CN112015121A - Underwater carrying platform extended power supply control connection system and working method thereof - Google Patents

Abstract

The invention relates to an extended power supply control connection system of an underwater carrying platform and a working method thereof, wherein the extended power supply control connection system comprises an HOV/ROV input interface, an underwater pressure-bearing cabin body, an internal circuit and a plurality of detection cabin output interfaces; the internal circuit comprises a rectifying current-limiting circuit, a switching power supply, a DC/DC voltage stabilizing module, a power supply control module, a single chip microcomputer, a serial server, an environmental parameter detection circuit, a multi-detection-cabin working state detection circuit, a switch and a plurality of network modulators; the invention enables a plurality of detection cabins to be butted with the HOV/ROV underwater carrying platform to only occupy one interface, thereby improving the load capacity of the HOV/ROV. The invention can coordinate the power supply and communication of a plurality of detection cabins, control and monitor the working states of the plurality of detection cabins, and lead the plurality of detection cabins or a single detection cabin to be flexibly connected and adjusted with domestic HOV/ROV underwater carrying platforms under the condition of not changing the interface types and internal circuits of the detection cabins.

Description

An underwater carrying platform extended power supply control connection system and its working method

technical field

The invention relates to an expansion power supply control connection system for an underwater carrying platform and a working method thereof, belonging to the technical field of deep sea detection.

Background technique

In the field of deep-sea exploration, HOV/ROVs such as Jiaolong, Discovery, and Haima are often used for deep-sea exploration operations. As underwater platforms, they can work together with single or multiple detection modules to complete marine scientific research tasks; these detection modules are often Developed and designed by different units, the types of interfaces are different. Common ones are BHF13, BHF6, Button, etc., and the power supply voltage is also different. Common ones are DC 24V, DC 48V, and AC 110V to 220V. There are differences in communication methods. If the same set of detection cabin equipment is to be connected with different HOV/ROV, it is usually realized by customizing different transfer cables and rectifying the power supply and communication circuit inside the detection cabin. The maintenance and upgrade of solutions for adding multiple interfaces to different detection modules or carrying platforms are expensive, operability and flexibility are poor, and reality is low.

With the rapid growth of the demand for deep-sea exploration, there are more and more detection cabins equipped with HOV/ROV platforms, and the demand for joint work of multiple detection cabins is also increasing. The same and different communication methods have an increasing impact on the development of deeper scientific research; due to the special underwater environment, the transmission distance of underwater network communication is generally low, which limits the actual working range of the detection cabin underwater. .

Based on the above reasons, it is necessary to seek a solution with low cost, strong operability and flexibility to solve the problem that the same detection cabin is difficult to connect with multiple HOV/ROV underwater platforms with different interfaces and underwater network communication. The problem of short transmission distance.

SUMMARY OF THE INVENTION

In view of the deficiencies of the prior art, the present invention provides an extended power supply control connection system for an underwater carrying platform;

The present invention also provides a working method of the above-mentioned underwater carrying platform extended power supply control connection system.

The invention can realize interface switching, interface expansion, power control, improving the transmission distance of underwater network communication, monitoring of internal environmental parameters of the instrument, and multi-detection cabin work without changing the structure of the HOV/ROV underwater carrying platform and the detection cabin. Condition control and monitoring to improve the load capacity of HOV/ROV and the coordination of multiple detection cabins.

Terminology Explanation:

1. HOV/ROV, HOV (Human Occupied Vehicles) is a manned submersible, which is a standard tool for ocean exploration, and its diving depth can reach several thousand meters or more than 10,000 meters. Such as my country's first self-designed, self-integrated and developed "Jiaolong". ROV (Remote Operated Vehicle) is a remotely operated unmanned vehicle, which is a kind of Unmanned Underwater Vehicle (UUV). Various functions, different types of ROVs are used to perform different tasks, and are widely used in various fields such as military, coast guard, maritime, customs, nuclear power, hydropower, offshore oil, fishery, marine rescue, pipeline detection and marine scientific research. .

2. HOV/ROV software control platform, HOV/ROV software control platform is the software running on the computer in the HOV cabin or on the ROV ship-based and shore-based computers, which is used to control an underwater carrying platform extended power supply control connection system, The operating status of multiple detection cabins can read back the temperature, humidity, air pressure data inside the cabin of an extended power supply control system for an underwater carrying platform, and the current working status of each detection cabin. It is an extended power supply for an underwater carrying platform. The upper computer operating software that controls the connection system and multi-detection cabins.

