of unmanned boat control circuit 10, avoid unmanned boat control circuit 10 and event occur
The case where hindering and seriously damaging the physical security of itself；Unmanned boat control circuit 10 in the present embodiment passes through fail safe module
104 greatly improve the physical security grade of unmanned boat, and compatibility is higher.
In the structural representation that Fig. 1 shows unmanned boat control circuit 10, the control signal that main control module 101 issues includes skill
The control information of art personnel, the operating status of unmanned boat can be changed by the control information, and execution module 103 can drive according to movement
Dynamic information changes unmanned boat gear；When unmanned boat is in different gears, unmanned boat has different traffic directions and operation
Speed, by flexibly changing unmanned boat gear, so that unmanned boat control circuit 10 realizes different motion control functions, to meet
The actual demand of technical staff；Unmanned boat control circuit 10 has more simplified circuit modular structure, makes unmanned boat not
Self-adapting operation state is kept in same navigation environment, controllability and compatibility are extremely strong, and adaptation range is wider.If in unmanned boat
Circuit control module break down, then neutral gear by unmanned boat is set by fail safe module 104 by force, unmanned boat is immediately
The problem of stopping, unmanned boat avoided to continue to run under nonserviceabling, and then causing the damage of unmanned boat failure.The present embodiment passes through
Fail safe module 104 can in real time, dynamically monitor the malfunction of unmanned boat, and when unmanned boat breaks down, failure is protected
Shield module 104 can the failure for unmanned boat carry out failure self- recoverage processing, so that unmanned boat be in halted state, with realization pair
In the function that the failure of unmanned boat is automatically repaired, the physics peace of internal each control module in unmanned boat control circuit 10 has been ensured
Full property and reliability；Make unmanned boat that there is higher security level, while unmanned boat being made to keep itself in each industrial environment
Physical security, considerably reduce unmanned boat itself failure rate and its caused by property loss.When unmanned boat breaks down
When, halted state is set by unmanned boat, convenient for repairing operation to unmanned boat, promotes working efficiency and the work of unmanned boat
Safety, the automatic protection functions with higher of unmanned boat control circuit 10 are practical；It efficiently solves in traditional technology
Unmanned boat control circuit can not carry out self-adapting detecting in real time for the malfunction of unmanned boat, and then cause unmanned boat safe
The problems such as performance is low, hull damages and navigation accident.
As an alternative embodiment, when fail safe module 104 detects main control module 101 and auxiliary control mould
When at least one in block 102 breaks down, the first pre-set velocity or less is set by the speed of service of unmanned boat；Wherein first is pre-
If speed is to preset, and the first pre-set velocity is greater than 0.
When the internal control module of unmanned boat breaks down, unmanned boat is in malfunction, therefore passes through fail safe
Unmanned boat is set lowsteaming by module 104, to prevent unmanned boat from causing serious safety accident in high-speed cruising process；Wherein
First pre-set velocity be unmanned boat safety threshold velocity, if unmanned boat the speed of service in the first pre-set velocity hereinafter, if say
Bright unmanned boat is in lowsteaming, so that unmanned boat is able to maintain safe operating status；Under lowsteaming state, unmanned boat
Can't be by extraneous physical hazard, and make the failure response of unmanned boat more stable, unmanned boat can remain at
Within the controlled range of technical staff, controllability and flexibility are stronger, avoid when control failure occurs in unmanned boat for nothing
The damage for caused by the control system of unmanned boat when people's ship operating status carries out forcing；Unmanned boat control in the present embodiment
Circuit 10 processed has safer failure response state, and practical, the scope of application is wider.
As an alternative embodiment, main control module 101 includes singlechip chip, illustratively, singlechip chip
Model STM32 family chip, by singlechip chip export control signal can realize unmanned boat shift control function；By
Have the function of centralized control, intelligence sample and information communication etc. in singlechip chip, it can real-time root by the singlechip chip
Corresponding control signal is generated according to the operational order of technical staff, control signal includes the control information of corresponding technical staff,
And then unmanned boat control circuit 10 is driven to realize complete, complete circuit control function, the circuit with higher of main control module 101
Compatibility, so that unmanned boat control circuit 10 realizes the safety control function for unmanned boat, nothing in different working environments
The operating status of people's ship has higher manipulation flexibility and a controllability, the control function of main control module 101 with it is higher can
Scalability and the scope of application, it is practical.
As an alternative embodiment, secondary control module 102 includes singlechip chip, illustratively, the monolithic
The model of machine core piece are as follows: AT89S51；The conversion of signal can be realized by the singlechip chip, and control signal is being turned
It changes process and keeps complete control information, the operation driving signal exported by secondary control module 102 can be directly changed electronics
The working condition of component, secondary control module 102 have more simplified circuit structure, under the driving of control signal, lead to
Crossing secondary control module 102 has higher control response speed for the operating status of unmanned boat；Therefore in the present embodiment
Secondary control module 102 has more compatible circuit structure, improves the scope of application and control of unmanned boat control circuit 10
Stability, secondary control module 102 can realize more complete and complicated circuit control function, unmanned boat by singlechip chip
The gear of itself can be changed in time under the control of operation driving signal, flexibility and precision are higher.
As a kind of specific embodiment, running driving signal includes: first voltage driving signal, second voltage driving
Signal and tertiary voltage driving signal.
Execution module 103 includes being used for: controlling unmanned boat according to first voltage driving signal and is set as forward gear；According to
Two voltage drive signals control unmanned boat is set as pause gear；Unmanned boat is controlled according to tertiary voltage driving signal to be set as retreating
Gear.
It (includes: first voltage that wherein secondary control module 102, which exports different types of operation driving letter according to control signal,
Driving signal, second voltage driving signal and tertiary voltage driving signal), it can be driven by the operation driving signal of each type
Dynamic execution module 103 realizes that different circuit operations, unmanned boat keep different operation shapes under the manipulation of execution module 103
State, keeps unmanned boat control circuit 10 more easy and flexible control mode, unmanned boat can keep safe under various gears
Operating status, controllability are stronger；Therefore the amplitude of unmanned boat gear and voltage drive signals has one-to-one relationship.
