Power management system and method for intelligent underwater robots

Abstract

The application discloses a power management system and method for intelligent underwater robots, and belongs to the technical field of power management.The application solves the problem that the existing underwater robot power supply system cannot respond in time when over-discharge or water leakage occurs.The voltage sensor and the current sensor detect the terminal voltage and the output current of the robot power supply battery respectively;the water leakage detection sensor is used for detecting whether water enters the sealed cabin;the water immersion detection sensor is used for detecting whether the robot is immersed in water;the physical switch is used for controlling whether the robot power supply battery supplies power to the signal switch;the signal switch is used for controlling whether the robot power supply battery supplies power to the robot;the main controller controls the opening or closing of the signal switch according to the received battery terminal voltage signal, the output current signal, whether water enters the sealed cabin and whether the robot is immersed in water;and the main controller also sends a trigger signal to the ballast system according to the signal sent by the robot central control system.The application is suitable for power management of intelligent underwater robots.

Description

Technical Field

[0001] This invention belongs to the field of power management technology. Background Technology

[0002] Underwater unmanned submersibles and intelligent underwater robots require careful consideration of energy safety and prevention of potential damage from water leakage during underwater operations. Lithium-ion batteries, with their high energy density, low self-discharge rate, and long lifespan, are currently the most widely used energy source in underwater robotics. However, due to their inherent characteristics, overcharging and over-discharging can cause malfunctions and even lead to dangerous situations. Therefore, robot design often requires customized lithium-ion battery management systems to minimize the probability of such incidents. Furthermore, since intelligent underwater robots cannot communicate with the shore in real-time for extended periods, water leakage during underwater operations poses a significant safety hazard. This can range from minor damage to internal components to severe short circuits and even complete robot failure.

[0003] There are currently various underwater robot power management systems, which often fail to respond promptly when lithium batteries are over-discharged or water enters the robot's electronics compartment. Summary of the Invention

[0004] The present invention addresses the problem of existing underwater robot power supply systems failing to respond promptly to over-discharge or water leakage, and provides a power management system and method for intelligent underwater robots.

[0005] The power management system of the intelligent underwater robot described in this invention is based on the robot's central control system and ballast system, and includes a voltage detection sensor, a current detection sensor, a leakage detection sensor, an immersion detection sensor, a step-down voltage regulator circuit I, a physical switch, a main controller, and a signal switch;

[0006] The voltage and current sensors are used to detect the real-time terminal voltage and real-time output current of the robot's power supply battery, respectively, and send the detected voltage and current signals to the main controller.

[0007] A water leakage detection sensor is installed inside the robot's sealed chamber to detect in real time whether water has entered the sealed chamber and sends the detection result to the main controller.

[0008] The immersion detection sensor is set on the top of the robot and located on the surface of the robot. It is used to detect whether the robot is immersed in water and send the detection result to the main controller.

[0009] The power signal output terminal of the robot's power supply battery supplies power to the main controller through a step-down voltage regulator circuit I;

[0010] Physical switch 6 is located at the power signal output terminal of the robot power supply battery and is used to control whether the robot power supply battery supplies power to signal switch 8;

[0011] The main controller first determines whether the water immersion detection sensor detects that the device is already submerged in water. If so, the main controller controls the signal switch to close based on the received real-time voltage signal, current signal, and water ingress detection result in the sealed chamber. After the signal switch is closed for the first time, the main controller then periodically and cyclically determines whether the received real-time voltage is within the corresponding voltage threshold range, whether the real-time current is within the corresponding current threshold range, and whether the real-time water ingress detection result in the sealed chamber indicates water ingress.

[0012] If the real-time voltage is not within the corresponding voltage threshold range, the main controller sends a voltage alarm signal and the real-time voltage signal value of the robot's power supply battery to the robot's central control system. At the same time, it waits to receive a control signal from the robot's central control system. When the main controller receives the load release request signal and the power supply stop control signal from the robot's central control system, the control signal switch is turned off, and a load release trigger signal is sent to the load release system.

[0013] If the real-time current is not within the corresponding current threshold range or water enters the sealed chamber, the main controller control signal switch is turned off, and at the same time, a release trigger signal is sent to the robot's release system.