The technical scheme of the present invention is:

An expansion power supply control connection system for an underwater carrying platform, comprising an HOV/ROV input interface, an underwater pressure-bearing cabin, an internal circuit, and a plurality of detection cabin output interfaces; the underwater pressure-bearing cabin is provided with an internal circuit , the HOV/ROV input interface is connected to the internal circuit, and the internal circuit is also connected to a number of the detection cabin output interfaces;

The internal circuit includes a rectification current limiting circuit, a switching power supply, a DC/DC voltage regulator module, a power supply control module, a single-chip microcomputer, a serial port server, an environmental parameter detection circuit, a multi-detection cabin working state detection circuit, a switch, and several network modulators;

The switching power supply is connected to the rectification current limiting circuit, the rectification current limiting circuit is respectively connected to the power supply control module and the DC/DC voltage regulator module, and the power supply control module is respectively connected to a number of detection cabin output interfaces, so the The power supply control module is also connected to the multi-detection cabin working state detection circuit, the DC/DC voltage stabilization module is respectively connected to the single-chip microcomputer and the serial port server, the single-chip microcomputer is connected to the serial port server in both directions, and the single-chip microcomputer is connected to the serial port server in both directions. The environmental parameter detection circuit, the single-chip microcomputer is also connected to the multi-detection cabin working state detection circuit, the switch is respectively connected to the serial port server and a number of the network modulators, and a number of the network modulators are respectively connected to a number of A detection cabin output interface;

The HOV/ROV provides a power supply voltage, which is transmitted to the internal circuit through the HOV/ROV input interface. If the input voltage is alternating current, the input alternating current is converted into direct current through the switching power supply and input to the rectifier current limiting circuit, For example, it can be converted to 24V/48V, and it can also be other voltages; if the input voltage is DC, it is directly input to the rectifier current-limiting circuit, and the rectifier current-limiting circuit adjusts the input current to an appropriate size; The power supply control module sequentially drives the relays to supply power to a plurality of the detection cabin output interfaces; the DC/DC voltage regulator module converts the working voltage of the multi-detection cabins to be available for the single-chip microcomputer, serial server, switch, and network modulator. voltage; for example, 3.3V voltage for single-chip microcomputer, 12V voltage for network modulator and power supply for the single-chip computer, serial server, switch, network modulator;

The environmental parameter detection circuit measures and obtains the temperature, humidity, and air pressure in the underwater pressure-bearing cabin in real time, which is realized by using a commercialized temperature, humidity, and air pressure module, and transmits it to the single-chip microcomputer. The working state of the multi-detection cabins The detection circuit detects the working status of each detection cabin in real time, and transmits the detected working status of each detection cabin to the single-chip microcomputer. After analyzing and processing the working state of the device, send the feedback information to the HOV/ROV software control platform through the serial port server, the switch, the HOV/ROV input interface, and the HOV/ROV in turn; the HOV/ROV software control platform is running on the HOV/ROV software control platform. The software on the computer in the cabin or the ROV ship-based and shore-based computers is used to control the extended power supply control connection system of an underwater carrying platform and the operation status of multiple detection cabins, and can read back the extended power supply of an underwater carrying platform It controls the temperature, humidity, air pressure data inside the connection system cabin and the current working status of each detection cabin. It is an upper computer operation software for the expansion power supply control connection system and multiple detection cabins of the underwater platform; HOV/ROV software control The platform also sends control commands to the single-chip microcomputer through the switch and the serial port server in sequence.

Further preferably, the multi-detection cabin working state detection circuit detects in real time whether the voltage on the power supply line of each detection cabin is the rated working voltage through AD analog-to-digital conversion, and if so, the detection cabin is in an open state; The working state of the detection cabin is closed.

Further preferably, the single-chip microcomputer analyzes and processes the temperature, humidity, air pressure in the underwater pressure-bearing cabin and the working state of each detection cabin, which means that the single-chip computer judges the temperature in the underwater pressure-bearing cabin in real time. , Whether the humidity and air pressure data exceed the safe range, if not, just package the data and send it to the HOV/ROV software control platform. HOV/ROV software control platform, HOV/ROV software control platform reminds the operator to immediately expand the power supply control connection system and multiple detection cabins for the underwater carrying platform to power off.