Illustratively, when unmanned boat is in forward gear, unmanned boat is navigated by water to first direction according to the control information；When nobody
When ship is in pause gear, unmanned boat is in navigation halted state, and unmanned boat cannot achieve the movement to any circuit, wait pass through
Continue to navigate by water after a period of time.It should be noted that unmanned boat can enter pause gear according to the navigation demand of technical staff；
When unmanned boat is in retreating gear, unmanned boat is navigated by water to second direction according to the control information, and second direction is located at first party
To ± 180 °；Therefore the present embodiment exports different types of voltage drive signals, unmanned boat tool by secondary control module 102
There are higher control flexibility and control response speed, execution module 103 is controlled in real time according to different types of voltage drive signals
Unmanned boat gear processed, unmanned boat control circuit 10 can ensure the safety in operation and stability of unmanned boat.
As an alternative embodiment, execution mould can be changed in real time by the voltage magnitude for changing operation driving signal
The working condition of block 103, unmanned boat gear can be adjusted in real time；Illustratively, the voltage magnitude model of first voltage driving signal
It encloses are as follows: be greater than 2.5V and be less than 5V, the voltage magnitude of second voltage driving signal are as follows: 2.5V, the voltage of tertiary voltage driving signal
Amplitude range are as follows: be greater than 0V and be less than 2.5V；Therefore the exportable different voltages amplitude of secondary control module 102 in the present embodiment
Movement driving signal, to change the working condition of 102 internal electronic component of secondary control module；Improve unmanned boat control
For circuit 10 for unmanned boat shift control performance and control stability, controllability is stronger.
As an alternative embodiment, Fig. 2 shows provided in this embodiment with fail safe function nobody
Another structural representation of ship control circuit 10, compared to the structural representation of the unmanned boat control circuit 10 in Fig. 1, wherein Fig. 2
In secondary control module 102 include communication unit 1021 and Solid rocket engine unit 1022.
Wherein, communication unit 1021 is connect with main control module 101, is used for transmission control signal.
Communication unit 1021 has the function of signal compatibility transmission, and can ensure control letter by the communication unit 1021
Number power and integrality, by the communication unit 1021 can realize the signal between different circuit modules transmit, main control module
101 can directly export control information to Solid rocket engine unit 1022, control information in the inside of unmanned boat control circuit 10
There is higher effectiveness and control information in circuit structure, improve the compatibility and reality of secondary control module 102
With value；Therefore the present embodiment can ensure the operation essence of unmanned boat shift control sensitivity and unmanned boat by communication unit 1021
Degree, secondary control module 102 and main control module 101 can be combined with each other, to ensure the control precision and stability of unmanned boat.
Solid rocket engine unit 1022 is connect with communication unit 1021 and fail safe module 104, for according to control signal
Generate operation driving signal.
Wherein, Solid rocket engine unit 1022 has the function of signal conversion, when Solid rocket engine unit 1022 accesses control letter
Number when, Solid rocket engine unit 1022 can real time parsing go out to control the control information in signal, and Solid rocket engine unit 1022 is defeated
Operation driving signal out can be directly changed the working condition of electronic component, and the controllable unmanned boat gear of execution module 103 mentions
The high control efficiency and control stability of unmanned boat control circuit 10；When Solid rocket engine unit 1022 completes the conversion of signal
Afterwards, Solid rocket engine unit 1022 is exported driving signal is run to fail safe module 104, and Solid rocket engine unit 1022 can basis
Actual demand directly manipulates the operating status of unmanned boat, and controllability is stronger, Solid rocket engine unit 1022 and execution
There is higher signal compatibility and control efficiency, execution module 103 can be directly changed the operation side of unmanned boat between module 103
To and operating rate.
As an alternative embodiment, traditional technology all can be used in communication unit 1021 and Solid rocket engine unit 1022
In electronic circuit realize that illustratively, communication chip realization, the wherein model of communication chip can be used in communication unit 1021
Are as follows: CC2541 or CC2640 can realize quick, the remote transfer function of control signal, and letter by the communication chip
The circuit structure of communication unit 1021 is changed；Solid rocket engine unit 1022 is realized using singlechip chip, therefore assists control
Module 102 has higher control compatibility, and unmanned boat control circuit 10 can realize unmanned boat gear in each environment
Real-time manipulation function, the adjustability and controllability of unmanned boat control circuit 10 are higher.
As an alternative embodiment, the structure that Fig. 3 shows fail safe module 104 provided in this embodiment is shown
Meaning, referring to Fig. 3, fail safe module 104 includes: voltage reference unit 1041, watchdog unit 1042, logic control element
1043 and switch unit 1044.
Wherein, voltage reference unit 1041 is for generating voltage reference signal.
Wherein the voltage reference signal includes voltage reference information, which can be fail safe module 104
Gear security control information is provided, detects that unmanned boat control circuit 10 is in Fault Control when passing through fail safe module 104
The working condition of execution module 103 can be changed according to the voltage reference information in voltage reference signal for state, realize for nobody
The physical protection function of ship；And then fail safe module 104 selects output voltage reference signal or operation driving signal, nobody
Ship can be in different gears automatically, fail safe module 104 can be made to complete to pacify for unmanned boat by the voltage reference signal
Full fail safe function.
Watchdog unit 1042 is connect with secondary control module 102, the clearing for being exported according to secondary control module 102
Whether signal detection main control module 101 and secondary control module 102 break down, and when main control module 101 and auxiliary control mould
At least one in block 102 then generates shift control signal and resets Restart Signal when breaking down.
Wherein, the working condition of execution module 103 can be directly changed by secondary control module 102, so that execution module
103 directly manipulate unmanned boat gear；In 102 course of work of secondary control module, the output of secondary control module 102 resets letter
Number, reset signal includes the operation information of main control module 101 and the operation information of secondary control module 102, and then passes through clearing
Signal can accurately detect whether main control module 101 and secondary control module 102 break down；Optionally, watchdog unit
Whether 1042 break down according to the level state of reset signal detection main control module 101 and secondary control module 102, exemplary
, the reset signal that secondary control module 102 exports includes: when at least one in main control module 101 and secondary control module 102
It breaks down, then reset signal is the first level state；When main control module 101 and secondary control module 102 are without failure,
Then reset signal is second electrical level state, therefore can accurately obtain unmanned boat control circuit according to the level state of reset signal
10 practical state of a control, the operating status of operating status and secondary control module 102 for main control module 101 have higher
Detection efficiency and accuracy, with realize for unmanned boat malfunction quick response function, simplify for unmanned boat control
The detecting step of the control process of circuit 10 processed.