[0014] Furthermore, in this invention, the specific process by which the main controller controls the closing of the signal switch based on the received real-time battery voltage signal, current signal, and the detection result of whether water has entered the sealed chamber is as follows:

[0015] When the immersion detection sensor detects that the device is submerged in water, the main controller first determines whether the received real-time voltage signal is within the corresponding voltage threshold range, whether the real-time current signal is within the corresponding current threshold range, and whether the water ingress detection result in the sealed chamber indicates water ingress. If the determination result is that the voltage or current is not within the threshold range or water has entered the sealed chamber, an alarm signal is issued; otherwise, the control signal switch is closed.

[0016] Furthermore, in this invention, the robot's central control system receives a voltage alarm signal from the power management system and a real-time voltage signal from the robot's power supply battery. The central control system controls the intelligent underwater robot to stop operating and move vertically towards the water surface. Based on the received real-time voltage signal, the robot's current underwater depth information, and the current movement speed, it determines whether the intelligent underwater robot can surface before the power supply battery runs out of energy. If not, it sends a request to jettison the load and a power supply stop control signal to the power management system.

[0017] Furthermore, the present invention also includes a DC-DC converter unit, and the signal switch includes two sub-switch circuits. The two sub-switch circuits control one power output, one power output directly supplies power to the robot after passing through a voltage regulator module, and the other power output supplies power to the robot after passing through a DC-DC converter unit after passing through a voltage regulator module.

[0018] Furthermore, in this invention, the two sub-switch circuits of the signal switch have the same structure, and the sub-switch circuit includes a field-effect transistor Q1, a resistor R1, a resistor R2, a resistor R3, a resistor R4 and a transistor Q2;

[0019] The collector of the field-effect transistor Q1 is connected to the power signal input terminal of the DC-DC converter unit 9 or directly powers the intelligent underwater robot. The emitter of the field-effect transistor Q1 is connected to a physical switch. The emitter of the field-effect transistor Q1 is also connected to one end of the resistor R1. The other end of the resistor R1 is connected to the gate of the field-effect transistor Q1. The gate of the field-effect transistor Q1 is also connected to one end of the resistor R2. The other end of the resistor R2 is connected to the collector of the transistor Q2. The emitter of the transistor Q2 is grounded.

[0020] The base of transistor Q2 is grounded through resistor R4, and the base of transistor Q2 is connected to the control signal output terminal of the main controller (6) through resistor R3.

[0021] Furthermore, in this invention, the robot's power supply battery outputs a 24V voltage.

[0022] Furthermore, in this invention, the DC-DC converter unit includes a step-down voltage regulator circuit II and a step-down voltage regulator circuit III. The step-down voltage regulator circuit II converts the 24V voltage output from the robot's power supply battery into 12V to power the robot, and at the same time transmits the 12V voltage signal to the signal input terminal of the step-down voltage regulator circuit III. The step-down voltage regulator circuit III converts the 12V voltage signal into 5V to power the robot.

[0023] Furthermore, in this invention, the physical switch includes a manual switch and an electromagnetic relay, wherein the manual switch is connected in series between the robot's power supply battery and the electromagnetic relay; and the manual switch is a waterproof switch, located on the top outer side of the robot.

[0024] The two ends of the electromagnetic relay coil are respectively connected to a physical switch and a power ground.

[0025] The two ends of the electromagnetic relay switch are connected to the power supply terminals of the robot's battery and the signal switch, respectively.

[0026] A power management method for an intelligent underwater robot, based on the aforementioned power management system, involves closing a physical switch and submerging the robot in water before implementation. The management method specifically includes:

[0027] Step 1: Use immersion detection sensors to detect whether the intelligent underwater robot is immersed in water. When the intelligent underwater robot is immersed in water, check whether the detection results of voltage detection sensor and current detection sensor are within the corresponding threshold range. If they are not within the threshold range, an alarm is triggered. If they are within the threshold range, check the detection result of leakage detection sensor 3 to determine whether the robot's sealed compartment is leaking. If it is leaking, an alarm is triggered. Otherwise, the control signal switch is powered on, and Step 2 is executed.

[0028] Step 2: The main controller determines whether the real-time terminal voltage of the robot's power supply battery detected by the voltage detection sensor is within the voltage threshold range. If not, it sends a voltage alarm signal and the real-time terminal voltage signal value of the robot's power supply battery to the robot's central control system. At the same time, it waits to receive control signals from the intelligent underwater robot's central control system. When it receives the power-off and load shedding control signals from the central control system, it sends a switch-off control signal to the signal switch and a load shedding trigger signal to the load shedding system. Otherwise, proceed to Step 3.

