Power protection circuit, power supply device and underwater robot equipment

Abstract

The present application relates to a power protection circuit, a power supply device and an underwater robot device. The power protection circuit includes: a normal discharge module, a pre-discharge module, a detection module and a discharge control module. The pre-discharge module is arranged in parallel with the normal discharge module. The detection module is used to identify the docking status between the DC output unit and the electrical load and generate an identification signal. The discharge control module is electrically connected to the detection module and obtains the identification signal. The discharge control module is electrically connected to the pre-discharge module and is used to switch the pre-discharge module between a connected state and a disconnected state. The discharge control module is also used to electrically connect to the electrical load and obtain a ready signal of the electrical load. The discharge control module is also electrically connected to the normal discharge module and is used to switch the normal discharge module between a connected state and a disconnected state, thereby preventing the contact between the DC output unit and the electrical load from being damaged due to the occurrence of instantaneous large currents.

Description

Technical Field

[0001] The present application relates to the technical field of underwater robots, and in particular to a power protection circuit, a power supply device, and underwater robot equipment. Background Art

[0002] Underwater robots are robots designed for extreme underwater operations. Due to the harsh and dangerous underwater environment and the limited depth of human diving, underwater robots have become an important tool for ocean development. They can also provide early detection and construction monitoring in underwater projects.

[0003] Underwater robots contain electrical components that perform detection, computation, and electric drive operations. These components are powered by a DC power supply, such as a battery or a DC transmission cable. When connecting the electrical components to the DC power supply, high currents can flow through the terminals, potentially damaging them due to high temperatures. Summary of the Invention

[0004] Based on this, the present invention provides a power protection circuit, a power supply device and an underwater robot equipment that can solve or at least alleviate the above technical problems.

[0005] A power protection circuit, comprising:

[0006] Normal discharge module, used to form the same circuit with DC output unit and electrical load;

[0007] a pre-discharge module, arranged in parallel with the normal discharge module; the resistance value of the pre-discharge module in a connected state is greater than the resistance value of the normal discharge module in a connected state;

[0008] a detection module, configured to identify the docking status between the DC output unit and the electrical load and generate an identification signal; and

[0009] a discharge control module, electrically connected to the detection module and acquiring an identification signal; the discharge control module is electrically connected to the pre-discharge module and used to switch the pre-discharge module between a connected state and a disconnected state; the discharge control module is also electrically connected to the electrical load and acquiring a ready signal of the electrical load; the discharge control module is also electrically connected to the normal discharge module and used to switch the normal discharge module between a connected state and a disconnected state.

[0010] In the above-mentioned power supply protection circuit, before the DC output unit is fully connected to the electrical load, the circuit where the DC output unit and the electrical load are located cannot form a path. After the DC output unit is fully connected to the electrical load, and before the voltage of the capacitor part of the electrical load rises to the minimum working voltage, only the pre-discharge module with a larger resistance value is connected. The pre-discharge module plays a current limiting role, avoiding the instantaneous large current in the connected circuit due to the voltage clamping effect of the capacitor part of the electrical load, and preventing the contact between the DC output unit and the electrical load from being damaged by the instantaneous large current. After the voltage of the capacitor part of the electrical load rises to the minimum working voltage, the voltage at both ends of the electrical load is close to the output voltage of the DC output unit. At this time, the electrical load enters the working state and generates a ready signal, which can automatically connect the normal discharge module under the action of the discharge control module, and enable the DC output unit to output a large current to the electrical load.

[0011] In one embodiment, the normal discharge module includes a first flow branch and a first control branch; the first flow branch is used to be connected in series with the DC output unit and the electrical load in the same circuit; the first control branch is electrically connected between the first flow branch and the discharge control module.

[0012] In one embodiment, the first current-passing branch includes an electronic switching element Q1; one current-passing end of the electronic switching element Q1 is used to be electrically connected to the electrical load, and the other current-passing end of the electronic switching element Q1 is used to be electrically connected to the DC output unit; the first control branch includes a diode D1; the anode of the diode D1 is electrically connected to the discharge control module; and the cathode of the diode D1 is electrically connected to the control end of the electronic switching element Q1.

