A multi-mode trigger switch system for underwater robots

Abstract

The present invention relates to a multi-mode trigger switch system for an underwater robot, including a trigger switch directly excited by an external DC power supply, a trigger switch excited by a photodiode receiving an external light source, and a system IO trigger-off multiple trigger modes. The present invention focuses on the trigger switch mode of a photodiode receiving an external light source, and places a silicon photocell inside the antenna of the underwater robot. When the photodiode receives irradiation from an external light source, the silicon photocell generates an electromotive force, which, through a corresponding amplification circuit, triggers the switching of a relay, thereby turning the underwater robot on and off. The present invention can quickly turn the underwater robot on and off, is stable and reliable, is easy to operate, and is low in cost. There is no need to disassemble the underwater robot, which reduces labor intensity and saves a lot of time costs.

Description

Technical Field

[0001] The invention belongs to the field of underwater robots, in particular to a multi-mode trigger switch system for underwater robots. Background Art

[0002] With the development of technologies such as microelectronics, computers, and artificial intelligence, as well as the urgent need for ocean exploration, underwater robots, as an important tool, have developed rapidly. At present, underwater robots usually use contact switches to turn the power on and off. The switch is sealed inside the underwater robot through a sealed end cover, and the sealed end cover is fixed to the body by screws. Each time the power is turned on and off, the sealed end cover needs to be opened first and the umbilical cable inserted. This method has several shortcomings: first, it is cumbersome to operate; second, frequent disassembly will inevitably reduce the reliability of the sealed end cover; third, it is easy to cause electric sparks when the power is turned on. Summary of the invention

[0003] Based on the defects and shortcomings of the above-mentioned prior art, the present invention provides a multi-mode trigger switch system for an underwater robot. The system solves the trouble of repeatedly disassembling the sealing end cover, avoids the problems of sealing reliability caused by repeated disassembly, and makes the power on and off of the underwater robot simpler and more convenient.

[0004] The technical solution adopted by the present invention to achieve the above-mentioned purpose is:

[0005] A multi-mode trigger switch system for an underwater robot comprises: a laser light source, two silicon photocells and a switch circuit, wherein the silicon photocell is arranged in an antenna of the underwater robot, the antenna is provided with a light-transmitting window, the laser light source is arranged near the antenna and irradiates the silicon photocell in the antenna, the switch circuit is arranged in the body of the underwater robot and is electrically connected to the silicon photocell, and when the laser light source irradiates the silicon photocell in the antenna respectively, the power supply path is triggered to be opened or closed.

[0006] The switch system comprises a light source light-sensitive opening branch and a light source light-sensitive closing branch;

[0007] The light source photosensitivity opening branch includes a first silicon photocell DC1, a transistor Q1, an operational amplifier U1, and a control signal input end of a magnetic latching relay K2, which are connected in sequence. When the first silicon photocell DC1 is irradiated by a laser light source, the transistor Q1 is controlled to conduct and output a voltage signal representing opening. The voltage signal amplified by the operational amplifier U1 is connected to the control signal input end of the magnetic latching relay K2, so that a path is established between the power collection end and the output end of the magnetic latching relay K2 to supply power to the load.

[0008] The light source photosensitivity shutdown branch includes a second silicon photocell DC2, a transistor Q2, an operational amplifier U1, and a control signal input end of a magnetic latching relay K2 which are connected in sequence. When the second silicon photocell DC2 is irradiated by a laser light source, the transistor Q2 is controlled to conduct and output a voltage signal representing shutdown. After being put through the operational amplifier U1, the signal is connected to the control signal input end of the magnetic latching relay K2, so that the path between the power collection end and the output end of the magnetic latching relay K2 is disconnected, and power supply to the load is stopped.

[0009] It also includes a DC excitation opening branch and a DC excitation closing branch;

[0010] The DC excitation opening branch includes a DC power direct excitation terminal ON / AUV1 as an opening signal connected to the control signal input terminal of the magnetic latching relay K2 through a wire, so that a path is established between the power acquisition terminal and the output terminal of the magnetic latching relay K2 to supply power to the load.