The power supply line and communication line drawn from a power supply communication interface of the HOV/ROV are drawn to the internal circuit of an underwater carrying platform to expand the power supply control connection system. The voltage regulator module converts the input voltage into the rated working voltage of multiple detection cabins (the voltage of each detection cabin can be different, and the voltage regulator module can be added to adjust to the corresponding different voltage) and output it to the output interface of each detection cabin. The pressure module also outputs the rated working voltage of the single-chip microcomputer, serial server, switch, network modulator, etc. inside the system for its work, uses the environmental parameter detection circuit to detect the temperature, humidity, and air pressure environment parameters in the cabin, and uses AD to detect the power supply of each detection cabin. The voltage of the lead wire determines the current working state of each detection cabin. In terms of communication, use network modulators to improve network communication quality and extend network communication distance. Network modulators are used in pairs, one in the system cabin and one in the detection cabin. The network names of the two network modulators need to be set to the same. The invention can expand the communication power supply interface of HOV/ROV; it can coordinate the power supply and communication of multiple detection cabins, control and monitor the working states of multiple detection cabins, so that multiple detection cabins with the same or different power supply voltages do not change their own interfaces. Under the condition of type and internal circuit, it can flexibly connect with domestic HOV/ROV underwater platforms; it can coordinate the operation of multiple detection cabins and monitor the current working status of each detection cabin.

According to the preferred embodiment of the present invention, the model of the DC/DC voltage stabilization module is LM2596HVS; the DC/DC voltage stabilization module has an input voltage of 4.5-50V, and an output voltage of 3-35V; the power supply control module passes through a plurality of relays. accomplish. The model of the single-chip microcomputer is MSP430; the model of the serial port server is USR-TCP232-302; the model of the switch is OAM-6000-35-5TX; the model of the network modulator is DJA-8502.

The HOV/ROV input interface is connected to the internal circuit through a customized cable, and the internal circuit is further connected to a plurality of the detection cabin output interfaces through a customized cable. The customization of customized cables refers to customization for different HOV/ROVs. Different HOV/ROV power supply communication interfaces and the definitions of each lead are generally inconsistent. The common types of interfaces are BHF13 and Button; and an underwater platform power supply control connection The type of HOV/ROV input interface outside the system cabin can be fixed. For example, if the SUBCON interface is used, make overall planning on the line sequence to share the leads as much as possible, including as many HOV/ROV power supply and communication leads as possible. Therefore, for different HOV/ROV use This connection system only needs to replace the corresponding customized cable.

According to the preferred aspect of the present invention, in terms of communication control, the HOV/ROV establishes communication with the switch, and one of the output interfaces of the switch is connected to the serial port server to realize the extended power supply control connection system between the HOV/ROV and the underwater carrying platform The other output interfaces of the switch are respectively connected to several of the network modulators, the signal lines of the output terminals of each of the network modulators are respectively connected to the output interfaces of each of the detection cabins, and the output interfaces of each of the detection cabins are connected to each of the Detector cabin connection. A network modulator with the same network name needs to be connected to the inside of each detection cabin mounted outside the extended power supply control connection system of the underwater vehicle platform, namely: the internal circuit of the extended power supply control connection system of the underwater vehicle installation platform and the interior of the detection cabin Each has a network modulator, and two network modulators are used in pairs, set to the same network name.

Each of the detection cabin output interfaces is connected to each detection cabin through a dedicated cable. The special cable is an underwater connection cable from the expansion power supply control connection system cabin of the underwater platform to the detection cabin. There is a dedicated cable between each detection cabin and the system cabin. The cabin occupies a detection cabin output interface on the cabin of the system and is connected to each detection cabin.

Several of the detection cabins include Roman detection cabins, fluorescence detection cabins, LTBS detection cabins and Rip detection cabins.

The above-mentioned working method of the extended power supply control connection system of the underwater carrying platform uses a customized cable to connect the power supply communication interface of the HOV/ROV and the HOV/ROV input interface of the extended power supply control connection system of the underwater carrying platform, and uses a special cable to connect The output interface of the detection cabin and the input interface of the detection cabin of the expansion power supply control connection system of the underwater carrying platform are determined according to the actual situation to connect several detection cabins. Fix the extended power supply control connection system of the underwater carrying platform to the HOV/ROV carrying platform, and the manipulator operating the HOV/ROV clamps the detection cabin and aligns the object to be measured. The steps are as follows:

(1) HOV/ROV provides power supply voltage, which is transmitted to the internal circuit through the HOV/ROV input interface. If the input voltage is alternating current, the input alternating current is converted into direct current through the switching power supply and then input to the rectifier The current limiting circuit, for example, converted to 24V/48V, can also be other voltages; if the input voltage is direct current, it is directly input to the rectifier current limiting circuit;

(2) The rectifier and current limiting circuit adjusts the input current to an appropriate size; the power supply control module drives the relays to supply power to several of the detection cabin output interfaces in turn; the DC/DC voltage stabilization module connects the multi-detection cabins The working voltage of the MCU is converted into a voltage that can be used by the microcontroller, serial server, switch, and network modulator; for example, the 3.3V voltage available for the microcontroller, the 12V voltage used by the network modulator, and the voltage used by the microcontroller, serial server, Power supply for switches and network modulators;

