CN113093518B - Unmanned ship redundant energy monitoring system and monitoring method - Google Patents

Abstract

The invention discloses a redundant energy monitoring system and a monitoring method for an unmanned ship, wherein the system comprises a generator monitoring module, a UPS monitoring control module, a battery monitoring control module, a master control unit, a power supply control unit and a communication unit; the generator monitoring module is used for monitoring the alternating voltage, current and frequency output by the generator and the information of internal oil pressure and oil temperature; the UPS monitoring control module is used for acquiring input and output voltage, current and temperature information of the UPS in real time; the battery monitoring control module is used for acquiring input and output voltage and current information of the battery in real time; the master control unit sends the related information to the control personnel for checking through the communication unit; and the power supply control unit realizes the control of the energy system when the master control unit has a problem. The invention can realize the control of the energy system with multiple channels and different levels in a multi-mode redundancy mode, thereby ensuring the safety and reliability of the energy supply of the system.

Description

Unmanned boat redundant energy monitoring system and monitoring method

technical field

The invention belongs to the technical fields of the ocean engineering field and the electronic engineering field, and in particular relates to a redundant energy monitoring system and a monitoring method for an unmanned boat.

Background technique

Unmanned boats are an important tool for developing and observing the ocean. More and more unmanned boats are being used for marine resource exploration, terrain mapping, and channel safety monitoring. Unmanned boats with high speed and large tonnage have high requirements for energy security. The energy system specifically includes a hardware system and its control method. At present, most of the energy systems of unmanned boats are powered by batteries, generators or ups, and the system redundancy, safety and controllability are low; the communication information and status monitoring data streams related to energy system control are all passed through the main control unit For analysis, processing and execution, the system relies heavily on the main control unit, resulting in increased complexity and reduced reliability of the main control unit. When a part of the energy module or the main control unit is down, it is easy to cause the system power supply and corresponding information flow to be interrupted, and the action of the actuator cannot be realized, which will cause the whole system to be paralyzed, and the safety accident of the unmanned boat out of control will occur.

Contents of the invention

The main purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and provide an unmanned boat redundant energy monitoring system and monitoring method. In order to ensure the safety and reliability of the energy supply of the system; in addition, through voltage and current measuring equipment, the working status of energy systems at different levels is monitored, and various communication methods such as satellite, wireless, wifi and network bridge are used to complete the control The return of information and the issuance of control commands to complete different levels of energy system control.

In order to achieve the above object, the present invention adopts the following technical solutions:

One aspect of the present invention provides an unmanned boat redundant energy monitoring system, including a generator monitoring module, a UPS monitoring and control module, a battery monitoring and control module, a master control unit, a power supply control unit and a communication unit;

The generator monitoring module is used to monitor generator output AC voltage, current, frequency and internal oil pressure and oil temperature information;

The UPS monitoring control module is used to collect the input and output voltage, current, and temperature information of the UPS in real time, and send them to the master control unit and the power supply control unit, and simultaneously convert the output voltage to 24V and output it to the JB1 interface of the power supply control unit ;

The battery monitoring control module is used to collect the input and output voltage and current information of the battery in real time, and send them to the master control unit and the power supply control unit, and simultaneously convert the output voltage to 18V and output it to the JB2 interface of the power supply control unit;

The master control unit collects the voltage and current status information of the generator, UPS and battery through the 485 bus and the network, and sends a generator restart command or turns off the corresponding relay to prevent Continuous abnormal charging and discharging will cause damage to the equipment, and the relevant information will be sent to the controller through the communication unit for viewing, so that the controller can judge the current energy system status, and at the same time execute the instructions issued by the controller to turn off/close the relay and restart the generator;

The power supply control unit monitors the state of the master control unit in real time through the heartbeat packet data, and realizes the control of the energy system when a problem occurs in the master control unit;

The communication unit is powered by the power supply control unit, and is used to send the information of the energy system to the control personnel, receive instructions from the control personnel, and transmit them to the corresponding control module or control unit.