Optionally, the first level state of reset signal is high level state or low level state, and reset signal
The first level state and second electrical level state phase cross-over；Illustratively, the first level state be high level state, second
Level state is low level state；Watchdog unit 1042 in the present embodiment has more simplified control mode.
Optionally, whether watchdog unit 1042 exports reset signal detection main control module according to secondary control module 102
101 and secondary control module 102 whether break down；Illustratively, when secondary control module 102 exports reset signal, then
Watchdog unit 1042 determines that main control module 101 and secondary control module 102 are all without failure according to the reset signal；Phase
If anti-secondary control module 102 does not export reset signal, watchdog unit 1042 determines main control module 101 and/or auxiliary
Control module 102 breaks down, and watchdog unit 1042 can make a response the malfunction of unmanned boat in time.Cause
Watchdog unit 1042 in this present embodiment can accurately obtain nobody according to the signal output state of secondary control module 102
The Fault Control information of ship control circuit 10, it is easy to operate；Not only it had improved the detection speed for unmanned boat malfunction but also had protected
The fault detection accuracy of unmanned boat is hindered, unmanned boat control circuit 10 can realize that high-precision control is rung for the failure of unmanned boat
It answers, improves the control flexibility and compatibility of unmanned boat control circuit 10.
Watchdog unit 1042 can access reset signal, to obtain the failure of main control module 101 and secondary control module 102
Operation information, and watchdog unit 1042 can keep the working condition of stable safety for a long time, more safely detect nobody
The fault message of ship itself, it is practical；When watchdog unit 1042 detects that the control process of unmanned control circuit 10 occurs
When failure, then it is immediately generated shift control signal and resets Restart Signal；Wherein shift control signal and reset Restart Signal all
Fault handling information comprising unmanned boat, to realize the real-time response function for unmanned boat malfunction；Watchdog unit
1042 export shift control signal to logic control element 1043, and watchdog unit 1042 is exported Restart Signal is resetted to auxiliary
Control module 102 is helped, resets Restart Signal for restarting the reset of secondary control module 102；At unmanned boat control circuit 10
When Fault Control state, then restart the reset of secondary control module 102, to prevent secondary control module 102 in failure
It works under state, damages the physical security and control stability of unmanned boat itself；Therefore the failure in the present embodiment is protected
Protecting module 104 has security control efficiency, after secondary control module 102 is completed to reset reboot operation, secondary control module 102
It can be at safe working environment, greatly improve unmanned boat control circuit 10 for the control response speed of failure, guard the gate
Dog unit 1042 can realize the malfunction of unmanned boat accurate monitoring and stability contorting function.
Logic control element 1043 is connect with watchdog unit 1042 and secondary control module 102, for shift control
The shutdown control signal that signal and secondary control module 102 export carries out logical process to generate gear switching signal.
It is carried out in control process when by operating status of the secondary control module 102 for unmanned boat, secondary control module
The shutdown of 102 outputs controls signal carrier state handover information, specifically, can be driven by the level state of shutdown control signal
Execution module 103 realizes the switching of unmanned boat gear, and secondary control module 102 has higher shift control precision, unmanned boat
Operating status may occur from adapting to change, and then secondary control module 102 can be obtained according to the level state of shutdown control signal
Practical control information；When watchdog unit 1042 exports shift control signal to logic control element 1043, auxiliary control
Module 102 will shutdown control signal when exporting to logic control element 1043, logic control element 1043 combines shift control to believe
Number and shutdown control signal the Fault Control information of unmanned boat control circuit 10 and the practical control of secondary control module 102 can be obtained
State processed；It, can be more fully hereinafter for nothing after by carrying out logical process for shift control signal and shutdown control signal
The Fault Control state of people's ship is detected and is controlled；When logic control element 1043 exports gear switching signal, the gear
Position switching signal includes switch control information, and the signal of fail safe module 104 can be directly changed by the gear switching signal
Output state is conducive to the safety control function for promoting unmanned boat control circuit 10.
Switch unit 1044 and voltage reference unit 1041, logic control element 1043, secondary control module 102 and execution
Module 103 connects, for carrying out selection switching to operation driving signal and voltage reference signal according to gear switching signal, with defeated
Out voltage reference signal and neutral gear is set by unmanned boat.
Wherein when logic control element 1043 exports gear switching signal to switch unit 1044, then passes through gear and switch
Conducting or the off state of switch unit 1044, the signal input part access operation driving of switch unit 1044 can be changed in signal
Signal and voltage reference signal then pass through switch unit 1044 when unmanned boat control circuit 10 is in different state of a controls
Exportable operation one of driving signal and voltage reference signal, to realize the working condition control for execution module 103
System, and the malfunction of unmanned boat is timely responded in time, the signal exported by switch unit 1044 can make unmanned boat
In different gears, and when unmanned boat control circuit 10 is in malfunction, execution module 103 is believed according to Voltage Reference
Number unmanned boat is directly disposed as neutral position state, greatly protects the safety in operation of unmanned boat；Therefore the present embodiment passes through
The signal output state of gear switching signal control switch unit 1044, when detecting main control module 101 and secondary control module
At least one in 102 breaks down, then changes the signal output state of switch unit 1044, unmanned boat by gear switching signal
Safer operating status can be kept in various environment.
As an alternative embodiment, switch unit 1044 is electronic switch；Wherein electronic switch includes: two letters
Number input terminal, a control terminal and a signal output end, wherein the first signal input part of electronic switch connects Voltage Reference list
Member 1041, the second signal input termination secondary control module 102 of electronic switch, the control of electronic switch terminate logic control list
Member 1043, the signal output end of electronic switch connects execution module 103, electronic switch can be made in the first letter by gear switching signal
Number switched conductive between input terminal and second signal input terminal, and corresponding signal, nothing are exported by the output end of electronic switch
People's ship is in different gears in secondary control module 102, and the flexibility of control is higher；And when watchdog unit 1042 determines
After main control module 101 and/or secondary control module 102 break down, then by gear switching signal the of electronic switch
It is switched between one signal input part and second signal input terminal；Illustratively, when unmanned boat control circuit 10 is in failure
When state, then pass through the signal output end output voltage reference signal of electronic switch, is manipulated and executed by the voltage reference signal
The working condition of module 103 has greatly ensured the control speed of the operating status of unmanned boat so that unmanned boat can stop in time
Rate and control simplicity, fail safe module 104 have easier signal control process.