[0013] In one embodiment, the pre-discharge module includes a second flow branch and a second control branch; the second flow branch is arranged in parallel with the normal discharge module; and the second control branch is electrically connected between the second flow branch and the discharge control module.

[0014] In one embodiment, the second current-passing branch includes an electronic switch element Q2 and a resistor R1; the second control branch includes a diode D2; the anode of the diode D2 is electrically connected to the discharge control module; the cathode of the diode D2 is electrically connected to the control end of the electronic switch element Q2; the electronic switch element Q2 and the resistor R1 are used to be connected in series with the loop where the DC output unit and the electrical load are located.

[0015] In one embodiment, the detection module includes a pull-up branch, a first detection branch and a second detection branch; the pull-up branch is electrically connected between the discharge control module and the positive pole of the power supply; one end of the first detection branch is electrically connected to the pull-up branch, and the other end is used to be electrically connected to the electrical load; one end of the second detection branch is grounded, and the other end is used to be electrically connected to the electrical load.

[0016] In one embodiment, the pull-up branch includes a resistor R2 and a resistor R3; the resistors R2 and R3 are connected in series between the discharge control module and the positive electrode of the power supply; the first detection branch includes a diode D3; the anode of the diode D3 is electrically connected to the node between the resistors R2 and R3, and the cathode of the diode D3 is used to be electrically connected to the electrical load; the second detection branch includes a resistor R4; one end of the resistor R4 is grounded, and the other end of the resistor R4 is used to be electrically connected to the electrical load.

[0017] In one embodiment, it further includes a first connector; the first connector is provided with a plurality of terminals; the discharge control module is provided with a communication pin; the other end of the first detection branch, the other end of the second detection branch and the communication pin are respectively connected to the terminals of the first connector.

[0018] A power supply device comprises a power supply protection circuit and a DC output unit electrically connected to the power supply protection circuit.

[0019] An underwater robot device includes a power supply device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the structure of a power supply device according to an embodiment of the present application.

[0021] Figure 2 for Figure 1 Schematic diagram of the structure of the normal discharge module in the power supply device shown.

[0022] Figure 3 for Figure 1 The schematic diagram of the structure of the pre-discharge module in the power supply device shown.

[0023] Figure 4 for Figure 1 The schematic diagram of the structure of the detection module in the power supply device shown is shown.

[0024] Figure 5 for Figure 1 A diagram showing the correspondence between the first connector and the second connector in the power supply device.

[0025] Figure numerals: 20, electrical load; 21, second connector; 30, power supply device; 40, DC output unit; 50, power protection circuit; 51, normal discharge module; 52, pre-discharge module; 53, detection module; 54, discharge control module; 55, first connector. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the technical solution of this application in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0027] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, integrated connections, mechanical connections, electrical connections, direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0029] The technical solutions provided by the embodiments of the present application are described below with reference to the accompanying drawings.

[0030] The present application provides an underwater robot device.

[0031] In some embodiments, the underwater robotic device is used to perform underwater operations. Specifically, the underwater robotic device can be used to measure the underwater environment and determine its spatial morphology. The underwater robotic device can also be used to detect the surface morphology of underwater structures or the bottom of the water.

[0032] In some embodiments, combined Figure 1As shown, the underwater robot device includes a host device and a power supply device 30. The power supply device 30 is used to power the electrical load 20. The host device is the main body of the underwater robot device. The power supply device 30 is used to power the host device. Specifically, the host device includes a housing and is mounted on the electrical load 20. Specifically, the electrical load 20 includes an electric drive device, a host control chip, or other devices that require electrical energy. More specifically, the electrical load 20 also includes a robotic arm, detection sensors, or electronic components. In some embodiments, the host control chip is used to control the operation of other major electrical components of the electrical load 20.

[0033] In some embodiments, the electrical load 20 includes a plurality of capacitive elements, which form the capacitive portion of the electrical load 20. In some embodiments, from the perspective of the flow of the supply current, the electrical load 20 can be viewed as a two-terminal device, with the plurality of capacitive elements connected in series or in parallel between the two terminals of the two-terminal device.

[0034] In some embodiments, in terms of mechanical structure, the power supply device 30 is detachably connected to the host device to facilitate replacement of the power supply device 30 from the host device.