As a preferred technical solution, the UPS monitoring control module includes: a communication device, a voltage conversion device, an input and output relay, a current limiting safety input and output device, an input voltage and current monitoring circuit, an output voltage and current monitoring circuit, and a temperature monitoring circuit;

The communication device is used to receive instructions sent by the master control unit, the power supply control unit, or wifi or network bridge connection equipment;

The voltage conversion device is used to convert the input voltage into the voltage required for output;

The input and output relays are used to realize the on-off action of the input and output lines of the UPS;

The current limiting safety input and output device is used to realize the current limiting of UPS input and output;

The input voltage and current monitoring circuit uses a rectifier and a voltage stabilizing capacitor to convert the AC voltage into a DC voltage, uses a Hall sensor and an amplifier to convert the AC current into a voltage signal, and then outputs the voltage signal to the AD sampling terminal to uniformly convert the voltage signal into The digital code that can be recognized by the master control unit is sent to the 485 bus for real-time monitoring of the input voltage and current;

The output voltage and current monitoring circuit uses a current measuring resistor to convert the current into a voltage, and through the AD sampling terminal, the voltage signal is uniformly converted into a digital code that can be recognized by the master control unit and sent to the 485 bus for real-time monitoring of the output voltage and current. monitor;

The temperature monitoring circuit is used to monitor the air temperature in the UPS.

As a preferred technical solution, the input voltage and current detection circuit, the output voltage and current detection circuit and the temperature detection circuit are on the same 485 communication bus.

As a preferred technical solution, the power supply control unit communicates with the main control unit through the network. After receiving the heartbeat packet, it verifies the packet header and completes the CRC check. For the valid heartbeat packet data, compares the time data with the current time, if If the time information matches and the status byte of the main control unit is valid, it is judged whether the main control unit is working normally; under normal circumstances, the power supply control unit of the main control unit only executes the instructions of the main control unit and does not perform any other operations. The module and the battery monitoring control module send status reading instructions and the receiver returns information to realize redundant status monitoring, monitor the UPS monitoring control module and battery monitoring control module and ensure the normal power supply of the communication unit, and send abnormal information to the control personnel For it to judge the system status; it can realize redundant power supply, and the battery monitoring control module can be used as a backup power supply to realize seamless switching of the power supply when the output of the UPS monitoring control module is abnormal; in the extreme case of abnormal battery, through the internal capacitor C1 Energy storage realizes the sending of control commands without external power supply, so that the engine and UPS can complete the shutdown operation, preventing the unmanned boat from continuing to sail when it is out of control.

As a preferred technical solution, the master control unit realizes the state monitoring and start-up control of the generator through the 485 bus, and reads the data signals on the bus and the network to input the UPS monitoring control module and the battery monitoring control module, The information such as output voltage and current is monitored and controlled, and according to the current state and abnormal situation of the system, the corresponding relay action is automatically triggered, and the corresponding abnormal code is sent to realize the monitoring and control of different equipment.

As a preferred technical solution, the power supply control unit has a power input interface. When the voltage of JB1 is higher than that of JB2, D2 is cut off and powered by JB1. When JB1 has no input, D2 is turned on and powered by JB2; , The F1 self-recovery fuse is disconnected after a short circuit to realize circuit anti-reverse connection protection, and the power supply can be restored after the power supply is connected correctly.

As a preferred technical solution, the generator monitoring module is connected to the master control unit through the 485 monitoring bus, and the master control unit is connected to the generator through the 485 control bus.

As a preferred technical solution, the communication unit includes a radio communication unit, a satellite communication unit, a wifi communication unit and a network bridge communication unit.

