A power supply system for underwater robot

Abstract

The present invention discloses a power supply system for an underwater robot, including a power supply module, a power detection module, a current limiting protection module, a slow start module, a water leakage detection module and a step-down module; the power detection module and the current limiting protection module are electrically connected to the power supply module, the current limiting protection module is electrically connected to the slow start module, and the slow start module is electrically connected to the water leakage detection module and the step-down module; the power supply module includes a DC power supply, a backup power supply, a switch and a battery pack; the DC power supply and the backup power supply are connected to the battery pack through the switch; the power detection module includes a CN1185 chip, a resistor voltage divider network, a communication interface and a trigger port; the CN1185 chip is electrically connected to the resistor voltage divider network to form a voltage acquisition network; the output end is respectively connected to the communication interface and the trigger port; the input end is connected to the battery pack; the trigger port is electrically connected to the switch. The present invention improves the working time, safety and reliability of the underwater robot power supply system through modular design.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and more particularly to a power supply system for underwater robots. Background Art

[0002] At present, with the increasing exploration and development of marine resources, underwater robots have made great progress as an effective carrier. In application scenarios such as marine exploration and research, underwater construction and maintenance, marine rescue and underwater scientific research equipment, underwater robots need to operate stably for a long time in harsh environments, and the reliability and efficiency of the power supply system are crucial.

[0003] However, existing power supply systems have problems such as insufficient power stability, complex battery management, excessive safety risks, and difficulty in adapting to complex environments.

[0004] Therefore, providing a safe and stable power supply system is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0005] In view of this, the present invention provides a power supply system for an underwater robot, which solves the battery management problem faced by the underwater robot when operating in water through a modular and intelligent design.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A power supply system for an underwater robot, comprising a power supply module, a power detection module, a current limiting protection module, a slow start module, a water leakage detection module and a voltage reduction module;

[0008] The power detection module and the current limiting protection module are electrically connected to the power supply module, the current limiting protection module is electrically connected to the slow start module, and the slow start module is electrically connected to the water leakage detection module and the voltage reduction module;

[0009] Wherein, the power supply module includes a DC power supply, a backup power supply, a switch and a battery pack; the DC power supply and the backup power supply are connected to the battery pack through the switch;

[0010] The power detection module includes a CN1185 chip, a resistor voltage divider network, a communication interface and a trigger port; the CN1185 chip and the resistor voltage divider network are electrically connected to form a voltage acquisition network;

[0011] The output end of the voltage acquisition network is connected to the communication interface and the trigger port respectively;

[0012] The input end of the voltage acquisition network is connected to the battery pack;

[0013] The communication interface is used for communication connection with the host computer, and the trigger port is electrically connected with the switch.

[0014] Further, the current limiting protection module includes three pairs of PMOS transistors Q1-Q6, a chip FM8254AAV, resistors R1-R10, R17, capacitors C1-C5, C13, and a switch SW1;

[0015] Among them, the sources of PMOS transistors Q1, Q3, and Q5 are commonly connected to the positive electrode of the battery pack, and the sources of Q2, Q4, and Q6 are commonly connected to the output line; the drains of Q1 and Q2 are connected to each other, the drains of Q3 and Q4 are connected to each other, and the drains of Q5 and Q6 are connected to each other to form three groups of output channels; the gates of Q1, Q3, and Q5 are connected to the COP pin of the chip FM8254AAV; the gates of Q2, Q4, and Q6 are connected to one end of the resistor R3, and the other end of the resistor R3 is connected to the DOP pin of FM8254AAV;

[0016] One end of the resistor R1 is connected to the positive electrode of the battery pack, and the other end is connected to the COP pin of the chip FM8254AAV;

[0017] One end of the resistor R2 is connected to the positive electrode of the battery pack, and the other end is connected to the VMP pin of the chip FM8254AAV;

[0018] One end of the switch SW1 is connected to the output line and the VDD pin of the chip FM8254AAV, and the other end is connected to the VMP pin of the chip FM8254AAV;

[0019] One end of the resistor R4 is connected to the VINI pin of the chip FM8254AAV, and the other end is grounded;

[0020] One end of the resistor R5 is connected to the SEL pin of the chip FM8254AAV, and the other end is connected to one end of the resistor R9 together with one end of the capacitors C1, C2, and C13 and the VSS pin and VC4 pin of the chip FM8254AAV;

[0021] The other end of the capacitor C1 is connected to the CDT pin of the chip FM8254AAV;

[0022] The other end of the capacitor C2 is connected to the CCT pin of the chip FM8254AAV;

[0023] The other end of the capacitor C13 is connected to the output line;