[0011] The DC excitation shutdown branch includes a DC power direct excitation terminal OFF / AUV3 as a shutdown signal connected to the control signal input terminal of the magnetic latching relay K2 through a wire, so that the path between the power acquisition terminal and the output terminal of the magnetic latching relay K2 is disconnected, and power supply to the load is stopped.

[0012] It also includes an IO trigger closing branch, including: an IO trigger terminal OFF / AUV1, a transistor Q3, and a solid-state relay K1 connected in sequence as a closing signal, and an output terminal of the solid-state relay K1 is connected to a control signal input terminal of a magnetic latching relay K2 through a wire, so that the path between the power collection terminal and the output terminal of the magnetic latching relay K2 is disconnected, and power supply to the load is stopped.

[0013] The wavelength of the laser light source is 650 nm.

[0014] The laser light source is also connected to an external switch for triggering the light source to turn on or off.

[0015] The transistors Q1 and Q2 are germanium transistors, and the transistor Q3 is a silicon transistor.

[0016] The light-transmitting window is made of organic glass.

[0017] One end of the first silicon photocell DC1 is connected to the base of the transistor Q1, and the other end is connected to the GND end of the 24V DC power supply. The emitter of the transistor Q1 is connected to the GND end of the 24V DC power supply through the resistor R1. The emitter of the transistor Q1 is also connected to the 5th pin of the operational amplifier U1.

[0018] One end of the second silicon photocell DC2 is connected to the base of the transistor Q2, and the other end is connected to the GND end of the 24V DC power supply. The emitter of the transistor Q2 is connected to the GND end of the 24V DC power supply through the resistor R1. The emitter of the transistor Q2 is also connected to the third pin of the operational amplifier U1.

[0019] Pin 6 of the operational amplifier U1 is connected to the 24V DC power supply GND terminal through a resistor R10, a resistor R9 is connected between pins 7 and 6, and connected to the 24V DC power supply GND terminal, pin 7 of the operational amplifier U1 is also connected to the ON / AUV1 terminal through a terminal P1, pin 2 of the operational amplifier U1 is connected to the 24V DC power supply GND terminal through a resistor R12, a resistor R1 is connected between pins 2 and 1, and pin 1 of the operational amplifier U1 is also connected to the OFF / AUV3 terminal through a terminal P2;

[0020] Pins 9 and 10 of the magnetic latching relay K2 are connected to the GND terminal of the 24V DC power supply, the 6-pin connection terminal P1 receives the light source light-sensitive trigger signal representing the opening, the 3-pin connection terminal P2 receives the light source light-sensitive trigger signal representing the closing, a diode D2 is connected between pins 6 and 10, and a diode D1 is connected between pins 3 and 9. Pins 4 and 5 of the magnetic latching relay K2 are connected to the positive pole BAT+ of the 24V DC power supply as the power input terminal, and pins 1 and 8 are connected to the load as the power output terminal to output +24V.

[0021] The solid-state relay K1 includes a light-emitting diode and a transistor. The P pole of the light-emitting diode is connected to the collector of the transistor Q3 through a resistor R7, and the P pole is also connected to a +5V power supply. The N pole of the light-emitting diode is connected to the collector of the transistor Q3 through a resistor R8. The emitter of the transistor Q3 is connected to the GND terminal of the +5V DC power supply, and the base is connected to the OFF / AUV1 terminal through a resistor R6. A resistor R5 is connected between the emitter and base of the transistor Q3. The emitter of the transistor of the solid-state relay K1 is connected to the OFF / AUV3 terminal, and the collector of the transistor is connected to a 24V power supply.

[0022] The present invention has the following beneficial effects and advantages:

[0023] 1. The multi-mode trigger switch system of the present invention has multiple triggering modes, which can turn the power on and off of the robot in the water, avoiding the work of recovering the robot and removing the end cover. The power on and off of the underwater robot can be controlled by irradiating different silicon photocells with an external light source, which greatly improves the work efficiency. At the same time, the external DC power supply direct excitation trigger switch mode and the system IO trigger shutdown mode are retained to ensure the system reliability.