Another aspect of the present invention provides a redundant energy control method for unmanned boats, which has three redundant power supply modes of generator, UPS and battery, and automatically controls the three redundant energy sources, including the following steps:

Determine whether the generator is working normally. If the voltage ripple is less than the predetermined value, the average voltage is greater than 200V, and the current value does not exceed the predetermined value, it is judged to be normal. Use the generator to charge the UPS monitoring and control module, otherwise the judgment is not normal, and then perform abnormal operation 1 ——Disconnect the network relay and send the exception code 0x01;

Determine whether the UPS monitoring control module is working normally. If the input voltage is 220V and the output voltage is 24V stable, and the input and output currents do not exceed the predetermined value, then it is judged normal. Use the UPS to charge the battery and supply power to the power supply control unit. If the judgment is not normal, the execution is abnormal. Operation 2—disconnect the input and output relay of the UPS monitoring control unit, and send the abnormal code 0x02;

Determine whether the battery monitoring control module is working normally. If the input 24V and the output 12V voltage are stable, and the input and output currents do not exceed the predetermined value, it is judged to be normal, and the battery is used to supply power to the power supply control unit. If it is judged to be abnormal, perform abnormal operation 3—— Disconnect the output relay of the battery monitoring control unit, rely on the energy storage in capacitor C1 to control the shutdown of the entire system, and send a shutdown command and exception code 0x03.

As a preferred technical solution, when it is determined that the generator is normal, the network relay is closed;

When it is determined that the UPS monitoring control module is normal, the network relay is closed;

When it is determined that the battery monitoring control module is normal, the network relay is closed.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

The present invention adopts the redundant power supply of generator, UPS and battery, and adopts the technical solution of redundant control by the general control and power supply control unit, which solves the technical problem that redundant power supply cannot be realized under the condition of power supply of single energy source for unmanned boats, The technical effect of realizing high reliability and redundant power supply for the unmanned boat has been achieved.

The present invention can realize multi-channel and different-level control of the energy system in a multi-mode redundant manner, thereby ensuring the security and reliability of the energy supply of the system.

The present invention monitors the working status of different levels of energy systems through voltage and current measuring equipment, and uses various communication methods such as satellite, wireless, wifi, and network bridge to complete the return of information and the issuance of control commands to complete different level of energy system control.

Description of drawings

Fig. 1 is the hardware system schematic diagram of the present invention;

Fig. 2 is the UPS monitoring control module schematic diagram among the present invention;

3 is a schematic diagram of a battery monitoring control module in the present invention;

Fig. 4 is the redundant power supply circuit of the power supply control unit in the present invention;

Fig. 5 is a flow chart of the energy system control method in the present invention.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Apparently, the described embodiments are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of this application.

Example

As shown in Figure 1, an unmanned boat energy system and safety control method provided by the present invention include a generator monitoring module, a UPS monitoring and control module, a battery monitoring and control module, a master control unit, a power supply control unit and a communication unit;

The generator monitoring module collects engine voltage, current, frequency, oil pressure, oil temperature and other information in real time, and sends them to the master control unit and the power supply control unit;

The UPS monitoring control module collects the input and output voltage, current, temperature and other information of the UPS in real time, and sends them to the master control unit and the power supply control unit, and simultaneously converts the output voltage to 24V and outputs it to the JB1 interface of the power supply control unit;

The battery monitoring control module collects information such as the input and output voltage and current of the battery in real time, and sends it to the master control unit and the power supply control unit, and simultaneously converts the output voltage to 18V and outputs it to the JB2 interface of the power supply control unit;

The master control unit sends relevant information to the control personnel to check through the general training unit for their decision-making, and at the same time executes the instructions issued by the control personnel;

The power supply control unit monitors the state of the master control unit in real time through the heartbeat packet data, and realizes the control of the energy system when a problem occurs in the master control unit; the power supply control unit has a power input interface as shown in Figure 4, and the voltage of JB1 is higher than In the case of JB2, D2 cuts off and is powered by JB1. When JB1 has no input, D2 is turned on and powered by JB2. The power supply can be restored after being correct.