(3) The environmental parameter detection circuit measures and obtains the temperature, humidity, and air pressure in the underwater pressure-bearing cabin in real time, and uses a commercialized temperature, humidity, and air pressure module to realize it, and transmits it to the single-chip microcomputer. The multi-detection The cabin working status detection circuit detects the working status of each detection cabin in real time, and transmits the detected working status of each detection cabin to the single-chip microcomputer. After the working state of each detection cabin is analyzed and processed, the feedback information is sequentially passed through the serial port server, the switch, the HOV/ROV input interface, and the HOV/ROV to the HOV/ROV software control platform; the HOV/ROV software control platform is The software running on the computer in the HOV cabin or on the ROV ship-based and shore-based computers is used to control the extended power supply control connection system of an underwater carrying platform and the operation status of multiple detection cabins, and can read back an underwater carrying platform. The temperature, humidity, air pressure data inside the cabin of the platform extension power supply control connection system and the current working status of each detection cabin are the upper computer operating software for the underwater platform extension power supply control connection system and multiple detection cabins; HOV/ The ROV software control platform also sends control commands to the single-chip microcomputer through the switch and the serial port server in sequence.

Preferably according to the present invention, in step (3), comprise the steps as follows:

A. The multi-detection cabin working state detection circuit detects whether the voltage on the power supply line of each detection cabin is the rated working voltage in real time through AD analog-to-digital conversion. If so, the detection cabin is in an open state; enter step B; if not, Then the working state of the detection cabin is the closed state;

B. The single-chip computer judges in real time whether the temperature, humidity and air pressure data in the underwater pressure chamber exceeds the safety range. If it does not exceed the safety range, the detection chamber starts to operate, and the measurement data is saved to the HOV/ROV software control platform. Beyond the safe range, the HOV/ROV software control platform sends out an alarm message to remind the equipment of water leakage and close each detection cabin.

The beneficial effects of the present invention are:

1. In the present invention, only one interface is occupied by the docking of a plurality of detection cabins with the HOV/ROV underwater carrying platform, and the load capacity of the HOV/ROV is improved. Taking an underwater carrying platform extended power supply control connection system with 4 detection cabin output interfaces as an example, the load capacity of HOV/ROV is quadrupled. The HOV/ROV carrying platform needs 4 power supply communication interfaces to drive the 4 detection cabins, and after using an underwater carrying platform to expand the power supply control connection system, only one power supply communication interface of the HOV/ROV can be used to drive the 4 A probe cabin operation.

2. The present invention can coordinate the power supply and communication of multiple detection cabins, control and monitor the working states of multiple detection cabins, so that multiple detection cabins or a single detection cabin can flexibly interact with the detection cabin without changing its own interface type and internal circuit. Docking and joint debugging of domestic HOV/ROV underwater platforms.

3. The present invention can improve the network communication quality between the HOV/ROV underwater platform and the detection cabin, extend the communication distance between the HOV/ROV and the detection cabin, and increase the detection radius of the detection cabin. The communication distance between the HOV/ROV and the detection cabin can be extended to 800 meters.

Description of drawings

Fig. 1 is the structural block diagram of the expansion power supply control connection system of the underwater carrying platform of the present invention;

Fig. 2 is the structural connection diagram of the internal circuit of the expansion power supply control connection system of the underwater carrying platform of the present invention;

Detailed ways

The present invention is further defined below with reference to the accompanying drawings and embodiments of the description, but is not limited thereto.

Example 1

An extended power supply control connection system for an underwater carrying platform, as shown in Figure 1, includes an HOV/ROV input interface, an underwater pressure-bearing cabin, an internal circuit, and a number of detection cabin output interfaces; There is an internal circuit, the HOV/ROV input interface is connected to the internal circuit, and the internal circuit is also connected to several detection cabin output interfaces;

As shown in Figure 2, the internal circuit includes a rectifier current limiting circuit, a switching power supply, a DC/DC voltage regulator module, a power supply control module, a single-chip microcomputer, a serial port server, an environmental parameter detection circuit, a multi-detection cabin working state detection circuit, a switch, and several Network modulator; the switching power supply is connected to the rectification current limiting circuit, the rectification current limiting circuit is respectively connected to the power supply control module and the DC/DC voltage regulator module, the power supply control module is respectively connected to a number of detection cabin output interfaces, and the power supply control module is also connected to multiple detection cabins to work The state detection circuit, the DC/DC voltage regulator module is connected to the single-chip microcomputer and the serial port server respectively, the single-chip microcomputer is connected to the serial port server in both directions, the single-chip microcomputer is connected to the environmental parameter detection circuit in both directions, and the single-chip microcomputer is also connected to the multi-detection cabin working state detection circuit. The switch is connected to the serial port server and several Network modulator, several network modulators are respectively connected to several detection cabin output interfaces;