[0024] 2. The multi-mode trigger switch system of the present invention does not require an operator to touch the switch, thereby improving system safety.

[0025] 3. The light-controlled switch of the present invention uses two silicon photocells to control the on and off of the underwater robot, thereby ensuring the reliability of the circuit on and off.

[0026] 4. The multi-mode trigger switch system of the present invention has strong adaptability and good versatility and can be installed in various underwater robots.

[0027] 5. The multi-mode trigger switch system of the present invention is simple and compact. The light-transmitting window of the antenna is made of organic glass, which is used for the laser light source to illuminate the silicon photocell and to clearly see the position of the silicon photocell used for power on and off. It is only necessary to place the silicon photocell used for power on and off on both sides of the antenna, and the rest of the components can be placed inside the shell of the underwater robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the present invention;

[0029] Figure 2 It is a schematic diagram of the switch circuit of the present invention. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation method of the present invention is described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the invention, so the present invention is not limited by the specific implementation disclosed below.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0032] like Figure 1 The structure diagram of the present invention is shown in FIG. The present invention is a multi-mode trigger switch system for an underwater robot, which is composed of an external light source, a silicon photocell and a switch circuit.

[0033] The silicon photocell is a semiconductor device that directly converts light energy into electrical energy and is a rectifying photoelectric element. It has a large-area PN junction. When light irradiates the PN junction, an electromotive force is generated at both ends of the PN junction, and a certain current and voltage can be output between the electrodes. The silicon photocell has a wide spectral response and is particularly suitable for various optical instruments operating in the spectral range of 300nm to 1000nm. It has a high sensitivity to red light, a small device size, stable and reliable performance, and a simple and flexible circuit design.

[0034] Two silicon photocells used for turning power on and off are placed inside the antenna and on both sides respectively. The light-transmitting window opened in the antenna is made of plexiglass. When the laser emitted by the laser light source shines through the glass window onto the silicon photocell used for turning on, the switch circuit is controlled to turn on to supply power to the load. When the laser emitted by the laser light source shines through the glass window onto the silicon photocell used for turning off, the switch circuit is controlled to turn off to supply power to the load.

[0035] The switch circuit is composed of germanium triode, silicon triode, operational amplifier, solid-state relay, miniature sealed magnetic latching relay, etc. The switch circuit is installed inside the underwater robot, and the antenna is installed on the body of the underwater robot and sealed by an O-ring to ensure the sealing of the antenna and the body.

[0036] In this embodiment, the wavelength of the laser light source is 650nm, the receiving surface of the silicon photocell is a 3*3mm photosensitive diode, and the transistors Q1 and Q2 are germanium transistors with a model of 3BX31B. The transistor Q3 is a silicon transistor with a model of C8050. The operational amplifier U1 is LM358. The model of the solid-state relay K1 is AQY212GH. The model of the magnetic latch K2 is JMC-153M / 24V. The models of the diodes D1 and D2 are IN4148. R7 is 100kΩ, the resistors R9 and R11 are 10kΩ, the resistors R1, R2, R5, and R6 are 1kΩ, the resistors R10 and R12 are 500Ω, and the resistor R8 is 470Ω.

[0037] One end of the first silicon photocell DC1 is connected to the base of the transistor Q1, and the other end is connected to the GND end of the 24V DC power supply. The emitter of the transistor Q1 is connected to the GND end of the 24V DC power supply through the resistor R1. The emitter of the transistor Q1 is also connected to the 5th pin of the operational amplifier U1.

[0038] One end of the second silicon photocell DC2 is connected to the base of the transistor Q2, and the other end is connected to the GND end of the 24V DC power supply. The emitter of the transistor Q2 is connected to the GND end of the 24V DC power supply through the resistor R1. The emitter of the transistor Q2 is also connected to the third pin of the operational amplifier U1.