[0024] The other end of the resistor R9 is connected to one end of the resistors R10 and R17 and the voltage divider pin 4 of the battery pack respectively;

[0025] The other end of the resistor R10 is grounded;

[0026] The other end of the resistor R17 is connected to the CTL pin of the chip FM8254AAV;

[0027] One end of the capacitor C3 is connected to the output line, and the other end is connected to the VC1 pin of the chip FM8254AAV and one end of the resistor R6; the other end of the resistor R6 is connected to the voltage divider pin 1 of the battery pack and the output line;

[0028] One end of the capacitor C4 is connected to the output line, and the other end is connected to the VC2 pin of the chip FM8254AAV and one end of the resistor R7; the other end of the resistor R7 is connected to the voltage divider pin 2 of the battery pack;

[0029] One end of the capacitor C5 is connected to the output line, and the other end is connected to the VC3 pin of the chip FM8254AAV and one end of the resistor R8; the other end of the resistor R8 is connected to the voltage divider pin 3 of the battery pack;

[0030] The output line is connected to the soft start module.

[0031] Furthermore, the model of the PMOS transistors Q1 to Q6 is AS4435S.

[0032] Furthermore, the slow start module includes: a plurality of PMOS transistors Q7 to QN connected in parallel, an external switch SW2 and an RC network unit; wherein N is a positive integer greater than 7;

[0033] The sources of the PMOS transistors Q7 to QN are commonly connected to one end of the external switch SW2, the drains are commonly connected to the step-down module and the water leakage detection module, the gates are connected to one end of the RC network unit, and the other end of the RC network unit is connected to one end of the external switch SW2;

[0034] The other end of the external switch SW2 is connected to the output line of the current limiting protection module.

[0035] Further, the RC network unit includes resistors R18, R19 and capacitor C14, which are connected in sequence to form a charge-discharge loop;

[0036] One end of the resistor R18 is connected to the resistor R19 and one end of the external switch SW2; the other end of the resistor R19 is connected to the gate of the PMOS transistor Q7 and one end of the capacitor C14, and the other end of the capacitor C14 is connected to the drain of the PMOS transistors Q7 to QN.

[0037] Furthermore, the model of the PMOS transistors Q7-QN is WPM2341A.

[0038] Furthermore, the step-down module includes: a chip TPS5450DDAR, capacitors C7-C12, an inductor L1, a freewheeling diode D1, a resistor R15, an adjustable resistor R16, and a load H2;

[0039] The VIN pin of the chip TPS5450DDAR is connected to the post-stage power supply output by the soft start module and the positive electrodes of three parallel capacitors C7, C8, and C12, and the negative electrode is grounded;

[0040] The PH pin of the chip TPS5450DDAR is connected to the capacitor C11, one end of the inductor L1 and the anode of the freewheeling diode D1, the other end of the capacitor C11 is connected to the BOOT pin of the chip TPS5450DDAR, and the cathode of the freewheeling diode D1 is grounded;

[0041] Capacitors C9 and C10 are connected in parallel, the positive electrode of the parallel circuit is connected to the other end of the inductor L1, one end of the resistor R15 and the load H2, and the negative electrode of the parallel circuit is grounded;

[0042] The other end of the resistor R15 is connected to one end of a fixed foot of an adjustable resistor R16 and an adjustable foot, the other end of the fixed foot is grounded, and the adjustable foot is connected to the VSENSE pin of the chip TPS5450DDAR.

[0043] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a power supply system for an underwater robot, which has the following beneficial effects:

[0044] 1. Through modular structure, the functions of each part are highly integrated, which saves circuit board space and improves system integration and overall performance.

[0045] 2. Through the dual power supply mode, the working time of the underwater robot can be extended and the task completion rate and efficiency can be improved.

[0046] 3. The power detection module and multiple charging methods are designed to simplify battery management, make battery monitoring and replacement more convenient, and reduce maintenance costs and operation complexity.

[0047] 4. Multiple protection mechanisms (overcurrent protection, overvoltage protection, water leakage detection, etc.) effectively prevent circuit damage and equipment failure, ensuring the safe operation of ROV in complex underwater environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0049] Figure 1 A connection diagram of the power supply system provided by the present invention.

[0050] Figure 2 A circuit diagram of the current limiting protection module provided by the present invention.

[0051] Figure 3 A circuit diagram of the soft start module provided by the present invention.