As an alternative embodiment, switch unit 1044 is double-point double-throw switch chip, illustratively, double-pole is double
The model ADG888 of throw switch chip；Wherein, the first signal input tube foot of double-point double-throw switch chip connects Voltage Reference list
Member 1041, the second signal input pin of double-point double-throw switch chip connects secondary control module 102, double-point double-throw switch chip
Switching signal input pin connects logic control element 1043, and the signal output pin of double-point double-throw switch chip connects execution module
103, when the switching signal input pin of double-point double-throw switch chip accesses gear switching signal, pass through the gear switching signal
Change the signal output state of double-point double-throw switch chip, so that double-point double-throw switch chip selection the first signal input tube of conducting
Foot and signal output pin, or conducting second signal input pin and signal output pin, the letter of double-point double-throw switch chip
Number output pin output operation driving signal or voltage reference signal；Therefore the present embodiment can by double-point double-throw switch chip
Realize the flexible handoff functionality for running driving signal and voltage reference signal, the response speed of control is exceedingly fast, and realizes pair
In quick, the accurate control function of the malfunction of unmanned boat and the safe and stable control function of unmanned boat gear, switch is single
Member 1044 has more simplified circuit structure, is effectively reduced fail safe module 104 for the control cost of malfunction；
Unmanned boat control circuit 10 has more simplified rate-determining steps for the failure of unmanned boat, improves unmanned boat control circuit 10
Control security and stability, compatibility it is higher.
As an alternative embodiment, execution module 103 is mechanical controling part or electric controling part.
When execution module 103 is mechanical controling part, mechanical controling part can be made to execute by running driving signal
Mechanically actuated flexibly to change unmanned boat gear, and can make unmanned boat in the event of a failure being capable of biggish physical security；
With should execution module 103 be electric controling part when, then execution module 103 can be directly changed by the operation driving signal
Internal electric energy situation, execution module 103 directly manipulate the operating status of unmanned boat, the more flexible control mode of unmanned boat and compared with
High compatibility；Unmanned boat control circuit 10 can be directly changed unmanned boat gear by mechanical control method or electric controling mode
Position, it is applicable in various types of unmanned boats, and realize the physical protection function of unmanned boat, practical value is higher.
It should be noted that mechanical controling part can be realized by the mechanical structure in traditional technology, electrical control division
Part can be realized by the electronic circuit in traditional technology, therefore execution module 103 has more compatible structure, the spirit of operation
Activity is higher, and execution module 103 has higher control precision for the operating status of unmanned boat.
As an alternative embodiment, Fig. 4 shows the circuit knot of watchdog unit 1042 provided in this embodiment
Structure signal, referring to Fig. 4, watchdog unit 1042 includes: watchdog chip U1, the first control chip U2, first resistor R1, the
Two resistance R2,3rd resistor R3, the 4th resistance R4, the 5th resistance R5 and first capacitor C1.
The first end of the power pin of watchdog chip U1, the first end of first capacitor C1 and first resistor R1 is connected to altogether
The second end of one DC power supply VCC1, first capacitor C1 and the ground pin of watchdog chip U1 are connected to ground GND altogether.
Optionally, the first DC power supply VCC1 is 1V~10V DC power supply, passes through the straight of the first DC power supply VCC1 output
Galvanic electricity can ensure the operational safety of watchdog chip U1, can obtain main control module 101 and auxiliary in real time by watchdog chip U1
The operation information of control module 102 is helped, and first capacitor C1 has the function of pressure stabilizing, house dog core for watchdog chip U1
Piece U1 can access stable electric energy, to keep the working condition of safety.
The first end of the second end of first resistor R1, the first end of second resistance R2 and 3rd resistor R3 is connected to house dog altogether
The second end of voltage monitoring the pin WDI, second resistance R2 of chip U1 are grounded GND, wherein watchdog chip U1 is examined by voltage
Test tube foot WDI come monitor watchdog chip U1 access direct current energy whether be in normal condition, if the electricity of watchdog chip U1
The direct current energy of source capsule foot access is in malfunction, then carries out fault accommodation to the internal electric energy of watchdog chip U1, so that
Watchdog chip U1 is in safe operating status always, is conducive to be promoted watchdog unit 1042 for each circuit module
The monitoring precision and monitoring sensitivity of malfunction.
The reset signal input pin PFI of watchdog chip U1 connects secondary control module 102, exemplary, as shown in figure 4,
It can access the reset signal that secondary control module 102 exports by the reset signal input pin PF1 of watchdog chip U1, in turn
The fault message of unmanned boat control circuit 10 can be accurately obtained according to the reset signal, illustratively, if watchdog chip U1
Reset signal can be received, then illustrates that main control module 101 and secondary control module 102 are all without failure, at this time unmanned boat
Control circuit 10 is in normal state of a control；On the contrary, illustrating master control if watchdog chip U can not receive reset signal
Module 101 and/or secondary control module 102 break down, then fail safe module 104 takes error protection to arrange unmanned boat
It applies, so that unmanned boat is in the operating status of safety, therefore the watchdog chip U1 in the present embodiment and secondary control module 102
It realizes stable information exchange, and then unmanned boat control is accurately acquired according to the signal condition that secondary control module 102 exports
The Fault Control information of circuit 10.
The second end of 3rd resistor R3 and the first voltage information output pin PFO of watchdog chip U1 are connected to the first control altogether
The first logical signal input pin I/O of coremaking piece U1.