Further, the master control unit collects status information such as the voltage and current of the generator, UPS and battery through the 485 bus and the network, and sends a generator restart command or shuts down the corresponding The relay is used to prevent damage to the equipment caused by continuous abnormal charge and discharge, and the relevant information is sent to the controller through the communication unit for viewing, so that the controller can judge the current energy system status, and at the same time execute the shutdown/close relay issued by the controller to restart the generator Wait for instructions.

Further, the communication unit is powered by the power supply control unit, and is used to send the information of the energy system to the control personnel, receive instructions from the control personnel, and transmit them to the corresponding control module or control unit.

Further, the UPS monitoring control module includes: a communication device, a voltage conversion device, an input and output relay, a current limiting safety input and output device, an input voltage and current monitoring circuit, an output voltage and current monitoring circuit, and a temperature monitoring circuit;

The communication device is used to receive instructions sent by the master control unit, the power supply control unit, or wifi or network bridge connection equipment;

The voltage conversion device is used to convert the input voltage into the voltage required for output;

The input and output relays are used to realize the on-off action of the input and output lines of the UPS;

The current limiting safety input and output device is used to realize the current limiting of UPS input and output;

The input voltage and current monitoring circuit uses a rectifier and a voltage stabilizing capacitor to convert the AC voltage into a DC voltage, uses a Hall sensor and an amplifier to convert the AC current into a voltage signal, and then outputs the voltage signal to the AD sampling terminal to uniformly convert the voltage signal into The digital code that can be recognized by the master control unit is sent to the 485 bus for real-time monitoring of the input voltage and current;

The output voltage and current monitoring circuit uses a current measuring resistor to convert the current into a voltage, and through the AD sampling terminal, the voltage signal is uniformly converted into a digital code that can be recognized by the master control unit and sent to the 485 bus for real-time monitoring of the output voltage and current. monitor;

The temperature monitoring circuit is used to realize the monitoring of the air temperature in the UPS;

The input voltage and current detection circuit, the output voltage and current detection circuit and the temperature detection circuit share the same 485 communication bus, which saves the serial port resources of the master control unit and realizes the realization.

Further, the power supply control unit communicates with the master control unit through the network. After receiving the heartbeat packet, it verifies the packet header and completes the CRC check. For the effective heartbeat packet data, compares the time data with the current time. If the time information matches And the status byte of the main control unit is valid, and judge whether the main control unit is working normally; under normal circumstances, the power supply control unit of the main control unit only executes the instructions of the main control unit, and does not perform any other operations; otherwise, it monitors the control module, battery The monitoring control module sends status reading instructions and the receiver returns information to realize redundant status monitoring, monitor the UPS monitoring control module and battery monitoring control module and ensure the normal power supply of the communication unit, and send abnormal information to the control personnel for their judgment System status; redundant power supply can be realized, and the battery monitoring control module can be used as a backup power supply to realize seamless switching of power supply when the output of the UPS monitoring control module is abnormal; in the extreme case of abnormal battery, it can be realized through the internal capacitor C1 energy storage The control command is sent without external power supply, so that the engine, UPS, etc. can complete the shutdown operation, and prevent the unmanned boat from continuing to sail when it is out of control

Further, the master control unit realizes the state monitoring and starting control of the generator through the 485 bus, and reads the data signals on the bus and the network to monitor the input and output voltages and Current and other information are monitored and controlled, and according to the current status and abnormal conditions of the system, the corresponding relay action is automatically triggered, and the corresponding abnormal code is sent to realize the monitoring and control of different equipment.

As shown in Figure 5, in another embodiment of the present invention, a control method for the redundant energy monitoring system of the unmanned boat is provided, and it runs in the main control unit and the power supply control unit at the same time to realize the automatic control of the energy system. control, including:

Step 1: Determine whether the generator is working normally. If the voltage ripple is less than the predetermined value, the average voltage is greater than 200V, and the current value does not exceed the predetermined value, it is judged to be normal. Use the generator to charge the UPS monitoring and control module, otherwise it is judged to be abnormal, then execute Abnormal operation 1—disconnect the network relay and send the abnormal code 0x01;