[0052] Figure 4 This is a circuit diagram of the step-down module provided by the present invention. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] This embodiment discloses a power supply system for an underwater robot. Figure 1 As shown, it includes a power supply module, a power detection module, a current limiting protection module, a slow start module, a water leakage detection module and a voltage reduction module;

[0055] The electric quantity detection module and the current limiting protection module are electrically connected to the power supply module, the current limiting protection module is electrically connected to the slow starting module, and the slow starting module is electrically connected to the water leakage detection module and the voltage reduction module.

[0056] The maximum voltage of the power supply system of this embodiment is 14.8V, and the maximum current is 20A. The modules work together through precise circuit structure and connection relationship to ensure the stability, safety and efficiency of the system.

[0057] The relationship between the various modules of the power system is:

[0058] As the power source, the power supply module monitors the battery status through the power detection module and transmits power to the current limiting protection module. After the current limiting protection module ensures that the current and voltage are within the safe range, the power enters the slow start module for slow power-on control. After the slow start module stabilizes the power supply, the power is transmitted to the step-down module to provide the required voltage for each submodule. The water leakage detection module independently monitors the environment. Once a water leakage is detected, the power supply is immediately cut off through the relay to protect the safety of the system. The close connection and collaborative work between the modules build an efficient, safe and stable power management system.

[0059] In this embodiment, the power supply module includes a DC power supply, a backup power supply, a switching switch and a battery pack; the DC power supply and the backup power supply are connected to the battery pack through the switching switch; the output end of the power supply module is simultaneously connected to the current limiting protection module and the soft start module to ensure stable output of the power supply.

[0060] The power supply module has two power supply modes. One is the direct power supply mode, which is composed of 12 18650 lithium batteries in three series and four parallels. They are loaded on the battery box and can be freely disassembled and installed. After the power is exhausted, the battery can be replaced immediately to continue using, making the underwater robot work longer. The battery pack has a variety of charging methods. Not only can the charging line be led out through the external perforated bolts to charge with an external power supply without removing the circuit board, but the lithium battery can also be removed and charged with a charger. The second is the backup power supply mode, which is enabled when the battery pack of the underwater robot is too low. During the underwater robot's movement underwater and on the surface, it uses friction nanotechnology and solar panels to continuously collect clean energy and charge the backup power supply of the hull to store energy for use when needed.

[0061] Through the dual power supply mode (direct power supply and backup power supply), it is ensured that when the main power supply is exhausted, the backup power supply can be switched in time, extending the working time of the underwater robot and avoiding mission interruption due to lack of power.

[0062] In this embodiment, the power detection module includes a CN1185 chip, a resistor voltage divider network, a communication interface and a trigger port; the CN1185 chip and the resistor voltage divider network are electrically connected to form a voltage acquisition network; the output end of the voltage acquisition network is respectively connected to the communication interface and the trigger port; the input end of the voltage acquisition network is connected to the battery pack; the communication interface is connected to the host computer, and the trigger port is electrically connected to the switching switch.

[0063] Among them, the CN1185 chip is used for voltage sampling and power calculation; the resistor voltage divider network divides the voltage of the energy storage device to a range that the CN1185 chip can handle; and the communication interface is used to transmit power data to the host computer.

[0064] The power detection module monitors the power in real time and sends data to the host computer. At the same time, it can also switch to the backup battery pack through a switch when the battery pack power is low to the set threshold; the power detection module divides the voltage of the energy storage device through the CN1185 chip through a resistor, and derives the current power of the energy storage device according to the current voltage and sends a signal to the host computer, which is then displayed by the host computer system; when the battery pack voltage is too low, the power supply system is converted to use the backup power supply through the conversion circuit.

[0065] The power detection module is connected to the battery pack of the power supply module through a resistor voltage divider network to collect the real-time voltage of the battery pack. The CN1185 chip processes the collected voltage data and sends the power information to the host computer through the communication interface. At the same time, the power detection module is connected to the power supply module through a signal line, triggering the switching of the backup power supply when the power is lower than the set threshold.

[0066] In this embodiment, the current limiting protection module refers to Figure 2 As shown, it includes three pairs of PMOS transistors Q1-Q6, chip FM8254AAV, resistors R1-R10, R17, capacitors C1-C5, C13, and switch SW1;

[0067] Among them, Q1~Q6 are all P-channel MOSFETs, which are used to control the overall charge and discharge path. Each device contains three pins: D drain, S source, and G gate. The sources of Q1, Q3, and Q5 are connected to the positive electrode of the battery pack; the drains of Q1, Q2, Q3, Q4, Q5, and Q6 are connected to each other in pairs to form three groups of controlled outputs; the gates of Q1, Q3, and Q5 are connected to the COP output pin of the FM8254 chip through corresponding biases. When the chip outputs a low level, these MOSFETs are turned on; when the chip outputs a high level, the MOSFET is turned off to achieve rapid cutoff of overcurrent protection; the gates of Q2, Q4, and Q6 are similarly connected to the DOP output pin of the FM8254 chip. When abnormal current is detected or disconnection is required, the chip will raise the gate to a level sufficient to shut down the PMOS to protect the battery and the subsequent load.