The second voltage information output pin WDO of watchdog chip U1, the second logical signal of the first control chip U2 are defeated
The first end for entering pin NMI and the 5th resistance R5 connects the shift control end to form watchdog unit 1042, watchdog unit altogether
1042 shift control terminating logic control unit 1043；When watchdog chip U1 determines that unmanned boat control circuit 10 is in failure
When state of a control, then watchdog unit 1042 exports shift control signal to switch unit 1044, so that driving logic control
Unit 1043 so that logic control element 1043 for unmanned boat control circuit 10 Fault Control state as control response,
Effectiveness and control accuracy with higher between watchdog unit 1042 and logic control element 1043.
The reset trigger pin MR of watchdog chip U1 meets the control signal output pin OUT of the first control chip U2.
The first end of the reset signal output pin RESET and the 4th resistance R4 of watchdog chip U1 connect to form house dog altogether
The reset signal output end of unit 1042, the reset signal output termination secondary control module 102 of watchdog unit 1042；When seeing
When door dog unit 1042 detects that unmanned boat control circuit 10 is in Fault Control state, then watchdog unit 1042 passes through reset
Signal output end is exported Restart Signal is resetted to secondary control module 102, is restarted so that secondary control module 102 is realized to reset
Function；And then when main control module 101 and/or secondary control module 102 break down, then by for secondary control module
102 carry out restarting reset, to prevent the malfunction of unmanned boat control circuit 10 from causing biggish damage for unmanned boat；This reality
The control response speed with higher for the malfunction of unmanned boat control circuit 10 of watchdog unit 1042 in example is applied, with
Make main control module 101 and secondary control module 102 all in the state of a control of safety.
The second end of 4th resistance R4 and the second end of the 5th resistance R5 are connected to the second DC power supply VCC2 altogether；Optionally,
Second DC power supply VCC2 is 1V~10V DC power supply, can make to guard the gate by the direct current energy that the second DC power supply VCC2 is exported
Dog chip U1 is in the transmission state signal of safety, and the shift control signal exported by watchdog unit 1042 and reset are restarted
Signal retains complete signal accuracy and effectiveness, improves fail safe module 104 for unmanned boat control circuit
The control precision and response efficiency of 10 Fault Control state.
Specifically, described first controls chip U2 to control chip with gate logic, and then by controlling chip with gate logic
"AND" logical process function can be realized for the signal of input.
Specifically, passing through the clearing of watchdog chip U1 in the particular circuit configurations that Fig. 4 shows watchdog unit 1042
The reset signal of signal input tube foot access can accurately judge that out the failure shape of main control module 101 and secondary control module 102
State, and nobody can be obtained by the second electrical level signal that the second voltage information output pin WDO of watchdog chip U1 is exported
The fault message of ship control circuit 10, illustratively, when second electrical level signal is low level, then at unmanned boat control circuit 10
In Fault Control state；When second electrical level signal is high level, then unmanned boat control circuit 10 is in normal control state；Together
When by the level state of the voltage monitoring pin WDI of watchdog chip U1 can determine whether out that the power supply electric energy of watchdog chip U1 is
It is no be in malfunction, it is exemplary, if the first DC power supply VCC1 be 9V DC power supply, when the voltage monitoring of watchdog chip U1
When the level of pin WDI is lower than 4.6V, then illustrate that the power supply electric energy of watchdog chip U1 breaks down, at this time watchdog chip U1
First voltage information output pin PFO output the first level signal be low level；The opposite voltage for working as watchdog chip U1
When monitoring the level of pin WDI greater than 4.6V, then illustrate that the power supply electric energy of watchdog chip U1 is normal condition, this
When the first level signal be high level；Therefore watchdog chip can be monitored by the first level signal and second electrical level signal simultaneously
The operating status of U1 itself and the control safe condition of unmanned boat control circuit 10, the precision of detection are high；Wherein the first control
Chip U2 has the function of that logic and operation, the first control chip U2 can believe the first level signal and second electrical level for signal
Number logic judgment is carried out, when the first level signal and second electrical level signal are all high level, the control of the first control chip U2
The reset trigger signal of signal output pin OUT output is high level；And then first controls chip U2 for main control module 101
The power supply power failure state of malfunction, the malfunction of secondary control module 102 and watchdog chip U1 carries out accurate
Monitoring；If when any one failure of main control module 101 and secondary control module 102, passing through the of watchdog chip U1
Two information of voltage output pin WDO export shift control signal, so that unmanned boat promptly restores to neutral gear, and house dog core
The reset signal output pin RESET output of piece U1 resets Restart Signal, so that the access of secondary control module 102 resets and restarts letter
Number, it has greatly ensured the internal physical safety of each electronic component in unmanned boat control circuit 10, has been controlled by unmanned boat
Circuit 10 can realize unmanned boat safe control function, and security level is higher；
Optionally, the model IMP706, the model 74LVC1G99 of the first control chip U2 of watchdog chip U1；Cause
Watchdog unit 102 in this present embodiment combines the control of watchdog chip U1 and first chip U2 to realize for main control module
101 and secondary control module 102 operating status accurate monitoring function, and the failure control for unmanned boat control circuit 10
State control response speed with higher processed, circuit structure more simplify, and compatibility is extremely strong, maintain the physics peace of unmanned boat
Entirely.
As an alternative embodiment, Fig. 5 shows the circuit of logic control element 1043 provided in this embodiment
Structural representation, referring to Fig. 5, logic control element 1043 includes:
Second control chip U3, the 6th resistance R6, the 7th resistance R7, the 8th resistance R8 and the second capacitor C2.
The first logical signal input pin WDO of second control chip U3 connects watchdog unit 1042, the second control chip
U3 can access shift control signal by the first logical signal input pin WDO；The second logical signal of second control chip U3
One end of input pin WDI and the 6th resistance R6 are connected to secondary control module 102 altogether, and the second control chip U3 passes through the second logic
Signal input tube foot WDI access shutdown control signal.
The both ends of 7th resistance R7 are coupled with the 6th resistance R6 and the second control chip U3 respectively, illustratively, the
The second logical signal input pin WDI of first the second control of termination chip U3 of six resistance R6, the first end of the 7th resistance R7
The enable pin SHDN for meeting the second control chip U3 can make the second control chip U3 be in normal fortune by enable pin SHDN
Row state has ensured logic control element 1043 for the processing safety of signal and efficiency；The second end of 6th resistance R6 and
The second end of 7th resistance R7 is connected to ground GND altogether.