[0035] Combine Figures 1 to 5 As shown, the present application also provides a power supply device 30.

[0036] In some embodiments, combined Figures 1 to 3 As shown, the power supply device 30 includes a positive electrode PACK+ and a negative electrode PACK-. The electrical load 20 is electrically connected between the positive electrode PACK+ and the negative electrode PACK-.

[0037] In some embodiments, combined Figure 1 As shown, the power supply device 30 includes a DC output unit 40 and a power protection circuit 50. The DC output unit 40 is capable of outputting DC power. The power protection circuit 50 is electrically connected to the DC output unit 40. Specifically, the DC power output by the DC output unit 40 is used to power the electrical load 20.

[0038] Specifically, combined Figures 1 to 3 As shown, the DC output unit 40 has a positive electrode and a negative electrode BAT-. In some embodiments, the positive electrode of the DC output unit 40 is electrically connected to the positive electrode PACK+ of the power supply device 30. The negative electrode BAT- of the DC output unit 40 is electrically connected to the power protection circuit 50.

[0039] In some embodiments, the DC output unit 40 is capable of converting chemical energy into DC electrical energy for release. In some embodiments, the DC output unit 40 is a single energy storage device. The energy storage device includes at least a battery, a lithium battery, or a supercapacitor. In other embodiments, the DC output unit 40 is a combined energy storage device. The combined energy storage device includes at least a battery pack. Furthermore, the battery pack includes a plurality of battery cells connected in series or in parallel. In other embodiments, the DC output unit 40 is a DC transmission cable electrically connected to an external power source.

[0040] Specifically, combined Figure 1 As shown, the power protection circuit 50 is used to be connected in series with the DC output unit 40 and the electrical load 20 in the same loop. When the only disconnected position in the loop becomes connected, due to the presence of a capacitor in the electrical load 20 and the voltage clamp of the capacitor at zero, a large current will appear in the loop for a short period of time, which may cause impact or interference to other electrical devices in the electrical load 20. At the same time, at the last connected position in the loop, since the contact may not yet be stable, a large resistance may be generated in an instant. Combined with the large current appearing in a short period of time, it may cause high temperature to appear at the last connected position, causing damage. When the only disconnected position in the loop becomes connected, the power protection circuit 50 is used to limit the occurrence of large current to prevent the last connected position from being damaged by high temperature. When the voltage of the electrical load 20 rises to a stable state, the power protection circuit 50 contacts the current in the loop, allowing the DC output unit 40 to output a large amount of power to the power protection circuit 50.

[0041] The present application also provides a power protection circuit 50 .

[0042] In some embodiments, combined Figure 1 As shown, the power protection circuit 50 includes a normal discharge module 51, a pre-discharge module 52, a detection module 53, and a discharge control module 54. The normal discharge module 51 is configured to form a common electrical circuit with the DC output unit 40 and the electrical load 20. The pre-discharge module 52 is connected in parallel with the normal discharge module 51. When connected, the resistance of the pre-discharge module 52 is greater than the resistance of the normal discharge module 51. The detection module 53 is configured to identify the connection status between the DC output unit 40 and the electrical load 20 and generate an identification signal. The discharge control module 54 is electrically connected to the detection module 53 and receives the identification signal. The discharge control module 54 is electrically connected to the pre-discharge module 52 and is configured to switch the pre-discharge module 52 between a connected and disconnected state. The discharge control module 54 is also configured to electrically connect to the electrical load 20 and receive a ready signal from the electrical load 20. The discharge control module 54 is also electrically connected to the normal discharge module 51 and is configured to switch the normal discharge module 51 between a connected and disconnected state.