[0068] The chip FM8254 uses three pairs of PMOS as electronic switches to control the overall charge and discharge path of three series-connected lithium batteries. The gates of these PMOS are controlled by the various drive pins (DOP, COP, etc.) of FM8254. According to the overvoltage, overcurrent, and short-circuit detection results inside the chip, the MOSFET gate is automatically pulled up / down to achieve switching action.

[0069] In this embodiment, the resistance of resistor R1 is 1MΩ, one end of which is connected to the positive electrode of the battery pack (the same as the source common node of Q1, Q3, and Q5), and the other end is connected to the COP pin of FM8254AAV. A high-resistance bias current path is provided for the COP pin to prevent the pin from floating when turned off, and to help the chip monitor or pull down the gate potential during overcurrent protection.

[0070] The resistance of resistor R2 is 5.1kΩ, one end of which is connected to the positive electrode of the battery pack, which is a +5V power supply in this embodiment, and the other end is connected to the VMP pin of FM8254AAV and the loop where switch SW1 is located. It provides a pull-up voltage for the VMP pin and cooperates with SW1 to perform power-on / power-off control so that the chip can correctly identify the power status.

[0071] The resistance of resistor R3 is 5.1kΩ, one end of which is connected to the gates of Q1, Q3, and Q5, and the other end is connected to the DOP pin of FM8254AAV. In normal operation, it provides a suitable bias signal for the PMOS gate to turn it on or off; when the chip detects an abnormality and needs to be shut down, the gate is pulled up through this resistor to achieve rapid cutoff.

[0072] The resistance of resistor R4 is 1kΩ, one end of which is connected to the VINI pin of the FM8254AAV chip, and the other end is grounded. It limits the input current of the VINI pin and performs simple current limiting on the detection signal, and cooperates with the subsequent filter capacitor to stabilize the internal measurement reference of the chip.

[0073] The resistor R5 has a resistance of 1kΩ, one end of which is connected to the SEL pin of the FM8254AAV chip, and the other end is connected to R9. A pull-up / pull-down resistor is provided for the SEL pin to prevent the pin from being left floating and causing an uncertain state.

[0074] The resistance values ​​of resistors R6, R7, and R8 are all 1kΩ, and these three 1kΩ resistors appear on the measurement channels of VC1, VC2, and VC3 respectively. One end of each resistor is connected to the node between two adjacent batteries in the battery string (that is, the voltage divider input of the single / multiple voltages is detected), and the other end is connected to VC1, VC2, and VC3 of FM8254AAV respectively. Each channel connected in parallel has a 100nF capacitor (C3, C4, and C5 from the VC1, VC2, and VC3 pins to the ground, respectively), forming a low-pass filter for sampling single-cell or multi-cell battery voltages, smoothing transient voltages, and preventing interference to the detection circuit.

[0075] The resistance of resistor R9 is 51Ω: it is connected in series with the CDT, CCT, C1, C2 and other pins and the filter network to suppress the peak current to ensure the stable response of overcurrent or short circuit detection.

[0076] The resistance of resistor R10 is 1mΩ, and it is a current sampling detection resistor connected in series between the output negative electrode and the system common ground.

[0077] The resistor R5 has a resistance of 10kΩ, one end of which is connected to the CTL pin of FM8254AAV, and the other end is connected to the detection node corresponding to R10, with a capacitor C13 (2.2μF) connected in parallel around it. It forms an RC network with C13 to delay and filter the CTL pin, so that the control logic or enable pin has stable power-on / power-off behavior to prevent false operation.

[0078] Capacitors C1 and C2 are both 100nF, decoupling / filtering capacitors, appearing between the CDT, CCT pins and R9 respectively.

[0079] Capacitors C3, C4, and C5 are all 100nF. Each capacitor is connected from the VC1, VC2, and VC3 pins to ground (VSS) and combined with the above R6, R7, and R8 to form a low-pass filter network for sampling the voltage of each battery cell.