[0039] Pin 6 of the operational amplifier U1 is connected to the GND terminal of the 24V DC power supply through a resistor R10, a resistor R9 is connected between pins 7 and 6 and connected to the GND terminal of the 24V DC power supply, pin 7 of the operational amplifier U1 is also connected to the ON / AUV1 terminal through terminal P1, pin 2 of the operational amplifier U1 is connected to the GND terminal of the 24V DC power supply through a resistor R12, a resistor R1 is connected between pins 2 and 1, and pin 1 of the operational amplifier U1 is also connected to the OFF / AUV3 terminal through terminal P2.

[0040] The solid-state relay K1 includes a light-emitting diode and a transistor. The P pole of the light-emitting diode is connected to the collector of the transistor Q3 through a resistor R7, and the P pole is also connected to a +5V power supply. The N pole of the light-emitting diode is connected to the collector of the transistor Q3 through a resistor R8. The emitter of the transistor Q3 is connected to the GND terminal of the +5V DC power supply, and the base is connected to the OFF / AUV1 terminal through a resistor R6. A resistor R5 is connected between the emitter and base of the transistor Q3. The emitter of the transistor of the solid-state relay K1 is connected to the OFF / AUV3 terminal, and the collector of the transistor is connected to a 24V power supply.

[0041] Pins 9 and 10 of the magnetic latching relay K2 are connected to the GND terminal of the 24V DC power supply, pin 6 is connected to terminal P1 (light source light-sensitive trigger terminal as the opening signal), ON / AUV1 terminal (direct DC power supply excitation terminal as the opening signal), pin 3 is connected to terminal P2 (light source light-sensitive trigger terminal as the closing signal), OFF / AUV3 terminal (direct DC power supply excitation terminal as the closing signal), solid-state relay transistor terminal (IO trigger terminal as the closing signal), diode D2 is connected between pins 6 and 10, and diode D1 is connected between pins 3 and 9. Pins 4 and 5 of the magnetic latching relay K2 are connected to the positive pole BAT+ of the 24V DC power supply as the power input terminal, and pins 1 and 8 are connected to the +24V output terminal of the power supply to connect to the load.

[0042] like Figure 2 The schematic diagram of the switch circuit of the present invention is shown. When the underwater robot needs to power the system, there are two ways. The first way is to directly connect a 12V-32V DC power supply at ON / AUV1 to directly excite the magnetic latching relay coil. The second way is to use an external light source close to the antenna to illuminate the silicon photocell DC1. The voltage across the silicon photocell under natural light is about 0.2-0.3V. After irradiation, the voltage across the silicon photocell DC1 rises to about 0.6-0.7V. This voltage is input from the 5th pin of the operational amplifier U1. Due to the configuration of resistors R9 and R10, the voltage of the silicon photocell DC1 can reach 12.6-14.7V after 21 times amplification. It is output from the 7th pin of the operational amplifier U1 and connected to the 6th pin of the magnetic latching relay K2. The voltage difference between the 6th pin and the 9th pin of the relay K2 is 12.6-14.7V. The 1st pin and the 5th pin and the 4th pin and the 8th pin of the magnetic latching relay K2 are connected. The power supply voltage BAT+ is connected to the circuit to power the underwater robot.

[0043] When the autonomous underwater robot needs to be powered off, there are three ways to do it. The first way is to directly connect a 12V-32V DC power supply to OFF / AUV3 to directly excite the coil of the magnetic latching relay K2, trigger the relay to operate, and shut down the system power supply. The second way is to generate a high-level IO signal inside the system and connect it to OFF / AUV1, and introduce a 24V voltage through the corresponding solid-state relay K1 peripheral circuit to connect to the 3 pin of the magnetic latching relay K2, trigger the relay to operate, and shut down the system power supply. The third method is to use an external light source close to the antenna to illuminate the silicon photocell DC2. Under natural light conditions, the voltage across the silicon photocell is about 0.2~0.3V. After illumination, the voltage across the silicon photocell DC2 rises to about 0.6~0.7V. This voltage is input from pin 3 of the operational amplifier U1. Due to the configuration of resistors R11 and R12, the voltage of the silicon photocell DC2 is amplified 21 times to reach 12.6~14.7V. It is output from pin 1 of the operational amplifier U2 and connected to pin 3 of the magnetic latching relay K2. The voltage difference between pins 3 and 10 of relay K2 is 12.6~14.7V. Pins 2 and 5 and pins 4 and 7 of the magnetic latching relay K2 are connected, and the power supply voltage BAT+ is disconnected from the circuit to cut off the power to the underwater robot.