[0043] Specifically, before the contact between the DC output unit 40 and the electrical load 20 is fully docked, the detection module 53 does not output an identification signal. In the absence of an identification signal, the discharge control module 54 places the pre-discharge module 52 in a disconnected state. At the same time, in the case where the electrical load 20 does not receive power from the DC output unit 40, the electrical load 20 cannot enter the working state and generate a ready signal. In the absence of a ready signal, the discharge control module 54 places the normal discharge module 51 in a disconnected state. After the DC output unit 40 and the electrical load 20 are fully docked, the detection module 53 sends an identification signal after determining that the DC output unit 40 and the electrical load 20 are stably docked. After obtaining the identification signal, the discharge control module 54 switches the pre-discharge module 52 to a connected state. Since the resistance value of the pre-discharge module 52 is relatively large, the output current of the DC output unit 40 to the electrical load 20 is limited. This current charges the capacitive part of the electrical load 20, and the voltage of the capacitive part of the electrical load 20 gradually rises. Before the voltage of the capacitor part of the electrical load 20 rises to the minimum operating voltage, the electrical load 20 cannot enter the working state and generate a ready signal, and the normal discharge module 51 remains in the disconnected state. After the voltage of the capacitor part of the electrical load 20 rises to the minimum operating voltage, the electrical load 20 enters the working state and generates a ready signal. When the ready signal is obtained, the discharge control module 54 switches the normal discharge module 51 to the connected state. Since the resistance value of the normal discharge module 51 is relatively small, the resistance value of the parallel branch of the normal discharge module 51 and the pre-discharge module 52 is less than the resistance value of the normal discharge module 51, thereby releasing the output current limit of the DC output unit 40 to the electrical load 20. Therefore, before the DC output unit 40 is fully connected to the electrical load 20, the circuit where the DC output unit 40 and the electrical load 20 are located cannot form a path. After the DC output unit 40 is fully connected to the electrical load 20, and before the voltage of the capacitor portion of the electrical load 20 rises to the minimum operating voltage, only the pre-discharge module 52 with a larger resistance is connected. The pre-discharge module 52 acts as a current limiter to prevent the voltage clamping effect of the capacitor portion of the electrical load 20 from causing a transient high current in the connected circuit, thereby preventing damage to the contact between the DC output unit 40 and the electrical load 20 due to the transient high current. After the voltage of the capacitor portion of the electrical load 20 rises to the minimum operating voltage, the voltage across the electrical load 20 approaches the output voltage of the DC output unit 40. At this time, the electrical load 20 enters the working state and generates a ready signal. The normal discharge module 51 can then be automatically connected under the action of the discharge control module 54, allowing the DC output unit 40 to output a large current to the electrical load 20.

[0044] In some implementations, the ready signal is sent by the host control chip, and the minimum operating voltage is the minimum voltage that enables the host control chip to start and operate normally.

[0045] In some embodiments, combined Figure 2 and Figure 3 As shown, the discharge control module 54 includes a power control chip. The power control chip has a control pin PWR_ON and a control pin Pre-PWR_ON. The control pin PWR_ON is used to output a control signal to the normal discharge module 51. The control pin Pre-PWR_ON is used to output a control signal to the pre-discharge module 52.

[0046] In some embodiments, combined Figure 4 As shown, the power control chip is provided with an input pin SW_ON, and the input pin SW_ON is used to receive the identification signal. In some embodiments, in combination with Figure 4 As shown, the power control chip has a power pin VDD_MCU, which is used to connect to the positive power supply. Specifically, the positive power supply can be the positive pole of the internal power supply module of the power supply device 30 or the positive pole of the external power supply module of the power supply device 30.

[0047] In some embodiments, combined Figure 2 As shown, the normal discharge module 51 includes a first flow branch and a first control branch. The first flow branch is connected in series with the DC output unit 40 and the electrical load 20 in the same circuit. The first control branch is electrically connected between the first flow branch and the discharge control module 54. Specifically, the first flow branch has an on state and an off state. The resistance of the first flow branch in the on state is lower than the resistance of the pre-discharge module 52 in the on state. The discharge control module 54 controls the state of the first flow branch via the first control branch.

[0048] In some embodiments, combined Figure 2 As shown, the first current-passing branch includes an electronic switch element Q1. One current-passing terminal of the electronic switch element Q1 is electrically connected to the electrical load 20, and the other current-passing terminal of the electronic switch element Q1 is electrically connected to the DC output unit 40. Specifically, the control terminal of the electronic switch element Q1 is connected to the discharge control module 54 via a first control branch.

[0049] In some embodiments, combined Figure 2 As shown, electronic switch element Q1 is a power field effect transistor having a drain electrically connected to electrical load 20, a source electrically connected to the negative electrode of DC output unit 40, and a gate electrically connected to the cathode of diode D1. More specifically, the drain of electronic switch element Q1 is electrically connected to the negative electrode PACK- of power supply device 30, and the source of electronic switch element Q1 is electrically connected to the negative electrode BAT- of DC output unit 40.