[0029] Step 3: The main controller determines whether the real-time output current of the robot's power supply battery detected by the current detection sensor is within the current threshold range. If so, proceed to step 4; otherwise, send a disconnect control signal to the signal switch and send a load release trigger signal to the robot's load release system.

[0030] Step 4: The main controller determines whether the leakage detection sensor indicates water ingress into the sealed chamber. If so, it sends a switch disconnect control signal to the signal switch and a load release trigger signal to the robot's load release system. Otherwise, it delays for T seconds and returns to step 2.

[0031] The power management system of the intelligent underwater robot described in this invention employs a small, high-power relay in its switching circuit, using a small current to control the overall circuit's on / off state. The DC-DC converter includes multiple 24V, 12V, and 5V outputs to power high-power devices and various sensors. It also detects the battery's terminal voltage and current to prevent over-discharge and short circuits, and detects water ingress into the sealed chamber, effectively ensuring power supply safety. Furthermore, an immersion detection sensor detects whether the intelligent underwater robot is submerged in water; power is only supplied upon immersion to prevent motor idling. The system uses external physical switches and signal switches controlled by the main controller to control the circuit's on / off state. Changes in the output current allow for real-time monitoring of the robot's internal circuitry and detection of the chamber's interior, ensuring the underwater robot's safety during operation. This improves the response speed to over-discharge and sealed chamber leakage. Attached Figure Description

[0032] Figure 1 This is a block diagram illustrating the power management system principle of the intelligent underwater robot described in this invention.

[0033] Figure 2 A schematic diagram of a sub-switch circuit for a signal switch;

[0034] Figure 3 This is a schematic diagram of the physical switch structure;

[0035] Figure 4 This is a schematic diagram of the connection structure of the voltage detection sensor;

[0036] Figure 5 A schematic diagram of the power supply system for an intelligent underwater robot after signal switching;

[0037] Figure 6 This is a flowchart of a power management method for intelligent underwater robots. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0039] Specific implementation method one: Refer to Figure 1 Only Figure 4 This embodiment is described in detail. The implementation based on the robot central control system and the load-bearing system includes a voltage detection sensor 1, a current detection sensor 2, a water leakage detection sensor 3, a water immersion detection sensor 4, a step-down voltage regulator circuit 15, a physical switch 6, a main controller 7, and a signal switch 8.

[0040] Voltage sensor 1 and current sensor 2 are used to detect the real-time terminal voltage and real-time output current of the robot's power supply battery, respectively; and send the detected voltage and current signals to the main controller 7.

[0041] Leakage detection sensor 3 is installed inside the robot's sealed chamber to detect in real time whether water has entered the sealed chamber and sends the detection result to the main controller 7;

[0042] The immersion detection sensor 4 is set on the top of the robot and located on the surface of the robot. It is used to detect whether the robot is immersed in water and send the detection result to the main controller 7.

[0043] The power signal output terminal of the robot's power supply battery is powered by the main controller 7 through the step-down regulator circuit I5;

[0044] Physical switch 6 is located at the power signal output terminal of the robot power supply battery and is used to control whether the robot power supply battery supplies power to signal switch 8;

[0045] The main controller 7 first determines whether the water immersion detection sensor 4 has detected that the water has been immersed in water. If so, the main controller 7 first controls the signal switch 8 to close based on the received real-time voltage signal, current signal, and water ingress detection result in the sealed chamber. After the signal switch 8 is closed for the first time, the main controller 7 then periodically and cyclically determines whether the received real-time voltage is within the corresponding voltage threshold range, whether the real-time current is within the corresponding current threshold range, and whether the real-time water ingress detection result in the sealed chamber indicates water ingress.

[0046] If the real-time voltage is not within the corresponding voltage threshold range, the main controller 7 sends a voltage alarm signal and the real-time voltage signal value of the robot's power supply battery to the robot's central control system. At the same time, it waits to receive a control signal from the robot's central control system. When the main controller 7 receives the load release request signal and the power supply stop control signal from the robot's central control system, the control signal switch 8 is opened, and a load release trigger signal is sent to the load release system.

[0047] If the real-time current is not within the corresponding current threshold range or water enters the sealed chamber, the main controller 7 will disconnect the control signal switch 8 and simultaneously send a load release trigger signal to the robot's load release system.