The HOV/ROV provides the power supply voltage and transmits it to the internal circuit through the HOV/ROV input interface. If the input voltage is AC power, the input AC power will be converted into DC power through the switching power supply and input to the rectifier current limiting circuit, for example, converted to 24V/48V, It can also be other voltages; if the input voltage is DC, it is directly input to the rectifier current-limiting circuit, which adjusts the input current to an appropriate size; then the power supply control module drives the relays in turn to several detection cabin output interfaces Power supply; the DC/DC voltage regulator module converts the working voltage of the multi-detection cabin into a voltage that can be used by microcontrollers, serial servers, switches, and network modulators; for example, 3.3V for single-chip microcomputers and 12V for network modulators Voltage and power supply for single-chip microcomputer, serial server, switch, network modulator;

The environmental parameter detection circuit measures and obtains the temperature, humidity and air pressure in the underwater pressure chamber in real time. Working status, and transmit the detected working status of each detection cabin to the single-chip microcomputer. After the single-chip microcomputer analyzes and processes the temperature, humidity, air pressure in the underwater pressure cabin and the working status of each detection cabin, the feedback information is sequentially passed through the serial port server. , switch, HOV/ROV input interface, HOV/ROV to HOV/ROV software control platform; HOV/ROV software control platform is the software running on the computer in the HOV cabin or on the ROV ship-based and shore-based computers to control a The expansion power supply control connection system of the underwater platform and the operation status of multiple detection cabins can read back the temperature, humidity, and air pressure data inside the cabin of an underwater platform expansion power supply control connection system and the current work of each detection cabin. The state is a kind of upper computer operating software for the expansion power supply control connection system and multi-detection cabins of the underwater platform; the HOV/ROV software control platform also sends control commands to the single-chip microcomputer through the switch and the serial server in turn.

The multi-detection cabin working state detection circuit detects in real time whether the voltage on the power supply line of each detection cabin is the rated working voltage through AD analog-to-digital conversion. If so, the detection cabin is open; if not, the detection cabin is in the closed state state.

The single chip microcomputer analyzes and processes the temperature, humidity, air pressure in the underwater pressure chamber and the working state of each detection chamber, which means that the single chip determines whether the temperature, humidity and air pressure data in the underwater pressure chamber exceed the safe range in real time. If it exceeds the safety range, just package the data and send it to the HOV/ROV software control platform. If it exceeds the safety range, the single-chip microcomputer sends the equipment water leakage alarm and specific temperature, humidity, and air pressure data to the HOV/ROV software control platform. HOV/ROV software control The platform reminds the operator to immediately de-energize the extended power supply control connection system and multiple detection cabins for the underwater carrying platform.

The power supply line and communication line drawn from a power supply communication interface of the HOV/ROV are drawn to the internal circuit of an underwater carrying platform to expand the power supply control connection system. The voltage regulator module converts the input voltage into the rated working voltage of multiple detection cabins (the voltage of each detection cabin can be different, and the voltage regulator module can be added to adjust to the corresponding different voltage) and output it to the output interface of each detection cabin. The pressure module also outputs the rated working voltage of the single-chip microcomputer, serial server, switch, network modulator, etc. inside the system for its work, uses the environmental parameter detection circuit to detect the temperature, humidity, and air pressure environment parameters in the cabin, and uses AD to detect the power supply of each detection cabin. The voltage of the lead wire determines the current working state of each detection cabin. In terms of communication, use network modulators to improve network communication quality and extend network communication distance. Network modulators are used in pairs, one in the system cabin and one in the detection cabin, and the network name needs to be set to the same. The invention can expand the communication power supply interface of HOV/ROV; it can coordinate the power supply and communication of multiple detection cabins, control and monitor the working states of multiple detection cabins, so that multiple detection cabins with the same or different power supply voltages do not change their own interfaces. Under the condition of type and internal circuit, it can flexibly connect with domestic HOV/ROV underwater platforms; it can coordinate the operation of multiple detection cabins and monitor the current working status of each detection cabin.

Example 2

The expansion power supply control connection system for an underwater carrying platform according to Embodiment 1, the difference is that: the model of the DC/DC voltage stabilizer module is LM2596HVS; the DC/DC voltage stabilizer module has an input voltage of 4.5 -50V, the output voltage is 3-35V; the power supply control module is realized by multiple relays. The model of the microcontroller is MSP430; the model of the serial server is USR-TCP232-302; the model of the switch is OAM-6000-35-5TX; the model of the network modulator is DJA-8502.