[0050] In some embodiments, combined Figure 2As shown, the first control branch includes a diode D1. The anode of diode D1 is electrically connected to the discharge control module 54. The cathode of diode D1 is electrically connected to the control terminal of electronic switch element Q1. Specifically, by providing diode D1 between the discharge control module 54 and the control terminal of electronic switch element Q1, it helps to maintain stable conduction of electronic switch element Q1 in the on state. More specifically, the anode of diode D1 is electrically connected to the control pin PWR_ON.

[0051] In some embodiments, combined Figure 2 As shown, the normal discharge module 51 further includes a capacitor C1. One end of the capacitor C1 is electrically connected to a current-carrying terminal of the electronic switching element Q1, and the other end of the capacitor C1 is grounded. Specifically, the capacitor C1 is used to suppress spike voltages acting on the electronic switching element Q1. More specifically, if the electronic switching element Q1 is a power field-effect transistor, one end of the capacitor C1 is electrically connected to the drain of the electronic switching element Q1.

[0052] In some embodiments, combined Figure 2 As shown, the normal discharge module 51 also includes a voltage regulator diode D4. The voltage regulator diode D4 is connected between the control terminal and the other current-passing terminal of the electronic switching element Q1 to prevent the control terminal of the electronic switching element Q1 from being subjected to excessive voltage. Specifically, the cathode of the voltage regulator diode D4 is electrically connected to the gate of the electronic switching element Q1, and the anode of the voltage regulator diode D4 is electrically connected to the source of the electronic switching element Q1.

[0053] In some embodiments, combined Figure 3 As shown, the pre-discharge module 52 includes a second flow branch and a second control branch. The second flow branch is arranged in parallel with the normal discharge module 51. The second control branch is electrically connected between the second flow branch and the discharge control module 54. Specifically, the second flow branch has an on state and an off state. The resistance of the second flow branch in the on state is greater than the resistance of the normal discharge module 51 in the on state. The discharge control module 54 controls the state of the second flow branch via the second control branch.

[0054] In some embodiments, combined Figure 3 As shown, the second current-passing branch includes an electronic switch element Q2 and a resistor R1 , which are connected in series to the loop of the DC output unit 40 and the electrical load 20 .

[0055] In one embodiment, one pass-through end of the electronic switch element Q2 is electrically connected to the electrical load 20, one end of the resistor R1 is electrically connected to the other pass-through end of the electronic switch element Q2, and the other end of the resistor R1 is electrically connected to the DC output unit 40. More specifically, one pass-through end of the electronic switch element Q2 is electrically connected to the negative electrode PACK- of the power supply device 30, and the other pass-through end of the electronic switch element Q2 is electrically connected to the negative electrode BAT- of the DC output unit 40.

[0056] In one embodiment, combined Figure 3 As shown, one end of the resistor R1 is electrically connected to the electrical load 20, the other end of the resistor R1 is electrically connected to one current-carrying end of the electronic switching element Q2, and the other current-carrying end of the electronic switching element Q2 is electrically connected to the DC output unit 40. More specifically, one end of the resistor R1 is electrically connected to the negative electrode PACK- of the power supply device 30, and the other current-carrying end of the electronic switching element Q2 is electrically connected to the negative electrode BAT- of the DC output unit 40.

[0057] In some embodiments, combined Figure 3 As shown, the second control branch includes a diode D2. The anode of diode D2 is electrically connected to the discharge control module 54. The cathode of diode D2 is electrically connected to the control terminal of electronic switch element Q2. Specifically, by providing diode D2 between the discharge control module 54 and the control terminal of electronic switch element Q2, it helps to maintain stable conduction of electronic switch element Q2 in the on state. More specifically, the anode of diode D2 is electrically connected to the control pin Pre-PWR_ON.

[0058] In some embodiments, combined Figure 3 As shown, pre-discharge module 52 further includes capacitor C2. One end of capacitor C2 is electrically connected to a current-carrying terminal of electronic switching element Q2, and the other end of capacitor C2 is grounded. Capacitor C2 is used to suppress spike voltages acting on electronic switching element Q2. More specifically, if electronic switching element Q2 is a power field-effect transistor, one end of capacitor C2 is electrically connected to the drain of electronic switching element Q2.