Step 2: Determine whether the UPS monitoring and control module is working normally. If the input voltage is 220V and the output 24V voltage is stable, and the input and output currents do not exceed the predetermined value, it is judged to be normal. Use the UPS to charge the battery and supply power to the power supply control unit. If it is judged to be abnormal Execute abnormal operation 2—that is, disconnect the input and output relay of the UPS monitoring control unit, and send the abnormal code 0x02;

Step 3: Determine whether the battery monitoring control module is working normally. If the input voltage is 24V and the output 12V is stable, and the input and output currents do not exceed the predetermined value, then it is judged normal. Use the battery to power the power supply control unit. If it is judged abnormal, perform abnormal operation 3 ——Disconnect the output relay of the battery monitoring control unit, rely on the energy storage in capacitor C1 to control the shutdown of the whole system, and send a shutdown command and exception code 0x03.

It should be understood that each part of the present application may be realized by hardware, software, firmware or a combination thereof. In the embodiments described above, various steps or methods may be implemented by software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques known in the art: Discrete logic circuits, ASICs with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.

Claims (6)

1. The unmanned boat redundant energy monitoring system is characterized in that it includes a generator monitoring module, a UPS monitoring and control module, a battery monitoring and control module, a master control unit, a power supply control unit and a communication unit; The generator monitoring module is used to monitor generator output AC voltage, current, frequency and internal oil pressure and oil temperature information; The UPS monitoring control module is used to collect the input and output voltage, current, and temperature information of the UPS in real time, and send them to the master control unit and the power supply control unit, and simultaneously convert the output voltage to 24V and output it to the JB1 interface of the power supply control unit The UPS monitoring control module includes: communication devices, voltage conversion devices, input and output relays, current limiting safety input and output devices, input voltage and current monitoring circuits, output voltage and current monitoring circuits, and temperature monitoring circuits; The communication device is used to receive instructions sent by the master control unit, the power supply control unit, or wifi or network bridge connection equipment; The voltage conversion device is used to convert the input voltage into the voltage required for output; The input and output relays are used to realize the on-off action of the input and output lines of the UPS; The current limiting safety input and output device is used to realize the current limiting of UPS input and output; The input voltage and current monitoring circuit uses a rectifier and a voltage stabilizing capacitor to convert the AC voltage into a DC voltage, uses a Hall sensor and an amplifier to convert the AC current into a voltage signal, and then outputs the voltage signal to the AD sampling terminal to uniformly convert the voltage signal into The digital code that can be recognized by the master control unit is sent to the 485 bus for real-time monitoring of the input voltage and current; The output voltage and current monitoring circuit uses a current measuring resistor to convert the current into a voltage, and through the AD sampling terminal, the voltage signal is uniformly converted into a digital code that can be recognized by the master control unit and sent to the 485 bus for real-time monitoring of the output voltage and current. monitor; The temperature monitoring circuit is used to realize the monitoring of the air temperature in the UPS; The battery monitoring control module is used to collect the input and output voltage and current information of the battery in real time, and send them to the master control unit and the power supply control unit, and simultaneously convert the output voltage to 18V and output it to the JB2 interface of the power supply control unit; The master control unit collects the voltage and current status information of the generator, UPS and battery through the 485 bus and the network, and sends a generator restart command or turns off the corresponding relay to prevent Continuous abnormal charging and discharging will cause damage to the equipment, and the relevant information will be sent to the controller through the communication unit for viewing, so that the controller can judge the current energy system status, and at the same time execute the instructions issued by the controller to turn off/close the relay and restart the generator; The power supply control unit monitors the state of the master control unit in real time through the heartbeat packet data, and realizes the control of the energy system when a problem occurs in the master control unit; the power supply control unit communicates with the master control unit through the network and receives the heartbeat packet Afterwards, verify the packet header, complete the CRC check, and compare the time data with the current time for the effective heartbeat packet data. If the time information matches and the general control unit shape byte is valid, it is judged whether the main