The HOV/ROV input interface is connected to the internal circuit through customized cables, and the internal circuit is also connected to several detection cabin output interfaces through customized cables. The customization of customized cables refers to customization for different HOV/ROVs. Different HOV/ROV power supply communication interfaces and the definitions of each lead are generally inconsistent. The common types of interfaces are BHF13 and Button; while the underwater platform power supply control connection system cabin The type of external HOV/ROV input interface can be fixed. For example, if the SUBCON interface is used, make overall planning on the line sequence to share the leads as much as possible, including as many HOV/ROV power supply and communication leads as possible. Therefore, use this for different HOV/ROV. To connect the system, just replace the corresponding customized cable.

In terms of communication control, HOV/ROV establishes communication with the switch, and one of the output interfaces of the switch is connected to the serial server to realize the communication between the HOV/ROV and the single-chip microcomputer of the extended power supply control connection system of the underwater platform. The other output interfaces of the switch are respectively Several network modulators are connected, the signal lines of the output terminals of each network modulator are respectively connected to the output interfaces of the detection cabins, and the output interfaces of the detection cabins are connected to the detection cabins. The interior of each detection cabin mounted outside the extended power supply control connection system of the underwater platform needs to be connected to a network modulator set on the same network segment, namely: the internal circuit of the expansion power supply control connection system of the underwater platform and the interior of the detection cabin Each has a network modulator, and two network modulators are used in pairs, set to the same network name.

Each detection cabin output interface is connected with each detection cabin through a special cable. The special cable is an underwater connection cable from the expansion power supply control connection system cabin of the underwater platform to the detection cabin. There is a dedicated cable between each detection cabin and the system cabin. The cabin occupies a detection cabin output interface on the cabin of the system and is connected to each detection cabin.

Several detection modules include Roman detection module, fluorescence detection module, LTBS detection module and Rip detection module.

Example 3

According to a kind of underwater carrying platform expansion power supply control connection system described in embodiment 2, its difference is:

Taking Jiaolong's HOV and Roman detection module, fluorescence detection module, LIBS detection module, and Rip detection module for deep-sea operations as an example, a customized cable is used to connect the communication power supply interface of Jiaolong and the HOV of the extended power supply control connection system of the underwater platform. /ROV input interface, use 4 special cables to connect the 4 detection cabin output interfaces and 4 detection cabins of the system respectively, and fix the underwater carrying platform extended power supply control connection system to the Jiaolong HOV carrying platform. The mother ship carrying the Jiaolong HOV and the extended power supply control connection system of the underwater carrying platform, as well as the Roman detection cabin, the fluorescence detection cabin, the LIBS detection cabin, and the Rip detection cabin sailed to the predetermined sea area, and the Jiaolong was launched into the water, and the Jiaolong sailed to the bottom of the sea to wait. In the measurement area, run the HOV/ROV software control platform on the Jiaolong computer to check the temperature, humidity and air pressure inside the cabin of the system and each detection cabin. If everything is normal, the Jiaolong operator controls the robot to hold the Roman detection cabin. The quasi-measured object, through the HOV/ROV software control platform, you can observe that the operating status of the four detection cabins turns into the open state in turn, click the corresponding button of the HOV/ROV software control platform to close the fluorescence detection cabin, LIBS detection cabin, Rip detection cabin, The Roman detection module began to detect, and the acquired detection data was transmitted to the HOV/ROV software control platform in the Jiaolong through an extended power supply control connection system of an underwater platform. After the Roman detection cabin is completed, the HOV/ROV software control platform closes the Roman detection cabin, opens the fluorescence detection cabin, the manipulator releases the Roman detection cabin, holds the fluorescence detection cabin to continue the operation, and so on.

The HOV/ROV software control platform can also monitor the entire process, and the Jiaolong operator can detect water leakage or other abnormal conditions in time and carry out emergency treatment. The interface is expanded by 4 times, and the underwater communication distance is extended by 800 meters.

Example 4

A working method of an underwater carrying platform extended power supply control connection system described in any one of Embodiments 1-3, using a custom cable to connect the power supply communication interface of the HOV/ROV and the underwater carrying platform extended power supply control connection system. HOV/ROV input interface, use a special cable to connect the output interface of the detection cabin of the extended power supply control connection system of the underwater carrying platform and the input interface of the detection cabin, and decide to connect several detection cabins according to the actual situation. Fix the extended power supply control connection system of the underwater carrying platform to the HOV/ROV carrying platform, and the manipulator operating the HOV/ROV clamps the detection cabin and aligns the object to be measured. The steps are as follows:

(1) The HOV/ROV provides the power supply voltage and transmits it to the internal circuit through the HOV/ROV input interface. If the input voltage is alternating current, the input alternating current is converted into direct current through the switching power supply and then input to the rectifier current limiting circuit, for example, converted into 24V/48V, other voltages are also available; if the input voltage is DC, it is directly input to the rectifier current limiting circuit;