The first end of the control signal output pin OUT and the 8th resistance R8 of second control chip U3 are connected to switch unit altogether
1044, the control signal output pin OUT of the second control chip U3 exports gear switching model to switch unit 1044, to change
Become the signal output state of switch unit 1044；The power pin and the of the second end of 8th resistance R3, the second control chip U3
The first end of two capacitor C2 is connected to third DC power supply VCC3 altogether, and the second end of the second capacitor C2 and second control connecing for chip U3
Ground pin is connected to ground GND altogether；Illustratively, third DC power supply VCC3 is 1V~10V DC power supply；Wherein, the second capacitor C2
Have the function of pressure stabilizing, direct current energy can be exported by third DC power supply VCC3 to the second control chip U3, so that second
The internal electric energy of control chip U3 is maintained at safe condition, and the second control chip U3 has higher Supply Security, improves
The scope of application of logic control element 1043.
The circuit structure of logic control element 1043 is shown in Fig. 5, the second control chip U3 carries out nand for signal
Logical process, so as to realize quick, the accurate arbitration functions of the Fault Control state for unmanned boat control circuit 10；Specifically
, table 1 show shown in the present embodiment second control chip U3 for shift control signal and shutdown control signal progress " with
It is non-" truth table of logical process, as follows:
The signal processing truth table of the control of table 1 second chip U3
| Shift control signal | Shutdown control signal | Gear switching signal |
| 1 | 0 | 1 |
| 1 | 1 | 0 |
| 0 | 0 | 1 |
| 0 | 1 | 1 |
It should be noted that in table 1 above, " 1 " represents high level state, " 0 " represents low level state.
Illustratively, when main control module 101 and secondary control module 102 are all in safe condition, then shift control signal
It is all high level state with shutdown control signal, the second control chip U3 carries out the signal that logical signal input pin accesses
After logic judgment, the gear switching signal by the second control chip U3 output is low level state, and then is cut by the gear
It changes signal the signal output state of switch unit 1044 is adjusted, unmanned boat is in normal state of a control；If master control
At least one is in malfunction for module 101 and secondary control module 102, then shift control signal and/or shutdown control signal
In low level state, then the gear switching signal of the second control chip U3 output is high level state, is switched by the gear
Signal driving switch unit 1044 carries out the switching of signal output state, and unmanned boat is in neutral gear under the manipulation of execution module 103,
And then unmanned boat control circuit 10 realizes higher control response speed for the malfunction of unmanned boat, unmanned boat can be at pacifying
Entirely, stable state of a control, second control chip U3 for the Fault Control state of unmanned boat control circuit 10 can realize safety,
Flexible control function.
As an alternative embodiment, the model 74LV1G99 of the second control chip U3；And then in the present embodiment
Logic control element 1043 accurate logical process is carried out for signal by the second control chip U3, unmanned boat is controlled
The malfunction of circuit 10 has high control sensitivity and reliability, is conducive to the circuit for simplifying unmanned boat control circuit 10
Structure.
As an alternative embodiment, Fig. 6 shows the circuit of voltage reference unit 1041 provided in this embodiment
Structural representation, referring to Fig. 6, voltage reference unit 1041 includes:
Power supply control chip U4, third control chip U5, the 9th resistance R9, variable resistance RD and third capacitor C3.
The first end of third capacitor C3 and the power pin of power supply control chip U4 are connected to the 4th DC power supply VCC4 altogether, the
The second end of three capacitor C3 and the ground pin of power supply control chip U4 are connected to ground GND altogether；Optionally, the 4th DC power supply VCC4
For 1V~10V DC power supply, third capacitor C3 has the function of pressure stabilizing, Jin Er electricity for the power supply electric energy of power supply control chip U4
The power pin of source control chip U4 can access stable electric energy, to realize normal power supply electric energy conversion function, power supply control
Chip U4 has higher electric energy conversion performance and the scope of application.
The voltage output pin Vout of power supply control chip U4 connects the first end of the 9th resistance R9, and the second of the 9th resistance R9
The first end of end and variable resistance RD are connected to the of voltage control the pin V, variable resistance RD of third control chip U5 altogether
Two ends are grounded GND；The wherein resistance value of variable resistance RD itself, so that the voltage control pin V of third control chip U5 connects
The voltage signal for entering different amplitudes, the resistance value by adjusting variable resistance RD can make voltage reference unit 1041 be in difference
Electric energy transition status, voltage reference unit 1041 export voltage reference signal have different amplitudes so that fail safe
Module 104 is monitored and is protected in real time for the state of a control of unmanned boat in each different environment, compatibility compared with
By force, the electric energy transition status of voltage reference unit 1041 has good controllability and flexibility, has comprehensively ensured nobody
The physical security and reliability of ship.
Wherein third control chip U5 has the function of operation amplifier for signal, with the higher Voltage Reference of output accuracy
Signal.
The voltage output pin OUTR that third controls the Voltage Feedback pin OUTA and third control chip U5 of chip U5 is total
It is connected to switch unit 1044；The wherein function that power supply control chip U4 converts direct current energy, works as power supply control chip
After U4 converts the 4th DC power supply VCC4 direct current energy exported, the voltage output pin of power supply control chip U4 is defeated
Voltage signal out, and after being adjusted by amplitude of the variable resistance RD for voltage signal, third controls U5 pairs of chip
Voltage reference signal is obtained after the power of the voltage signal amplifies, third controls the voltage output pin OUTR of chip U5
Voltage reference signal is exported to switch unit 1044, unmanned boat can be made to maintain halted state by the voltage reference signal；
When unmanned boat control circuit 10 is in Fault Control state, then switch unit 1044 is under the driving of gear switching signal, choosing
Output voltage reference signal is selected, so that unmanned boat is in neutral gear according to the voltage reference signal by execution module 103, avoids nothing
People's ship is nonserviceabled lower in continuation operational configuration；The voltage reference signal exported by switch unit 1044 can make unmanned boat
Control circuit 10 keeps safe operating status in different environment, and unmanned boat control circuit 10 has higher control security
And scalability, practical value are higher.