[0048] Furthermore, in this embodiment, the specific process by which the main controller 7 controls the signal switch 8 to close based on the received real-time battery voltage signal, current signal, and water ingress detection result in the sealed chamber is as follows:

[0049] When the immersion detection sensor 4 detects that the device is immersed in water, the main controller 7 first determines whether the received real-time voltage signal is within the corresponding voltage threshold range, whether the real-time current signal is within the corresponding current threshold range, and whether the water ingress detection result in the sealed chamber indicates water ingress. If the determination result is that the voltage or current is not within the threshold range or water has entered the sealed chamber, an alarm signal is issued; otherwise, the control signal switch 8 is closed.

[0050] Furthermore, in this embodiment, the robot's central control system receives a voltage alarm signal from the power management system and a real-time voltage signal from the robot's power supply battery. The central control system controls the intelligent underwater robot to stop operating and move vertically towards the water surface. Based on the received real-time voltage signal, the robot's current underwater depth information, and the current movement speed, it determines whether the intelligent underwater robot can surface before the power supply battery runs out of energy. If not, it sends a request to jettison the load and a power supply stop control signal to the power management system.

[0051] Furthermore, in this embodiment, a DC-DC converter unit 9 is also included, and the signal switch 8 includes two sub-switch circuits. The two sub-switch circuits control one power output respectively. One power output directly powers the robot after passing through a voltage regulator module, and the other power output is also converted by the DC-DC converter unit 9 after passing through a voltage regulator module to power the robot.

[0052] Furthermore, in this embodiment, the two sub-switch circuits of the signal switch 8 have the same structure. The sub-switch circuit includes a field-effect transistor Q1, a resistor R1, a resistor R2, a resistor R3, a resistor R4, and a transistor Q2.

[0053] The collector of the field-effect transistor Q1 is connected to the power signal input terminal of the DC-DC converter unit 9 or directly powers the intelligent underwater robot. The emitter of the field-effect transistor Q1 is connected to the physical switch 6. The emitter of the field-effect transistor Q1 is also connected to one end of the resistor R1. The other end of the resistor R1 is connected to the gate of the field-effect transistor Q1. The gate of the field-effect transistor Q1 is also connected to one end of the resistor R2. The other end of the resistor R2 is connected to the collector of the transistor Q2. The emitter of the transistor Q2 is grounded.

[0054] The base of transistor Q2 is grounded through resistor R4, and the base of transistor Q2 is connected to the control signal output terminal of the main controller (6) through resistor R3.

[0055] Furthermore, in this embodiment, the robot's power supply battery outputs a 24V voltage.

[0056] Furthermore, in this embodiment, the DC-DC converter 9 includes a step-down voltage regulator circuit II and a step-down voltage regulator circuit III. The step-down voltage regulator circuit II converts the 24V voltage output from the robot's power supply battery into 12V to power the robot, and at the same time transmits the 12V voltage signal to the signal input terminal of the step-down voltage regulator circuit III. The step-down voltage regulator circuit III converts the 12V voltage signal into 5V to power the robot.

[0057] Furthermore, in this embodiment, the physical switch includes a manual switch and an electromagnetic relay. The manual switch is connected in series between the robot's power supply battery and the electromagnetic relay. The manual switch is waterproof and is located on the top outer side of the robot.

[0058] The two ends of the electromagnetic relay coil are respectively connected to physical switch 6 and power ground;

[0059] The two ends of the electromagnetic relay switch are connected to the power supply terminals of the robot's power battery and the signal switch 8, respectively.

[0060] The main controller of the ejection system and the power management system of the present invention transmits signals. The power management system does not supply power to the ejection device. The ejection system has an independent power supply and is used as an emergency measure when the robot malfunctions.

[0061] When the battery current is abnormal (when a short circuit occurs inside the robot) or when there is water leakage in the sealed chamber, the power management system sends a disconnect control signal to the signal switch to cut off the robot's power supply circuit. Since the load shedding is powered by an additional independent power supply and the main controller of the power management system is not de-energized, the main controller of the power management system can still send an immediate load shedding signal to the load shedding system, causing the electromagnet to be de-energized.

[0062] When the power management system detects that the battery voltage is lower than expected, the main controller sends the current actual voltage value and an alarm signal to the robot's central control system. The robot's central control system then stops the robot's operation and moves it vertically towards the water surface. The robot's central control system combines the battery voltage data sent in real time by the power management system's main controller with other sensor data (including depth, speed, etc.) to determine the robot's status. If it determines that the robot cannot float up before the battery runs out of energy, it sends a request to jettison the load. The power management system's main controller triggers the jettison, de-energizing the electromagnet and cutting off the robot's power supply circuit. The robot then floats up quickly using only the buoyancy after the load is jettisoned.