(2) The rectifier current limiting circuit adjusts the input current to an appropriate size; the power supply control module drives the relays to supply power to the output interfaces of several detection cabins in turn; the DC/DC voltage stabilizer module converts the working voltage of the multi-detection cabins into a single-chip microcomputer. , the voltage used by serial servers, switches, and network modulators; for example, 3.3V voltage for single-chip microcomputers, 12V voltage for network modulators, and power supply for single-chip computers, serial port servers, switches, and network modulators;

(3) The environmental parameter detection circuit measures and obtains the temperature, humidity and air pressure in the underwater pressure chamber in real time, and uses the commercialized temperature, humidity and air pressure module to realize it, and transmits it to the single chip computer. The working state detection circuit of the multi-detection chamber detects each The working status of the detection cabin is detected, and the detected working status of each detection cabin is transmitted to the single-chip microcomputer. Through the serial port server, switch, HOV/ROV input interface, HOV/ROV to HOV/ROV software control platform; HOV/ROV software control platform is the software running on the computer in the HOV cabin or the ROV ship-based and shore-based computers. Control the operation status of an extended power supply control connection system of an underwater carrying platform and multiple detection cabins, and can read back the temperature, humidity, air pressure data and various detection data inside the cabin of an underwater carrying platform extended power supply control connection system. The current working state of the cabin is an underwater platform expansion power supply control connection system and the upper computer operating software of the multi-detection cabin; the HOV/ROV software control platform also sends control commands to the single-chip microcomputer through the switch and serial server in turn. Include the following steps:

A. The multi-detection cabin working state detection circuit detects in real time whether the voltage on the power supply line of each detection cabin is the rated working voltage through AD analog-to-digital conversion. If so, the detection cabin is in an open state; enter step B; The working state of the detection cabin is closed;

B. The single-chip computer judges in real time whether the temperature, humidity and air pressure data in the underwater pressure chamber exceeds the safe range. If it does not exceed the safe range, the detection chamber starts to work, and the measurement data is saved to the HOV/ROV software control platform. The HOV/ROV software control platform sends out an alarm message to remind the equipment of water leakage and close each detection cabin.

Claims (7)

1. An extended power supply control connection system of an underwater carrying platform is characterized by comprising an HOV/ROV input interface, an underwater pressure-bearing cabin body, an internal circuit and a plurality of detection cabin output interfaces; an internal circuit is arranged in the underwater pressure-bearing cabin body, the HOV/ROV input interface is connected with the internal circuit, and the internal circuit is also connected with a plurality of detection cabin output interfaces;

the internal circuit comprises a rectifying current-limiting circuit, a switching power supply, a DC/DC voltage stabilizing module, a power supply control module, a single chip microcomputer, a serial server, an environmental parameter detection circuit, a multi-detection-cabin working state detection circuit, a switch and a plurality of network modulators; the switching power supply is connected with the rectifying current-limiting circuit, the rectifying current-limiting circuit is respectively connected with the power supply control module and the DC/DC voltage stabilizing module, the power supply control module is respectively connected with a plurality of detection cabin output interfaces, the power supply control module is also connected with the multi-detection cabin working state detection circuit, the DC/DC voltage stabilizing module is respectively connected with the single chip microcomputer and the serial server, the single chip microcomputer is bidirectionally connected with the environmental parameter detection circuit, the single chip microcomputer is also connected with the multi-detection cabin working state detection circuit, the switch is respectively connected with the serial server and a plurality of network modulators, and the plurality of network modulators are respectively connected with a plurality of detection cabin output interfaces;

the HOV/ROV provides power supply voltage, the power supply voltage is transmitted to the internal circuit through the HOV/ROV input interface, if the input voltage is alternating current, the input alternating current is converted into direct current through the switching power supply and is input to the rectifying current-limiting circuit, if the input voltage is direct current, the input direct current is input to the rectifying current-limiting circuit, and the rectifying current-limiting circuit adjusts the input current to a proper magnitude; the power supply control module sequentially drives the relays to supply power to the output interfaces of the detection cabins; the DC/DC voltage stabilizing module converts the working voltage of the multiple detection cabins into voltage which can be used by the single chip microcomputer, the serial server, the switch and the network modulator; the environment parameter detection circuit measures and acquires the temperature, humidity and air pressure in the underwater pressure bearing cabin body in real time and transmits the temperature, humidity and air pressure to the single chip microcomputer, the multi-detection cabin working state detection circuit detects the working state of each detection cabin in real time and transmits the detected working state of each detection cabin to the single chip microcomputer, and the single chip microcomputer analyzes and processes the temperature, humidity and air pressure in the underwater pressure bearing cabin body and the working state of each detection cabin and then transmits feedback information to the HOV/ROV software control platform through the serial server, the switch, the HOV/ROV input interface, the HOV/ROV and the HOV/ROV in sequence; and the HOV/ROV software control platform also sends a control command to the single chip microcomputer sequentially through the switch and the serial server.