control unit is working normally; Under normal circumstances, the power supply control unit only executes the instructions of the master control unit, and does not perform any other operations. Otherwise, it realizes redundant status monitoring by sending status reading instructions to the UPS monitoring control module and battery monitoring control module and returning information from the receiver. , monitor the UPS monitoring control module and battery monitoring control module and ensure the normal power supply of the communication unit, and send the abnormal information to the control personnel for them to judge the system status; it can realize redundant power supply, and the battery monitoring control module is used as a backup power supply in the UPS monitoring and control When the output of the module is abnormal, the seamless switching of the power supply can be realized; in the extreme case of abnormal battery, the internal capacitor C1 can store energy to realize the transmission of control commands without external power supply, so that the engine and UPS can complete the shutdown operation, preventing accidental Continue sailing when the manned boat is out of control; The communication unit is powered by the power supply control unit, and is used to send the information of the energy system to the control personnel, receive instructions from the control personnel, and transmit them to the corresponding control module or control unit; The unmanned boat redundant energy monitoring system has three redundant power supply modes of generator, UPS and battery, and automatically controls the three redundant energy sources. The control mode is as follows: Determine whether the generator is working normally. If the voltage ripple is less than the predetermined value, the average voltage is greater than 200V, and the current value does not exceed the predetermined value, it is judged to be normal. Use the generator to charge the UPS monitoring and control module, otherwise the judgment is not normal, and then perform abnormal operation 1 ——Disconnect the network relay and send the exception code 0x01; Determine whether the UPS monitoring control module is working normally. If the input voltage is 220V and the output voltage is 24V stable, and the input and output currents do not exceed the predetermined value, then it is judged normal. Use the UPS to charge the battery and supply power to the power supply control unit. If the judgment is not normal, the execution is abnormal. Operation 2—disconnect the input and output relay of the UPS monitoring control unit, and send the abnormal code 0x02; Determine whether the battery monitoring control module is working normally. If the input 24V and the output 12V voltage are stable, and the input and output currents do not exceed the predetermined value, it is judged to be normal, and the battery is used to supply power to the power supply control unit. If it is judged to be abnormal, perform abnormal operation 3—— Disconnect the output relay of the battery monitoring control unit, rely on the energy storage in capacitor C1 to control the shutdown of the entire system, and send a shutdown command and exception code 0x03; When it is determined that the generator is normal, the network relay is closed; When it is determined that the UPS monitoring control module is normal, the network relay is closed; When it is determined that the battery monitoring control module is normal, the network relay is closed. 2. The unmanned boat redundant energy monitoring system according to claim 1, wherein the input voltage and current detection circuit, the output voltage and current detection circuit and the temperature detection circuit are on the same 485 communication bus. 3. The redundant energy monitoring system for unmanned boats according to claim 1, wherein the master control unit realizes the state monitoring and start-up control of the generator through the 485 bus, and reads the data on the bus and the network Signal, monitor and control the input and output voltage and current information of UPS monitoring control module and battery monitoring control module, and according to the current status and abnormal situation of the system, automatically trigger the corresponding relay action, send the corresponding abnormal code, and realize the monitoring of different equipment Monitor control. 4. The redundant energy monitoring system for unmanned boats according to claim 1, wherein the power supply control unit has a power input interface, D2 is powered by JB1 when the voltage of JB1 is higher than that of JB2, and D2 is powered by JB1 when there is no input. The conduction is powered by JB2; when the positive and negative connections of the JB1 power supply are reversed, the F1 self-recovery fuse will be disconnected after a short circuit to realize the circuit anti-reverse connection protection, and the power supply can be restored after the power supply is connected correctly. 5. The redundant energy monitoring system for unmanned boats according to claim 1, wherein the generator monitoring module is connected to the master control unit through the 485 monitoring bus, and the master control unit is connected to the generator through the 485 control bus . 6. The redundant energy monitoring system for unmanned boat according to claim 1, wherein the communication unit includes a radio communication unit, a satellite communication unit, a wifi communication unit and a bridge communication unit.

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