[0063] The principle of the immersion detection device is the same as that of the leakage detection device, both using a leakage detection rope as the main body. This rope is positioned in the non-pressure-resistant section of the robot. When the immersion detection device detects water, indicating the underwater robot is below the water surface, the main control chip receives the signal and activates the motor power supply, allowing the motor to operate normally. When the immersion detection device does not detect water, indicating the underwater robot is on land, the motor power supply module is disconnected. Idling of the motor on land can easily cause damage, and its high-speed rotation could injure personnel. This design aims to protect the underwater robot's motors, activating only when the underwater robot is below the water surface.

[0064] Specific Implementation Method Two: Combining Figure 6 This embodiment describes a power management method for a small intelligent underwater robot. This method is based on the power management system for the small intelligent underwater robot described in Specific Embodiment 1. Before proceeding, a physical switch is closed, and the robot is submerged in water. The management method specifically includes:

[0065] Step 1: Use immersion detection sensor 4 to detect whether the intelligent underwater robot is immersed in water. When the intelligent underwater robot is immersed in water, check whether the detection results of voltage detection sensor 1 and current detection sensor 2 are within the corresponding threshold range. If they are not within the threshold range, an alarm is triggered. If they are within the threshold range, check whether the robot's sealed compartment is leaking based on the detection result of leakage detection sensor 3. If it is leaking, an alarm is triggered. Otherwise, the control signal switch is powered on, and Step 2 is executed.

[0066] Step 2: The main controller 7 determines whether the real-time terminal voltage of the robot's power supply battery detected by the voltage detection sensor 1 is within the voltage threshold range. If not, it sends a voltage alarm signal and the real-time terminal voltage signal value of the robot's power supply battery to the robot's central control system. At the same time, it waits to receive control signals from the intelligent underwater robot's central control system. When it receives the power-off and load shedding control signals from the central control system, it sends a switch-off control signal to the signal switch and a load shedding trigger signal to the load shedding system. Otherwise, proceed to step 3.

[0067] Step 3: The main controller 7 determines whether the real-time output current of the robot's power supply battery detected by the current detection sensor 2 is within the current threshold range. If so, proceed to step 4; otherwise, send a disconnect control signal to the signal switch and send a load release trigger signal to the robot's load release system.

[0068] Step 4: The main controller 7 determines whether the detection result of the leakage detection sensor 3 indicates water ingress into the sealed chamber. If so, it sends a switch disconnect control signal to the signal switch and simultaneously sends a load release trigger signal to the robot's load release system. Otherwise, it delays for T seconds and returns to step 2.

[0069] In this embodiment, the delay T is the loop detection time, which is usually set to 500ms.

[0070] This invention relates to a power management system for small intelligent underwater robots, featuring advantages such as miniaturization, high integration, and high safety. The underwater robot uses a 932.4Wh lithium battery pack with a voltage of 22.2–25.2V and a maximum current support of 30A. Considering the working environment of the intelligent underwater robot, the power management system needs to meet the following functional requirements: switching function, multi-voltage high-power output, voltage and current monitoring, leakage detection, immersion detection, intelligent load shedding triggering, and communication with the robot's central control system.

[0071] The power management system described in this invention includes two layers of switch control. The first layer consists of physical switches located outside the underwater robot's cabin. The second layer comprises signal switches controlled by the main controller. When the power management system is connected to an external battery, it powers on. Operators need to close the external physical switch, energizing the electromagnetic relay and closing its internal switch, thus connecting the battery to the subsequent power management circuitry. This design ensures the external physical switch has the highest on / off priority, preventing potential internal circuit failures from causing continuous battery discharge and posing a safety hazard. The battery provides a separate 24V supply, which is stepped down to 3.3V to power the main controller of the power management system. The main controller uses an STM32F103C8T6 chip. When the external switch is closed, the main controller drives the immersion detection, voltage detection, current detection, and leakage detection sensors to check the battery status. When the immersion detection sensor detects that the robot is submerged in water, and the battery voltage and current meet the requirements, and the leakage detection sensor detects that there is no water ingress in the compartment, the main controller will send two closing control signals to the signal switch, that is, output a high level to the corresponding two GPIO ports. At this time, the power management system starts to work normally. The high level of the GPIO port is 3.3V. Here, a 0.5A small current switch is used to control the MOSFET, thereby controlling the circuit on and off, which is safer than directly controlling the circuit on and off.