2. The underwater carrying platform extended power supply control connection system according to claim 1, wherein the multi-detection-cabin working state detection circuit detects whether the voltage on the power supply line of each detection cabin is a rated working voltage in real time through AD analog-to-digital conversion, and if so, the detection cabin is in an open state; if not, the working state of the detection cabin is a closed state.

3. The system of claim 1, wherein the analysis and processing of the temperature, humidity, air pressure in the underwater pressure bearing cabin and the working state of each detection cabin by the single chip microcomputer are performed by: the single chip microcomputer judges whether temperature, humidity and air pressure data in the underwater pressure bearing cabin body exceed a safety range in real time, if the temperature, humidity and air pressure data do not exceed the safety range, the data are only required to be packaged and sent to the HOV/ROV software control platform, if the data exceed the safety range, the single chip microcomputer sends equipment water leakage alarm and specific temperature, humidity and air pressure data to the HOV/ROV software control platform, and the HOV/ROV software control platform reminds an operator to immediately power off the underwater carrying platform extended power supply control connection system and the detection cabins.

4. The underwater carrying platform extended power supply control connection system of claim 1, wherein the DC/DC voltage stabilizing module is LM2596 HVS; the type of the single chip microcomputer is MSP 430; the serial server is of a USR-TCP232-302 model; the type of the switch is OAM-6000-35-5 TX; the model number of the network modulator is DJA-8502.

5. The system of any one of claims 1 to 5, wherein the HOV/ROV is in communication with the switch, one of the output interfaces of the switch is connected to a serial server to realize the communication between the HOV/ROV and the single chip microcomputer of the system, the other output interfaces of the switch are respectively connected to a plurality of network modulators, the output end signal line of each network modulator is respectively connected to the output interfaces of the detection cabins, and the output interfaces of the detection cabins are connected to the detection cabins.

6. The method of any one of claims 1 to 5 for operating an extended power supply controlled docking system for an underwater vehicle platform, wherein the HOV/ROV manipulator is operable to hold the probe pod in alignment with the object to be tested, comprising the steps of:

(1) the HOV/ROV provides power supply voltage, the power supply voltage is transmitted to the internal circuit through the HOV/ROV input interface, if the input voltage is alternating current, the input alternating current is converted into direct current through the switching power supply and then is input to the rectifying current-limiting circuit, and if the input voltage is direct current, the input alternating current is directly input to the rectifying current-limiting circuit;

(2) the rectifying current-limiting circuit regulates the input current to a proper magnitude; the power supply control module sequentially drives the relays to supply power to the output interfaces of the detection cabins; the DC/DC voltage stabilizing module converts the working voltage of the multiple detection cabins into voltage which can be used by the single chip microcomputer, the serial server, the switch and the network modulator;

(3) the environment parameter detection circuit measures and acquires the temperature, humidity and air pressure in the underwater pressure bearing cabin body in real time and transmits the temperature, humidity and air pressure to the single chip microcomputer, the multi-detection cabin working state detection circuit detects the working state of each detection cabin in real time and transmits the detected working state of each detection cabin to the single chip microcomputer, and the single chip microcomputer analyzes and processes the temperature, humidity and air pressure in the underwater pressure bearing cabin body and the working state of each detection cabin and then transmits feedback information to the HOV/ROV software control platform through the serial server, the switch, the HOV/ROV input interface, the HOV/ROV and the HOV/ROV in sequence; and the HOV/ROV software control platform also sends a control command to the single chip microcomputer sequentially through the switch and the serial server.

7. The working method of the underwater vehicle platform extended power supply control connection system according to claim 6, wherein the step (3) comprises the following steps:

A. the multi-detection-cabin working state detection circuit detects whether the voltage of the power supply line of each detection cabin is the rated working voltage in real time through AD (analog-to-digital) conversion, and if so, the detection cabin is in an open state; entering the step B; if not, the working state of the detection cabin is a closed state;

B. the single chip microcomputer judges whether temperature, humidity and air pressure data in the underwater pressure bearing cabin body exceed a safety range in real time, if not, the detection cabin starts to operate, measured data are stored in the HOV/ROV software control platform, and if the measured data exceed the safety range, the HOV/ROV software control platform sends alarm information to prompt equipment to leak water and close the detection cabins.

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