As an alternative embodiment, the model REF0505 of power supply control chip U4, third controls chip U5's
Model AD8619；Therefore the voltage reference unit 1041 in the present embodiment has accurate voltage transformational for direct current energy
Can, after carrying out conversion and power amplification for direct current energy by power source reference unit 1041, so that voltage reference signal can
It is stopped running immediately under so that unmanned boat is nonserviceabled in time, control response with higher for the operating status of unmanned boat
Speed and precision prevents unmanned boat from continuing to run under nonserviceabling, and then causes the physical structure damage and operation of unmanned boat
The problem of safety accident.
Fig. 7 shows the structural representation of unmanned boat 70 provided in this embodiment, referring to Fig. 7, unmanned boat 70 includes as above
The unmanned boat control circuit 10 and power module 701, wherein power module 701 is connect with unmanned boat control circuit 10, is used
It is powered in unmanned boat control circuit 10；The exportable stable electric energy of power module 701, and make unmanned boat control circuit 10
Stable state of a control is kept, and then unmanned boat 70 has higher Supply Security, compatibility is higher；Pass through the unmanned boat control
Circuit 10 processed makes control response for the malfunction of unmanned boat 70, greatly maintains the physical security of unmanned boat 70
Energy.
As an alternative embodiment, power module 701 is lithium battery etc., and then the scope of application of unmanned boat 70 is more
Extensively.
Referring to figs. 1 to the embodiment of Fig. 6, on the one hand, be in normal operational process in unmanned boat 70, pass through unmanned boat control
Circuit 10 processed carries out stable control for the gear of unmanned boat 70, so that unmanned boat 70 is at safe operating status,
Improve the controllability and the scope of application of unmanned boat 70, the control efficiency with higher of unmanned boat 70 and reliability；When nobody
When the internal control module of ship control circuit 10 breaks down, then unmanned boat 70 can be set immediately by unmanned boat control circuit 10
It is set to neutral gear, unmanned boat 70 is out of service, leads to asking for larger physical hazard to prevent unmanned boat 70 from continuing to run under failure
Topic；Therefore unmanned boat control circuit 10 be not only able to according to the actual demand of technical staff for unmanned boat 70 operating status into
Row safety, flexible modulation, so that unmanned boat 70 keeps stable operating status in various environment, compatibility is high；And nothing
People's ship control circuit 10 can detect the malfunction of unmanned boat 70 automatically, when detecting that unmanned boat 70 breaks down, then immediately
Set neutral gear for unmanned boat 70, with reduce occur because of failure operating risk accident probability and caused by breakdown loss；
Therefore the physical security with higher of unmanned boat 70 and operation stability in the present embodiment, is applicable to each different ring
Border, can the malfunction for itself make a response in time, improve the security level and use scope of unmanned boat 70, this will
Positive facilitation is played for the development of unmanned boat safety control technology in this field, important actual production valence will be generated
Value；Reparation can not be carried out automatically controlling for the failure of unmanned boat to efficiently solve traditional technology, unmanned boat is caused to exist
Navigated by water under malfunction, generate biggish physical hazard and operational safety accident, the control flexibility of unmanned boat operational process and
The problem of safety is lower, reduces unmanned boat practical value.
Various embodiments are described to various devices, circuit, device, system and or method herein.It elaborates very much
Specific details is to provide general construction, the function, system of the embodiment that the sum as described in the description is shown in the accompanying drawings
The thorough understanding made and used.However it will be understood by those skilled in the art that embodiment can be in not such certain detail
It is carried out in the case where section.In other examples, well known operation, component and element is described in detail, in order to avoid make in specification
In embodiment indigestion.It will be understood by those skilled in the art that being unrestricted in the embodiment with shown in herein
Property example, and therefore it can be appreciated that, can be in specific structure and function details disclosed herein representative and and different
The range of definite limitation embodiment.
Throughout the specification to " various embodiments ", " in embodiments ", " embodiment " or " embodiment party
The reference of formula " etc., which is meant, is included at least one embodiment about a particular feature, structure, or characteristic described in embodiment
In.Therefore, phrase " in various embodiments ", " in some embodiments ", " in one embodiment " or " implementing
In mode " etc. the appearance in appropriate place throughout the specification be not necessarily all referring to same embodiment.In addition, specific spy
Sign, structure or characteristic can combine in any suitable manner in one or more embodiments.Implement accordingly, with respect to one
The a particular feature, structure, or characteristic that mode shows or describes can entirely or partly with one or more of the other embodiment spy
Sign, structure or characteristic are combined, without assuming that such combination is not illogical or non-functional limitation.Any side
To with reference to (for example, add, subtract, top, lower part, upwards, downwards, the left side, the right, to the left, to the right, top, bottom ...
On ... under, it is vertical, horizontal, clockwise and anticlockwise) purpose to be for identification to help reader to understand present disclosure,
And limitation is not generated, especially with regard to the position of embodiment, orientation or use.
Although describing certain embodiments above with some the level of detail, those of skill in the art can be to institute
Disclosed embodiment makes many changes without departing from the scope of the present disclosure.Connection is with reference to (for example, attachment, coupling, connection
Deng) should be widely interpreted, and may include the intermediate member between the connection of element and relative motion between elements.Cause
This, connection reference does not necessarily imply that two elements are directly connected to/couple and are in fixed relationship each other." such as " entire
Use in specification should be widely interpreted and for providing the non-limitative example of embodiment of the present disclosure, and the disclosure
It is not limited to such example.Being intended that all affairs for including in the foregoing description or be shown in the accompanying drawings should be interpreted only
It is illustrative rather than restrictive.The variation in details or structure can be made without departing from the disclosure.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (10)
1. a kind of unmanned boat control circuit with fail safe function characterized by comprising
For exporting the main control module of control signal；
It is connected to the main control module, for generating the secondary control module of operation driving signal according to the control signal；
For the execution module according to the operation driving signal control unmanned boat gear；And
It is connected between the secondary control module and the execution module, is used for transmission the operation driving signal, and detect
When at least one breaks down into the main control module and the secondary control module, neutral gear is set by the unmanned boat,
So that the unmanned boat stops the fail safe module of navigation.