[0072] The power management system described in this invention can achieve multiple high-power outputs, aiming to supply power to modules of different voltage and power specifications of the intelligent underwater robot. The power management system operates when both physical and signal switches are closed. First, the 24V power supply is regulated and outputs three 24V voltages. One of these is connected to the bow section to power the two thrusters and the bow-mounted binocular camera, totaling approximately 120W. The other two are used for powering the PC, the main thruster, and the two thrusters in the two aft thruster sections, as well as for a 24V to 12V step-down converter. The 24V to 12V step-down converter uses a DC-DC step-down chip, model MP4462DN. Two voltage step-down channels are provided. One channel powers the robot's DVL (Digital Value Chain) and powerline adapters, while the other is dedicated to stepping down to 5V. A linear regulator, model AMS1117-5.0, is used for the 12V to 5V step-down conversion. Three 5V outputs are provided, respectively powering the depth calculation board, 485 optical transceiver, UWB, WiFi module, and underwater robot communication and sensing modules such as the optical inertial navigation system. Figure 5 As shown.

[0073] The power management system of this invention includes voltage and current detection sensors. These sensors monitor the battery voltage and current every 500ms (T value). If the current is abnormal, the main control chip immediately pulls the PB12 and PB13 pins low to stop power supply and simultaneously sends a discharge trigger signal to the discharge system. The pins remain low thereafter to ensure battery and circuit safety. If the battery voltage is abnormal, the main control chip sends a low battery alarm signal and the current voltage value to the robot's central control system. After the robot's central control system returns a power-off signal and / or a discharge signal, the corresponding program is executed.

[0074] Voltage and current monitoring operation: The main controller also includes two on-chip ADC units, ADC1 and ADC2. These ADC units are circuit units in the power management system's main control chip used to convert analog voltage signals into digital quantities. They can monitor battery status by converting battery voltage into a digital value. ADC1 is used for voltage monitoring, and ADC2 is used for current monitoring. Since the ADC power supply cannot exceed 4V, a voltage reduction method using battery voltage division is employed. The voltage detection sensor is connected to... Figure 4 ADC1 in, such as Figure 4 As shown, the positive and negative terminals of the robot's power battery are connected to the voltage monitoring circuit. The voltage is divided by two voltage divider resistors, with resistances of 100 kΩ and 10 kΩ respectively, meaning the resistance ratio is 10:1. Therefore, the voltage across the 10 kΩ voltage divider resistor 1 is: The ADC conversion result is a digital value. With VREF+ = 3.3V and a conversion precision of 12 bits, the relationship between the ADC value and the actual voltage value is as follows:

[0075]

[0076] Based on the battery information and considering a certain margin, the ADC1 value should be set between 2505 and 2843. If the ADC1 value is less than 2370, that is, the battery voltage is less than 21V, the main control chip considers the battery voltage to be insufficient and executes the corresponding process of sending a warning signal to the central control to ensure the safety of the battery and circuit.

[0077] Current monitoring uses an ADC2 as an analog-to-digital converter, specifically employing the ACS712 current monitoring circuit. The ACS712 chip operates on the principle of Hall effect sensing. When a current is applied, the Hall element induces a linear voltage signal based on the magnetic field. This signal is then amplified, filtered, chopped, and corrected internally to output an actual voltage signal. This signal is then converted from analog to digital to achieve current monitoring. The formulas for calculating the voltage signal and the measured current are as follows:

[0078] V out = 2.5 + 0.066 × I (unit: V)

[0079] Because the battery current is related to the actual module installed, the ADC2 value will be different when performing different tasks or installing different modules. When the ADC2 value is greater than the set value, that is, the battery current is greater than the expected current, it is considered that the circuit is in an abnormal operating state, and the corresponding circuit cut-off and load dumping procedures are executed to ensure the safety of the battery and the circuit.

[0080] In addition to voltage and current monitoring modules, this invention also incorporates a water leakage detection module and a water immersion detection module, taking into account the specific working environment of the underwater robot. These modules enable automatic circuit breaking and load shedding upon detection of water leakage, and prevent the motor from rotating when the underwater robot is not submerged in water, thus protecting the motor.

[0081] The leak detection module consists of two leak detection ropes and a buzzer. The leak detection ropes are positioned inside the sealed chamber near the flange. When the leak detection device is connected to the power management system, it continuously sends a low-level signal to the corresponding pin of the main control chip, indicating that there is no leak inside the chamber. When the leak detection device detects a leak at the flange, its internal circuitry short-circuits, causing the buzzer to sound continuously and changing the signal sent to the corresponding pin of the main control chip from low to high.