[0059] In some embodiments, combined Figure 3 As shown, the pre-discharge module 52 also includes a voltage regulator diode D5. The voltage regulator diode D5 is connected between the control terminal and the other current-passing terminal of the electronic switching element Q2 to prevent the control terminal of the electronic switching element Q2 from being subjected to excessive voltage. Specifically, the cathode of the voltage regulator diode D5 is electrically connected to the gate of the electronic switching element Q2, and the anode of the voltage regulator diode D5 is electrically connected to the source of the electronic switching element Q2.

[0060] In some embodiments, combined Figure 3As shown, the pre-discharge module 52 further includes a resistor R5 , which is arranged in parallel with the resistor R1 , thereby facilitating reducing the restriction on the current passing through the first current branch.

[0061] In some embodiments, combined Figure 4 As shown, the detection module 53 includes a pull-up branch, a first detection branch and a second detection branch. The pull-up branch is electrically connected between the discharge control module 54 and the positive pole of the power supply. One end of the first detection branch is electrically connected to the pull-up branch, and the other end SW+ is used to be electrically connected to the electrical load 20. One end of the second detection branch is grounded, and the other end SW- is used to be electrically connected to the electrical load 20. Specifically, when the first detection branch is electrically isolated from the second detection branch, the positive pole of the power supply transmits a high potential to the discharge control module 54 through the pull-up branch. When the first detection branch is electrically connected to the second detection branch, the second detection branch transmits a low potential to the discharge control module 54 through the first detection branch and the pull-up branch. When the contact between the DC output unit 40 and the electrical load 20 is fully connected, the first detection branch and the second detection branch are electrically connected, and therefore, the identification signal is in the form of a low level. In some embodiments, the other end SW+ of the first detection branch is short-circuited with the other end SW- of the second detection branch inside the electrical load 20, so that after the detection module 53 is connected to the electrical load 20, the detection module 53 can output a low-level identification signal to the discharge control module 54.

[0062] In some embodiments, combined Figure 4 As shown, the pull-up branch includes resistors R2 and R3. Resistors R2 and R3 are connected in series between the discharge control module 54 and the positive terminal of the power supply, allowing the positive terminal of the power supply to transmit a high level to the discharge control module 54. The node between resistors R2 and R3 is connected to one end of the first detection branch. When a low level is connected to the other end of the first detection branch, the discharge control module 54 inputs a low level. In some embodiments, resistors R2 and R3 are connected in series between the input pin SW_ON and the positive terminal of the power supply.

[0063] In some embodiments, combined Figure 4 As shown, the pull-up branch also includes resistor R6 and capacitor C3. Resistors R2, R3, and R6 are connected in series between the power pin VDD_MCU and the input pin SW_ON. The node between resistors R3 and R6 is connected to one end of capacitor C3, and the other end of capacitor C3 is grounded. Capacitor C3 stabilizes the voltage at the input pin SW_ON, making the identification signal more stable and distinguishable from other voltage levels.

[0064] In some embodiments, combined Figure 4As shown, the first detection branch includes a diode D3. The anode of diode D3 is electrically connected to the node between resistors R2 and R3, and the cathode of diode D3 is electrically connected to the electrical load 20. Specifically, diode D3 is used to prevent external voltage input and prevent reverse current from flowing into the positive electrode of the power supply.

[0065] In some embodiments, combined Figure 4 As shown, the second detection branch includes a resistor R4. One end of resistor R4 is grounded, and the other end SW- of resistor R4 is electrically connected to the electrical load 20. Specifically, by using resistor R4, the current through the second detection branch can be limited and a low potential can be transmitted to the discharge control module 54. Furthermore, the second detection branch includes a resistor R7, which is arranged in parallel with resistor R4.

[0066] In some embodiments, combined Figure 4 and Figure 5 As shown, the power protection circuit 50 also includes a first connector 55. The first connector 55 has a plurality of connection terminals. The discharge control module 54 has a communication pin. The other end SW+ of the first detection branch, the other end SW- of the second detection branch, and the communication pin are respectively connected to the corresponding terminals of the first connector 55. Therefore, when the other end SW+ of the first detection branch and the other end SW- of the second detection branch are connected to the electrical load 20, the communication pin can be connected simultaneously, which helps improve the efficiency of the electrical connection operation.