[0080] The current limiting protection module uses the current limiting protection module of the FM8254 chip main control power supply that is adapted to large currents to ensure the safety of the battery and the normal power supply of the entire system. The FM8254 is easy to use, with built-in high-precision voltage detection circuit and delay circuit, suitable for current limiting protection of three series-connected lithium batteries, and requires a small current, with a maximum current of 40 microamperes when working and a maximum current of 0.1 microamperes when sleeping, and has the characteristics of low power consumption. At the same time, the FM8254 chip is small in size and occupies a small area of ​​the circuit board, which reduces the occupied space and improves the utilization rate of the circuit board.

[0081] FM8254 uses three pairs of PMOS as electronic switches to control the overall charge and discharge of the power supply. When the system is under normal current, the DOP pin outputs a low level. At this time, the PMOS source and gate voltage UGS is less than 0, the discharge tube is turned on, and the current is discharged through the MOS tube. When the FM8254 chip is overcurrent, the gate G is given a high level to cut off the MOS tube. At this time, the circuit is disconnected, which plays a protective role to prevent the subsequent circuit from burning and ensure the safety of the cabin. The CTL terminal is grounded to make the circuit charging mode normally open. When the protection is locked, the protection is turned on again through the current limiting protection switch.

[0082] The current limiting protection module of this embodiment is as follows:

[0083] Input end: connect the positive and negative electrodes of three lithium batteries connected in series, as well as the battery nodes in the middle.

[0084] Output: The main power supply path between the positive electrode of the battery and the subsequent load is controlled through the three pairs of PMOS, Q1 / Q2, Q3 / Q4, and Q5 / Q6. These PMOS are turned on to allow the battery to supply power to the outside; once an abnormality such as overvoltage, overcurrent, or short circuit occurs, the FM8254 chip will pull up the gate of the corresponding PMOS to turn it off, thereby cutting off the connection between the battery and the load and playing a protective role.

[0085] Control / detection signal: The DOP / COP / CTL pins of FM8254 are connected to the MOSFET gate and sampling resistor R10 through several resistor-capacitor networks to monitor the battery voltage and current and perform protection actions when necessary. The voltage sampling pins (VC1, VC2, VC3) monitor the voltages of the three batteries respectively; auxiliary pins such as VINI and VMP are used to power the chip and identify power-on; R1R9, C1C5, etc. are peripheral devices that cooperate with the chip to complete detection and gate drive.

[0086] In this embodiment, refer to Figure 3 As shown, the slow start module includes a plurality of PMOS transistors Q7 to QN connected in parallel, an external switch SW2 and an RC network. In this embodiment, N is 14.

[0087] The slow start module is used to control the slow power-on process of the power supply;

[0088] The external switch SW2 is an external control switch used to start or shut down the system power supply.

[0089] The RC network is used to control the switching speed of the PMOS to achieve a soft-start effect.

[0090] The working principle of the slow start module is:

[0091] The slow start module adopts the PMOS soft switch control scheme, and controls the conduction and cutoff of PMOS through an external slow start switch to achieve slow power-on of the power supply. The capacitor and resistor network are used to control the switching speed of PMOS, suppress surge current, and prevent the circuit board from burning due to excessive instantaneous current. The slow start module is connected to the current limiting protection module, receives the safe current provided by it, and provides stable power to the buck module.

[0092] This module uses multiple parallel-connected P-channel MOSFETs, Q7~Q14, model WPM2341A, combined with external switch SW2 and RC network to achieve soft-start function, thereby avoiding excessive impact current at the moment of system power on / off.

[0093] The source of Q7 to Q14 is connected to the input power supply, the drain is output to the subsequent load, and the gate is connected to the external switch SW2 through resistors R18, R19 and capacitor C14. Multiple MOSFETs in parallel can increase the conduction current capability to meet high power requirements.

[0094] The external switch SW2 is located outside the cabin. The user can use this switch to pull the gate level up or down to control the entire power supply. When SW2 is switched to the "off" position, the gate-source voltage of the PMOS is close to 0V, which means that the P-channel device is turned off, and the output end is disconnected from the power supply end; when SW2 is switched to the "on" position, the gate voltage changes slowly with the RC network, gradually turning on the MOSFET.

[0095] The RC slow-start network, R18 and C14 together form a charge-discharge loop, so that the gate-source potential of the MOSFET will not jump instantly, but slowly drop according to a certain time constant, which means that the P-channel device is gradually turned on. This "slow voltage change" method can suppress the surge current at the moment of power-on, and avoid the possibility of burning the power board or other key components due to instantaneous high current.

[0096] R19 is used to pull up / down the gate or ensure that the gate remains at a stable potential when turned off to prevent the MOSFET from being in an uncertain state when there is no control signal.

[0097] The slow start module of this embodiment is as follows:

[0098] Input end: It receives the power output after the "current limiting protection module" (that is, under the premise that Q1~Q6 are turned on, the battery voltage has been switched out), which is also the "positive electrode of the battery that has passed the protection".