[0082] The payload jettisoning system described in this invention is a crucial component for the rapid ascent and recovery of underwater robots in the event of power failures, thruster malfunctions, or other issues. The payload is typically located symmetrically to the underwater robot's center of gravity, and its size depends on the modules it carries. The payload jettisoning is achieved by automatically disconnecting the payload when the electromagnet is de-energized. When the underwater robot is operating normally, the electromagnet continuously holds the payload. When the leak detection module detects a leak in the underwater robot's pressure chamber, the main controller sends a jettisoning trigger signal to the jettisoning system. Upon receiving the jettisoning signal, the system immediately de-energizes the electromagnet, enabling the underwater robot to rapidly ascend.

[0083] The power management system implemented in this invention is equipped with a CAN bus and multiple serial ports. The power management system communicates with the central control system through the CAN bus. The power management system transmits voltage status information, and the central control system receives data through the CAN bus, plans the remaining battery power, and implements power allocation, and transmits information for corresponding execution functions such as power-off and load dump.

[0084] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A power management system for an intelligent underwater robot, implemented based on the robot's central control system and payload ejection system, characterized in that, It includes a voltage detection sensor (1), a current detection sensor (2), a water leakage detection sensor (3), a water immersion detection sensor (4), a step-down voltage regulator circuit I (5), a physical switch (6), a main controller (7), and a signal switch (8); The voltage detection sensor (1) and the current detection sensor (2) are used to detect the real-time terminal voltage and real-time output current of the robot's power supply battery, respectively; and send the detected voltage and current signals to the main controller (7). The water leakage detection sensor (3) is installed in the sealed chamber of the robot to detect whether water enters the sealed chamber in real time and send the detection result to the main controller (7). The immersion detection sensor (4) is set on the top of the robot and located on the surface of the robot. It is used to detect whether the robot is immersed in water and send the detection result to the main controller (7). The power signal output terminal of the robot's power supply battery is powered by the main controller (7) through the step-down voltage regulator circuit I (5); The physical switch (6) is set at the power signal output terminal of the robot power supply battery to control whether the robot power supply battery supplies power to the signal switch (8); The main controller (7) first determines whether the water immersion detection sensor (4) has detected that the water has been immersed in water. If so, the main controller (7) first controls the signal switch (8) to close based on the received real-time voltage signal, current signal, and water ingress detection result in the sealed chamber. After the signal switch (8) is closed for the first time, the main controller (7) then periodically and cyclically determines whether the received real-time voltage is within the corresponding voltage threshold range, whether the real-time current is within the corresponding current threshold range, and whether the real-time water ingress detection result in the sealed chamber indicates water ingress. If the real-time voltage is not within the corresponding voltage threshold range, the main controller (7) sends a voltage alarm signal and the real-time voltage signal value of the robot power supply battery to the robot central control system, and waits to receive the control signal sent by the robot central control system. When the main controller (7) receives the load dumping signal and the power supply stop control signal sent by the robot central control system, the control signal switch (8) is opened, and a load dumping trigger signal is sent to the load dumping system. If the real-time current is not within the corresponding current threshold range or water enters the sealed chamber, the main controller (7) controls the signal switch (8) to disconnect and sends a load release trigger signal to the robot's load release system at the same time. The two sub-switch circuits of the signal switch (8) have the same structure. The sub-switch circuit includes a field-effect transistor Q1, a resistor R1, a resistor R2, a resistor R3, a resistor R4 and a transistor Q2. The collector of the field-effect transistor Q1 is connected to the power signal input terminal of the DC-DC converter unit (9) or directly to power the intelligent underwater robot. The emitter of the field-effect transistor Q1 is connected to the physical switch (6). The emitter of the field-effect transistor Q1 is also connected to one end of the resistor R1. The other end of the resistor R1 is connected to the gate of the field-effect transistor Q1. The gate of the field-effect transistor Q1 is also connected to one end of the resistor R2. The other end of the resistor R2 is connected to the collector of the transistor Q2. The emitter of the transistor Q2 is grounded. The base of transistor Q2 is grounded through resistor R4, and the base of transistor Q2 is connected to the control signal output terminal of the main controller (7) through resistor R3.