[0044] The invention is suitable for occasions where the overall power supply and power off or overall circuit on-off control is performed on underwater robots or other equipment working in a liquid environment.

[0045] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should be regarded as within the scope of protection of the present invention.

Claims

1. A multi-mode trigger switch system for an underwater robot, characterized in that: include: A laser light source, two silicon photocells and a switch circuit, wherein the silicon photocell is arranged in an antenna of the underwater robot, the antenna is provided with a light-transmitting window, the laser light source is arranged near the antenna and irradiates the silicon photocell in the antenna, the switch circuit is arranged in the body of the underwater robot and is electrically connected to the silicon photocell, and when the laser light source irradiates the silicon photocell in the antenna respectively, the power supply path is triggered to be opened or closed; The switch system comprises a light source light-sensitive opening branch and a light source light-sensitive closing branch; The light source photosensitivity opening branch includes a first silicon photocell DC1, a transistor Q1, an operational amplifier U1, and a control signal input end of a magnetic latching relay K2, which are connected in sequence. When the first silicon photocell DC1 is irradiated by a laser light source, the transistor Q1 is controlled to conduct and output a voltage signal representing opening. The voltage signal amplified by the operational amplifier U1 is connected to the control signal input end of the magnetic latching relay K2, so that a path is established between the power collection end and the output end of the magnetic latching relay K2 to supply power to the load. The light source photosensitivity shutdown branch includes a second silicon photocell DC2, a transistor Q2, an operational amplifier U1, and a control signal input end of a magnetic latching relay K2, which are connected in sequence. When the second silicon photocell DC2 is irradiated by a laser light source, the transistor Q2 is controlled to conduct and output a voltage signal representing shutdown, which is then connected to the control signal input end of the magnetic latching relay K2 after being put through the operational amplifier U1, so that the path between the power collection end and the output end of the magnetic latching relay K2 is disconnected, and power supply to the load is stopped; It also includes a DC excitation opening branch and a DC excitation closing branch; The DC excitation opening branch includes a DC power supply direct excitation terminal ON / AUV1 as an opening signal connected to the control signal input terminal of the magnetic latching relay K2 through a wire, so that a path is established between the power acquisition terminal and the output terminal of the magnetic latching relay K2 to supply power to the load; The DC excitation shutdown branch includes a DC power direct excitation terminal OFF / AUV3 as a shutdown signal connected to the control signal input terminal of the magnetic latching relay K2 through a wire, so that the path between the power acquisition terminal and the output terminal of the magnetic latching relay K2 is disconnected, and power supply to the load is stopped.

2. The multi-mode trigger switch system for an underwater robot according to claim 1, characterized in that: It also includes an IO trigger closing branch, including: an IO trigger terminal OFF / AUV1, a transistor Q3, and a solid-state relay K1 connected in sequence as a closing signal, and an output terminal of the solid-state relay K1 is connected to a control signal input terminal of a magnetic latching relay K2 through a wire, so that the path between the power collection terminal and the output terminal of the magnetic latching relay K2 is disconnected, and power supply to the load is stopped.

3. The multi-mode trigger switch system for an underwater robot according to claim 1, characterized in that: The wavelength of the laser light source is 650 nm.

4. The multi-mode trigger switch system for an underwater robot according to claim 1, characterized in that: The laser light source is also connected to an external switch for triggering the light source to turn on or off.

5. The multi-mode trigger switch system for an underwater robot according to claim 1, characterized in that: The transistors Q1 and Q2 are germanium transistors, and the transistor Q3 is a silicon transistor.

6. The multi-mode trigger switch system for an underwater robot according to any one of claims 1 to 5, characterized in that: The light-transmitting window is made of organic glass.

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