[0099] Output end: The power supply voltage after slow start is further sent to the downstream of the system or directly to the step-down module of the subsequent stage.

[0100] Core function: Soft start at power-on is achieved through multiple parallel P-channel MOSFETs and RC networks (R18, C14). When the user turns on the power through the offboard switch SW2, the gate potential does not instantly change to a high / low level, but after the charge and discharge process of R18 and C14, the voltage between the MOSFET source and gate gradually changes, and the MOSFET slowly turns on. This slow-change conduction method can suppress the power-on surge current and protect the subsequent load and the MOSFET itself.

[0101] Control / detection signal: The position of SW2 determines whether the parallel PMOS is pulled up (off) or gradually pulled down (on). Resistors such as R19 are used to provide a reliable potential to the MOSFET gate when turned off to prevent the switch from floating or interfering with the state.

[0102] In this embodiment, refer to Figure 4 As shown, the buck module includes a chip TPS5450DDAR, capacitors C7-C12, an inductor L1, a freewheeling diode D1, a resistor R15, an adjustable resistor R16, and a load H2.

[0103] In this embodiment, the TPS5450DDAR chip is a high-power DC power converter responsible for voltage regulation; peripheral components (inductor, capacitor, feedback resistor, etc.) construct a voltage stabilization circuit to ensure output voltage stability; the adjustable voltage interface allows the user to adjust the output voltage according to demand.

[0104] The buck module is connected to the output end of the slow start module to receive the stable power input after the slow start. The TPS5450DDAR chip is connected to the power detection module through the feedback resistor network to achieve accurate voltage regulation and monitoring.

[0105] The output end of the step-down module is connected to each sub-module that needs step-down power supply.

[0106] Built-in current limiting and short-circuit protection functions ensure that the buck module can protect the system under abnormal conditions.

[0107] In this embodiment, the input terminal (VIN, pin 7) of the chip TPS5450DDAR is connected to the system main power supply (within the range of 5.5V to 36V).

[0108] Input filtering: Connect multiple capacitors (C7, C8, C12 with values ​​of 4.7μF and 10nF) in parallel between VIN and ground (GND) for high-frequency decoupling and input voltage regulation; the enable pin (ENA, pin 5) is connected to the power supply through a pull-up / pull-down resistor or directly to control whether the TPS5450 works according to the design requirements. The switch output terminal (PH, pin 8) is the output of the power switch inside the chip. First, a small capacitor C11 = 10nF is connected in series to the ground to suppress high-frequency spikes, and then connected to one end of the inductor L1. The other end of the inductor is connected to the buck output node (i.e. the positive pole of the power supply to the load). The freewheeling diode (D1) is connected from the PH node to the ground, with the cathode connected to PH and the anode connected to the ground, which is used to provide a freewheeling path for the inductor current when the switch is turned off.

[0109] Output filtering: After the inductor L1 is output, it is connected to the ground in parallel with capacitors such as C9 and C10 to form an LC filter network, providing stable DC output and reducing ripple. C9 = 330μF is the main filter capacitor, and C10 = 100nF is a smaller high-speed decoupling capacitor, which combines to reduce high / low frequency interference.

[0110] Feedback and voltage regulation (VSENSE, pin 4): The VSENSE pin is connected to the load output voltage (i.e. the back end of L1) and introduced into the chip for regulation control after the resistor voltage divider (R15, R16, etc.). A path is divided from the output node → R15 → VSENSE → R16 → ground (GND), and the output voltage is set by adjusting the R15 / R16 ratio.

[0111] A small capacitor C11 is added to BOOT (pin 1) from PH (pin 8) to BOOT (pin 1) to provide the gate charge pump voltage for the internal high-side driver.

[0112] The buck module uses the TPS5450DDAR chip and a small number of peripheral components to build an efficient voltage regulator circuit to adjust the battery voltage to the required level. The buck module is connected to the slow start module to ensure that after receiving a stable power supply, it provides a multi-level adjustable voltage output to meet the voltage requirements of different sub-modules and devices. The built-in current limiting and short-circuit protection functions further enhance the safety of the system.

[0113] The step-down module of this embodiment is as follows:

[0114] Input: The voltage after the output of the previous "slow start module", but has been processed by the current limiting protection and soft start module.

[0115] Output: After passing through the internal switch of TPS5450, inductor L1, freewheeling diode D1, output filter capacitor C9 / C10, etc., the required step-down voltage (5V, 3.3V) is finally obtained. This regulated output then supplies power to each power-consuming unit downstream of the system.