[0067] In some embodiments, combined Figure 5 As shown, the electrical load 20 is provided with a second connector 21. The second connector 21 is configured to interface with the first connector 55. The second connector 21 includes a wiring terminal CON1 and a wiring terminal CON2, which are short-circuited. One wiring terminal CON1 is configured to interface with the other end SW+ of the first detection branch, and the other wiring terminal CON2 is configured to interface with the other end SW- of the second detection branch.

[0068] In some embodiments, the discharge control module 54 and the electrical load 20 are connected via the RS-485 protocol and transmit a ready signal. The ready signal is in the form of serial data. Specifically, the first connector 55 includes a wiring terminal RS485A electrically connected to a communication pin of the discharge control module 54 and a wiring terminal RS485B electrically connected to a communication pin of the discharge control module 54. Specifically, the wiring terminal RS485A and the wiring terminal RS485B of the first connector 55 are arranged side by side, along with the other end SW+ of the first detection branch and the other end SW- of the second detection branch.

[0069] In some embodiments, the second connector 21 is provided with a terminal RS485A electrically connected to the host control chip and a terminal RS485B electrically connected to the host control chip. Specifically, the terminal RS485A, the terminal RS485B, the terminal CON1 and the terminal CON2 of the second connector 21 are arranged side by side.

[0070] In some embodiments, combined Figure 1 and Figure 4 As shown, before the power supply device 30 is connected to the electrical load 20, the positive terminal PACK+ of the power supply device 30 is electrically isolated from the positive input terminal of the electrical load 20, or the negative terminal PACK- of the power supply device 30 is electrically isolated from the negative input terminal of the electrical load 20. Furthermore, the other end SW+ of the first detection branch and the other end SW- of the second detection branch are not in contact with the wiring terminal CON1 or the wiring terminal CON2. At this time, the control pin Pre-PWR_ON outputs a low level to the control terminal of the electronic switch element Q2, disconnecting the path between the two current-carrying terminals of the electronic switch element Q2. The control pin PWR_ON outputs a low level to the control terminal of the electronic switch element Q1, disconnecting the path between the two current-carrying terminals of the electronic switch element Q1.

[0071] In some embodiments, combined Figures 3 to 5 As shown, after the power supply device 30 and the electrical load 20 are connected, the first connector 55 and the second connector 21 are simultaneously connected due to mechanical structural constraints. The other end SW+ of the first detection branch and the other end SW- of the second detection branch are electrically connected via the second connector 21. Because the resistance value of resistor R4 is much smaller than that of resistor R2, the anode of diode D3 and the input pin SW_ON of the power control chip are both at a low potential, and the identification signal is input to the input pin SW_ON of the power control chip.

[0072] In some embodiments, combined Figures 3 to 5 As shown, after the power control chip receives the identification signal, the control pin Pre-PWR_ON of the power control chip outputs a high level to the control terminal of the electronic switch element Q2, disconnecting the path between the two current-carrying terminals of the electronic switch element Q2. Under the limitation of resistor R1, the capacitor portion of the electrical load 20 gradually charges. Specifically, the time it takes for the voltage of the capacitor portion to rise to the minimum operating voltage is the delay time. More specifically, the length of the delay time depends on the values ​​of resistors R1 and R5, as well as the capacitance of the capacitor portion of the electrical load 20.

[0073] In some embodiments, combined Figure 2As shown, after the voltage across the capacitor reaches the minimum operating voltage, the host control chip of electrical load 20 outputs a ready signal to the power control chip via the RS-485 protocol. Upon receiving the ready signal, the power control chip's control pin PWR_ON outputs a high level to the control terminal of electronic switch element Q1, disconnecting the path between the two current-carrying terminals of electronic switch element Q1. This short-circuits the negative electrode PACK- of power supply device 30 and the negative electrode BAT- of DC output unit 40, facilitating the DC output unit 40's high current output to electrical load 20.