2. The power management system for the intelligent underwater robot according to claim 1, characterized in that, The main controller (7) first controls whether the signal switch (8) is closed based on the received real-time battery voltage signal, current signal, and whether water has entered the sealed chamber. The specific process is as follows: When the immersion detection sensor (4) detects that the device is immersed in water, the main controller (7) first determines whether the received real-time voltage signal is within the corresponding voltage threshold range, whether the real-time current signal is within the corresponding current threshold range, and whether the water ingress detection result in the sealed chamber is water ingress. If the judgment result is that the voltage or current is not within the threshold range or water has entered the sealed chamber, an alarm signal is issued; otherwise, the control signal switch (8) is closed.

3. The power management system for the intelligent underwater robot according to claim 1 or 2, characterized in that, The robot's central control system receives voltage alarm signals from the power management system and real-time voltage signals from the robot's power supply battery. The central control system then controls the intelligent underwater robot to stop operating and move vertically towards the water surface. Based on the received real-time voltage signals, the robot's current underwater depth information, and its current speed, the system determines whether the intelligent underwater robot can surface before its power supply battery runs out of energy. If not, the system sends a request to jettison the load and a power supply stop control signal to the power management system.

4. The power management system for the intelligent underwater robot according to claim 1 or 2, characterized in that, It also includes a DC-DC converter (9), and the signal switch (8) includes two sub-switch circuits. The two sub-switch circuits control one power output respectively. One power output is directly powered to the robot after passing through the voltage regulator module, and the other power output is also powered to the robot after being converted by the DC-DC converter (9) after passing through the voltage regulator module.

5. The power management system for the intelligent underwater robot according to claim 4, characterized in that, The robot's power supply battery outputs 24V voltage.

6. The power management system for the intelligent underwater robot according to claim 5, characterized in that, The DC-DC converter (9) includes a step-down voltage regulator circuit II and a step-down voltage regulator circuit III. The step-down voltage regulator circuit II converts the 24V voltage output from the robot's power supply battery into 12V to power the robot, and at the same time transmits the 12V voltage signal to the signal input terminal of the step-down voltage regulator circuit III. The step-down voltage regulator circuit III converts the 12V voltage signal into 5V to power the robot.

7. The power management system for the intelligent underwater robot according to claim 6, characterized in that, The physical switches include a manual switch and an electromagnetic relay. The manual switch is connected in series between the robot's power supply battery and the electromagnetic relay. The manual switch is waterproof and is located on the top outer side of the robot. The two ends of the electromagnetic relay coil are respectively connected to a physical switch (6) and a power ground; The two ends of the electromagnetic relay switch are respectively connected to the power supply terminals of the robot's power supply battery and the signal switch (8).

8. A power management method for an intelligent underwater robot, characterized in that, This method is implemented based on the power management system of the intelligent underwater robot according to any one of claims 1 to 7. Before the method is performed, a physical switch is closed and the robot is placed in the water. The management method specifically includes: Step 1: Use the immersion detection sensor (4) to detect whether the intelligent underwater robot is immersed in water. When the intelligent underwater robot is immersed in water, the detection results of the voltage detection sensor (1) and the current detection sensor (2) are judged in turn to see if they are within the corresponding threshold range. If they are not within the threshold range, an alarm is triggered. If they are within the threshold range, the detection result of the leakage detection sensor (3) is used to judge whether the robot's sealed chamber is leaking. If it is leaking, an alarm is triggered. Otherwise, the control signal switch is powered on and Step 2 is executed. Step 2: The main controller (7) determines whether the real-time terminal voltage of the robot power supply battery detected by the voltage detection sensor (1) is within the voltage threshold range. If not, it sends a voltage alarm signal and the real-time terminal voltage signal value of the robot power supply battery to the robot central control system. At the same time, it waits to receive the control signal from the intelligent underwater robot central control system. When it receives the power-off and load shedding control signal from the central control system, it sends a switch disconnection control signal to the signal switch and sends a load shedding trigger signal to the load shedding system. Otherwise, it executes step 3. Step 3: The main controller (7) determines whether the real-time output current of the robot power supply battery detected by the current detection sensor (2) is within the current threshold range. If it is, then proceed to step 4. Otherwise, send a disconnect control signal to the signal switch and send a load release trigger signal to the robot's load release system. Step 4: The main controller (7) determines whether the detection result of the leakage detection sensor (3) indicates water ingress into the sealed chamber. If so, it sends a switch disconnect control signal to the signal switch and sends a load release trigger signal to the robot's load release system. Otherwise, it delays for T seconds and returns to step 2.

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