2. unmanned boat control circuit according to claim 1, which is characterized in that the operation driving signal includes: first
Voltage drive signals, second voltage driving signal and tertiary voltage driving signal；
The execution module includes being used for:
The unmanned boat, which is controlled, according to the first voltage driving signal is set as forward gear；
The unmanned boat, which is controlled, according to the second voltage driving signal is set as pause gear；
The unmanned boat, which is controlled, according to the tertiary voltage driving signal is set as retreating gear.
3. unmanned boat control circuit according to claim 1, which is characterized in that the secondary control module includes:
It is connected to the main control module, is used for transmission the communication unit of the control signal；With
It connect with the communication unit and the fail safe module, is driven for generating the operation according to the control signal
The Solid rocket engine unit of signal.
4. unmanned boat control circuit according to claim 1, which is characterized in that the fail safe module includes:
For generating the voltage reference unit of voltage reference signal；
It is connect with the secondary control module, the reset signal for being exported according to the secondary control module detects the master control
Whether module and the secondary control module break down, and when at least one in the main control module and the secondary control module
Shift control signal is then generated when a failure and resets the watchdog unit of Restart Signal；The reset Restart Signal is used for
Restart the secondary control module reset；
It is connect with the watchdog unit and secondary control module, for controlling mould to the shift control signal and the auxiliary
The logic control element of gear switching signal is generated after the shutdown control signal progress logical process of block output；And
It connect, uses with the voltage reference unit, the logic control element, the secondary control module and the execution module
In carrying out selection switching to the operation driving signal and the voltage reference signal according to the gear switching signal, with output
The voltage reference signal and the switch unit for setting the unmanned boat to neutral gear.
5. unmanned boat control circuit according to claim 4, which is characterized in that the clearing of the secondary control module output
Signal includes:
When at least one in the main control module and the secondary control module breaks down, then the reset signal is the first electricity
Level state；
When the main control module and the secondary control module are without failure, then the reset signal is second electrical level shape
State.
6. unmanned boat control circuit according to claim 1, which is characterized in that the execution module is mechanical controling part
Or electric controling part.
7. unmanned boat control circuit according to claim 4, which is characterized in that the watchdog unit includes:
Watchdog chip U1, first control chip U2, first resistor R1, second resistance R2,3rd resistor R3, the 4th resistance R4,
5th resistance R5 and first capacitor C1；
The first end of the power pin of the watchdog chip U1, the first end of the first capacitor C1 and the first resistor R1
It is connected to the first DC power supply altogether, the ground pin of the second end of the first capacitor C1 and the watchdog chip U1 are connected to altogether
Ground；
The first end of the second end of the first resistor R1, the first end of the second resistance R2 and the 3rd resistor R3 connects altogether
It is grounded in the second end of the voltage monitoring pin of the watchdog chip U1, the second resistance R2, the watchdog chip U1
Reset signal input pin meet the secondary control module, the second end of the 3rd resistor R3 and the watchdog chip U1
First voltage information output pin be connected to altogether it is described first control chip U2 the first logical signal input pin；
The second voltage information output pin of the watchdog chip U1, the second logical signal of the first control chip U2 are defeated
The first end for entering pin and the 5th resistance R5 connects the shift control end to form the watchdog unit altogether, and the house dog is single
The shift control of member terminates the logic control element；
The reset trigger pin of the watchdog chip U1 connects the control signal output pin of the first control chip U2；
The first end of the reset signal output pin of the watchdog chip U1 and the 4th resistance R4 connect to form described see altogether
The reset signal output of the reset signal output end of door dog unit, the watchdog unit terminates the secondary control module；
The second end of the 4th resistance R4 and the second end of the 5th resistance R5 are connected to the second DC power supply altogether.
8. unmanned boat control circuit according to claim 4, which is characterized in that the logic control element includes:
Second control chip U3, the 6th resistance R6, the 7th resistance R7, the 8th resistance R8 and the second capacitor C2；
The first logical signal input pin of the second control chip U3 connects the watchdog unit, the second control chip
The second logical signal input pin of U3 and one end of the 6th resistance R6 are connected to the secondary control module altogether, and the described 7th
The both ends of resistance R7 are coupled with the 6th resistance R6 and the second control chip U3 respectively；
The control signal output pin of the second control chip U3 and the first end of the 8th resistance R8 are connected to described open altogether
Close unit, the second end of the 8th resistance R8, the power pin of the second control chip U3 and the second capacitor C2
First end is connected to third DC power supply, the ground pin of the second end of the second capacitor C2 and the second control chip U3 altogether
It is connected to ground altogether.
9. unmanned boat control circuit according to claim 4, which is characterized in that the voltage reference unit includes:
Power supply control chip U4, third control chip U5, the 9th resistance R9, variable resistance RD and third capacitor C3；
The first end of the third capacitor C3 and the power pin of the power supply control chip U4 are connected to the 4th DC power supply, institute altogether
The ground pin of the second end and the power supply control chip U4 of stating third capacitor C3 is connected to ground altogether；
The voltage output pin of the power supply control chip I4 connects the first end of the 9th resistance R9, the 9th resistance R9's
Second end and the first end of the variable resistance RD are connected to the voltage control pin of third control chip U5 altogether, it is described can
The second end of variohm RD is grounded；
The Voltage Feedback pin of the third control chip U5 and the voltage output pin of third control chip U5 are connected to altogether
The switch unit.
10. a kind of unmanned boat characterized by comprising
Such as the described in any item unmanned boat control circuits of claim 1-9；With
It is connect with the unmanned boat control circuit, the power module for being powered to the unmanned boat control circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910599446.3A CN110347079A (en) | 2019-07-04 | 2019-07-04 | A kind of unmanned boat control circuit and unmanned boat with fail safe function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910599446.3A CN110347079A (en) | 2019-07-04 | 2019-07-04 | A kind of unmanned boat control circuit and unmanned boat with fail safe function |
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| CN110347079A true CN110347079A (en) | 2019-10-18 |
Family
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| CN201910599446.3A Pending CN110347079A (en) | 2019-07-04 | 2019-07-04 | A kind of unmanned boat control circuit and unmanned boat with fail safe function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2616676A (en) * | 2022-03-18 | 2023-09-20 | Hydrosurv Unmanned Survey Uk Ltd | Command and control system for a remotely-operated uncrewed surface vessel |
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