[0074] The above embodiments are merely descriptions of the preferred embodiments of the present application and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements made to the technical solutions of the present application by ordinary engineering and technical personnel in this field should fall within the scope of protection determined by the claims of the present application.

Claims

1. An underwater robot device, characterized in that: The invention comprises a host device having an electrical load and a power supply device having a power protection circuit, wherein the host device comprises an electrical load provided with a host control chip, and the power supply device is detachably connected to the host device; the power protection circuit comprises: The normal discharge module is used to form the same circuit with the DC output unit and the electrical load; the host control chip is used to control the operation of the main electrical components of the electrical load. After the voltage of the capacitor part of the electrical load rises to the minimum operating voltage, the host control chip starts to operate normally and generates a ready signal; a pre-discharge module, arranged in parallel with the normal discharge module; the resistance value of the pre-discharge module in a connected state is greater than the resistance value of the normal discharge module in a connected state; a detection module, configured to identify a circuit connection status between the DC output unit and the electrical load and generate an identification signal; and a discharge control module, electrically connected to the detection module and acquiring an identification signal; the discharge control module is electrically connected to the pre-discharge module and configured to switch the pre-discharge module between an on state and a off state; the discharge control module is further configured to be electrically connected to the electrical load and acquire a ready signal of the electrical load; the discharge control module switches the normal discharge module between an on state and a off state according to the ready signal; The detection module includes a pull-up branch, a first detection branch, and a second detection branch; the pull-up branch is electrically connected between the discharge control module and the positive electrode of the power supply; one end of the first detection branch is electrically connected to the pull-up branch; one end of the second detection branch is grounded; The power supply device further includes a first connector; the first connector has a plurality of terminals; the discharge control module has a communication pin; the other end SW+ of the first detection branch, the other end SW- of the second detection branch, and the communication pin are respectively connected to the terminals of the first connector; The host device also includes a second connector; after the power supply device and the electrical load complete structural docking, the first connector and the second connector synchronously complete electrical docking due to the limitation of the mechanical structure position; the second connector is provided with a wiring terminal CON1 and a wiring terminal CON2, the wiring terminal CON1 and the wiring terminal CON2 are short-circuited, the wiring terminal CON1 is used to dock with the other end SW+ of the first detection branch, and the wiring terminal CON2 is used to dock with the other end SW- of the second detection branch.

2. The underwater robot device according to claim 1, characterized in that: The normal discharge module includes a first flow branch and a first control branch; the first flow branch is used to be connected in series with the DC output unit and the electrical load in the same circuit; the first control branch is electrically connected between the first flow branch and the discharge control module.

3. The underwater robot device according to claim 2, characterized in that: The first current-passing branch includes an electronic switching element Q1; one current-passing end of the electronic switching element Q1 is used to be electrically connected to the electrical load, and the other current-passing end of the electronic switching element Q1 is used to be electrically connected to the DC output unit; the first control branch includes a diode D1; the anode of the diode D1 is electrically connected to the discharge control module; and the cathode of the diode D1 is electrically connected to the control end of the electronic switching element Q1.

4. The underwater robot device according to claim 1, characterized in that: The pre-discharge module includes a second flow branch and a second control branch; the second flow branch is arranged in parallel with the normal discharge module; and the second control branch is electrically connected between the second flow branch and the discharge control module.

5. The underwater robot device according to claim 4, characterized in that: The second current-passing branch includes an electronic switching element Q2 and a resistor R1; the second control branch includes a diode D2; the anode of the diode D2 is electrically connected to the discharge control module; the cathode of the diode D2 is electrically connected to the control end of the electronic switching element Q2; the electronic switching element Q2 and the resistor R1 are used to be connected in series with the circuit where the DC output unit and the electrical load are located.

6. The underwater robot device according to claim 1, characterized in that: The pull-up branch includes a resistor R2 and a resistor R3; the resistors R2 and R3 are connected in series between the discharge control module and the positive electrode of the power supply; the first detection branch includes a diode D3; the anode of the diode D3 is electrically connected to the node between the resistors R2 and R3, and the cathode of the diode D3 is used to be electrically connected to the electrical load; the second detection branch includes a resistor R4; one end of the resistor R4 is grounded, and the other end of the resistor R4 is used to be electrically connected to the electrical load.

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