[0116] Core function: Convert the high and unstable battery voltage into a lower and relatively stable DC voltage. The switch tube is integrated internally, and a typical Buck circuit is formed through external inductors, diodes and capacitors. After the feedback pin VSENSE (pin 4) is connected to the output voltage through the voltage divider network (R15, R16), PWM modulation is performed internally according to the set reference voltage, and the duty cycle is automatically adjusted to maintain a constant output.

[0117] Control / detection signal: ENA (pin 5) can be used to start and stop TPS5450; BOOT, PH, VSENSE and other pins are necessary connections for typical buck circuits. Input filter capacitors such as C7, C8, and C12 help suppress input ripple and high-frequency interference; C9 and C10 are output filters, and together with inductor L1 form a complete LC filter.

[0118] The step-down module achieves multi-level adjustable voltage output to meet the needs of different loads such as microcontrollers, Raspberry Pi and servos.

[0119] After the soft start module is started, the power is distributed to different loads through the power distribution board. In this embodiment, the power is distributed to the water leakage detection module or various thrusters.

[0120] In this embodiment, the water leakage detection module includes a chip SS8550, a water leakage detection probe and a warning device.

[0121] The water leakage detection probe is used to detect whether there is water leakage in the cabin. When water enters the robot equipment cabin, an alarm is issued in time and the power supply can be cut off. When the water leakage detection probe touches a wet object or is soaked in seawater, current flows through both ends of the probe. At this time, the pathway is connected, the warning light lights up and sends a signal to the host computer system, and the entire circuit is disconnected by the relay.

[0122] Among them, the water leakage detection probe is used to sense whether there is water intrusion in the cabin; the warning device is used to sound an alarm when a water leakage is detected.

[0123] The working principle is:

[0124] The water leakage detection probe is connected to the SS8550 chip. Once the probe detects moisture, the SS8550 chip will trigger the alarm device. The relay is controlled by the SS8550 chip and is located in the power path. Once triggered, the power is immediately disconnected to protect the system. At the same time, the water leakage detection module is connected to the host computer system through a signal line to send a water leakage alarm signal.

[0125] In this embodiment, the power detection module monitors the power in real time and sends data to the host computer. It can also switch to the backup battery pack for power supply when the battery pack power is low to a set threshold; the current limiting protection module detects whether the overall system has overcurrent, overvoltage, etc. in real time, and cuts off the power supply once an abnormality occurs to avoid burning other chips and modules; the slow start module can realize slow power-on, suppress surge current, and avoid burning the circuit board due to excessive surge current at the moment of power-on; the water leakage detection module can detect whether there is water leakage in the cabin through the water leakage detection probe, and promptly issue an alarm and cut off the power supply when water enters the robot equipment cabin; the step-down module can reduce the battery voltage to the required value and stabilize the voltage output.

[0126] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0127] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A power supply system for an underwater robot, characterized in that: It includes a power supply module, a power detection module, a current limiting protection module, a slow start module, a water leakage detection module and a voltage reduction module; The power detection module and the current limiting protection module are electrically connected to the power supply module, the current limiting protection module is electrically connected to the slow start module, and the slow start module is electrically connected to the water leakage detection module and the voltage reduction module; Wherein, the power supply module includes a DC power supply, a backup power supply, a switch and a battery pack; the DC power supply and the backup power supply are connected to the battery pack through the switch; The power detection module includes a CN1185 chip, a resistor voltage divider network, a communication interface and a trigger port; the CN1185 chip and the resistor voltage divider network are electrically connected to form a voltage acquisition network; The output end of the voltage acquisition network is connected to the communication interface and the trigger port respectively; The input end of the voltage acquisition network is connected to the battery pack; The communication interface is used for communication connection with the host computer, and the trigger port is electrically connected with the switch.

2. A power supply system for an underwater robot as claimed in claim 1, characterized in that: The current limiting protection module includes three pairs of PMOS transistors Q1-Q6, a chip FM8254AAV, resistors R1-R10, R17, capacitors C1-C5, C13, and a switch SW1; Among them, the sources of PMOS transistors Q1, Q3, and Q5 are commonly connected to the positive electrode of the battery pack, and the sources of Q2, Q4, and Q6 are commonly connected to the output line; the drains of Q1 and Q2 are connected to each other, the drains of Q3 and Q4 are connected to each other, and the drains of Q5 and Q6 are connected to each other to form three groups of output channels; the gates of Q1, Q3, and Q5 are connected to the COP pin of the chip FM8254AAV; the gates of Q2, Q4, and Q6 are connected to one end of the resistor R3, and the other end of the resistor R3 is connected to the DOP pin of FM8254AAV; One end of the resistor R1 is connected to the positive electrode of the battery pack, and the other end is connected to the COP pin of the chip FM8254AAV; One end of the resistor R2 is connected to the positive electrode of the battery pack, and the other end is connected to the VMP pin of the chip FM8254AAV; One end of the switch SW1 is connected to the output line and the VDD pin of the chip FM8254AAV, and the other end is connected to the VMP pin of the chip FM8254AAV; One end of the resistor R4 is connected to the VINI pin of the chip FM8254AAV, and the other end is grounded; One end of the resistor R5 is connected to the SEL pin of the chip FM8254AAV, and the other end is connected to one end of the resistor R9 together with one end of the capacitors C1, C2, and C13 and the VSS pin and VC4 pin of the chip FM8254AAV; The other end of the capacitor C1 is connected to the CDT pin of the chip FM8254AAV; The other end of the capacitor C2 is connected to the CCT pin of the chip FM8254AAV; The other end of the capacitor C13 is connected to the output line; The other end of the resistor R9 is connected to one end of the resistors R10 and R17 and the voltage divider pin 4 of the battery pack respectively; The other end of the resistor R10 is grounded; The other end of the resistor R17 is connected to the CTL pin of the chip FM8254AAV; One end of the capacitor C3 is connected to the output line, and the other end is connected to the VC1 pin of the chip FM8254AAV and one end of the resistor R6; the other end of the resistor R6 is connected to the voltage divider pin 1 of the battery pack and the output line; One end of the capacitor C4 is connected to the output line, and the other end is connected to the VC2 pin of the chip FM8254AAV and one end of the resistor R7; the other end of the resistor R7 is connected to the voltage divider pin 2 of the battery pack; One end of the capacitor C5 is connected to the output line, and the other end is connected to the VC3 pin of the chip FM8254AAV and one end of the resistor R8; the other end of the resistor R8 is connected to the voltage divider pin 3 of the battery pack; The output line is connected to the soft start module.

3. A power supply system for an underwater robot as claimed in claim 2, characterized in that: The model of the PMOS transistors Q1 to Q6 is AS4435S.

4. A power supply system for an underwater robot as claimed in claim 3, characterized in that: The slow start module comprises: a plurality of parallel-connected PMOS transistors Q7 to QN, an external switch SW2 and an RC network unit; wherein N is a positive integer greater than 7; The sources of the PMOS transistors Q7 to QN are commonly connected to one end of the external switch SW2, the drains are commonly connected to the step-down module and the water leakage detection module, the gates are connected to one end of the RC network unit, and the other end of the RC network unit is connected to one end of the external switch SW2; The other end of the external switch SW2 is connected to the output line of the current limiting protection module.

5. A power supply system for an underwater robot as claimed in claim 4, characterized in that: The RC network unit includes resistors R18, R19 and capacitor C14, which are connected in sequence to form a charge and discharge loop; One end of the resistor R18 is connected to the resistor R19 and one end of the external switch SW2; the other end of the resistor R19 is connected to the gate of the PMOS transistor Q7 and one end of the capacitor C14, and the other end of the capacitor C14 is connected to the drain of the PMOS transistors Q7 to QN.

6. A power supply system for an underwater robot as claimed in claim 5, characterized in that: The model of the PMOS transistors Q7-QN is WPM2341A.

7. A power supply system for an underwater robot as claimed in claim 6, characterized in that: The step-down module includes: a chip TPS5450DDAR, capacitors C7-C12, an inductor L1, a freewheeling diode D1, a resistor R15, an adjustable resistor R16, and a load H2; The VIN pin of the chip TPS5450DDAR is connected to the positive electrodes of the soft start module and three parallel capacitors C7, C8, and C12, and the negative electrode is grounded; The PH pin of the chip TPS5450DDAR is connected to the capacitor C11, one end of the inductor L1 and the anode of the freewheeling diode D1, the other end of the capacitor C11 is connected to the BOOT pin of the chip TPS5450DDAR, and the cathode of the freewheeling diode D1 is grounded; Capacitors C9 and C10 are connected in parallel, the positive electrode of the parallel circuit is connected to the other end of the inductor L1, one end of the resistor R15 and the load H2, and the negative electrode of the parallel circuit is grounded; The other end of the resistor R15 is connected to one end of a fixed foot of an adjustable resistor R16 and an adjustable foot, the other end of the fixed foot is grounded, and the adjustable foot is connected to the VSENSE pin of the chip TPS5450DDAR.

Images