Power supply device and underwater robot system

Abstract

The utility model relates to a power supply device and an underwater robot system. The power supply device comprises a direct current module and a controller. And the plurality of direct current modules are connected in series between the positive output end and the negative output end in an end-to-end manner. The DC module is provided with a first series connection point and a second series connection point. The direct current module comprises a plurality of power supply modules. The plurality of power supply modules are connected in parallel between the first series connection point and the second series connection point. And the controller is electrically connected with each power supply module. The direct current output by each power supply module can be combined, so that the direct current module or the power supply device can output larger current, and therefore, an underwater host device with larger power requirements can be driven, and the underwater host device can perform higher-intensity operation. The direct current modules are connected in series between the positive output end and the negative output end in an end-to-end mode, output voltages of the direct current modules are superposed, and higher voltage is output between the positive output end and the negative output end of the power supply device.

Description

Technical Field

[0001] The present application relates to the field of power supply technology, and in particular to a power supply device and an underwater robot system. Background Art

[0002] Underwater robots, also known as unmanned remote-controlled submersibles, are robots that work underwater for extreme operations. Due to the harsh and dangerous underwater environment and the limited diving depth of humans, underwater robots have become an important tool for developing the ocean. At the same time, they can provide early detection and construction monitoring in underwater projects.

[0003] The wired-powered underwater robot system generally includes a shore-based power supply device and an underwater host device. An electrical cable is connected between the shore-based power supply device and the underwater host device. During operation, the shore-based power supply device is placed on the water, while the underwater host device dives underwater. The underwater host device can be equipped with sensors to enable the underwater host device to detect underwater. The underwater host device can be equipped with a mechanical movable mechanism to enable the underwater host device to move underwater objects. The shore-based power supply device provides DC power to the underwater host device through an electrical cable.

[0004] As the diving depth of the underwater host device gradually increases, longer electrical cables are needed. When the transmission voltage cannot be increased, the shore-based power supply device will produce greater losses in the transmission of power to the underwater host device. In addition, as the operating intensity of the underwater host device increases, the power consumption of the underwater host device increases, and the shore-based power supply device must output a larger current to the underwater host device.

[0005] The power module in the shore-based power supply device outputs DC voltage and DC current to the underwater host device. However, the rated output voltage and rated output current of the traditional power module are limited. Under the same power, it is impossible to reduce the loss on the electrical cable by increasing the voltage, and under the same output voltage, it is impossible to increase the current to meet the operating intensity of the underwater host device. Utility Model Content

[0006] Based on this, it is necessary to provide a power supply device and an underwater robot system to address the problems that the rated output voltage and rated output current of traditional power modules are limited, the loss on electrical cables cannot be reduced by increasing the voltage at the same power, and the operating intensity of the underwater host device cannot be met by increasing the current at the same output voltage.

[0007] A power supply device, having a positive output terminal and a negative output terminal; comprising:

[0008] A DC module, wherein a plurality of the DC modules are connected in series between the positive output terminal and the negative output terminal; the DC module is provided with a first series connection point and a second series connection point; the DC module comprises a plurality of power modules; a plurality of the power modules are connected in parallel between the first series connection point and the second series connection point; and

[0009] The controller is electrically connected to each of the power modules.

[0010] In the above power supply device, each power module can output direct current individually. Since the direct current module includes several power modules, each power module in the same direct current module is connected in parallel between the first series connection point and the second series connection point, so the direct current output by each power module can be combined, so that the direct current module or the power supply device can output a larger current, thereby being able to drive an underwater host device with a larger power demand, so that the underwater host device can perform operations with greater intensity. Each direct current module is connected in series between the positive output terminal and the negative output terminal, so that the output voltage of each direct current module is superimposed, so that a higher voltage is output between the positive output terminal and the negative output terminal of the power supply device. When the power output of the power supply device is constant, the output voltage of the power supply device rises, and the current passing through the electrical cable is smaller. According to Ohm's theorem, the loss of the output power of the power supply device on the electrical cable can be reduced. When an electrical connection is formed between the controller and each power module, the coordinated operation of each power module can be achieved.

[0011] In one embodiment, the power module is provided with a positive pole and a negative pole; the DC module includes a plurality of switching elements; the switching elements are arranged in a one-to-one correspondence with the power modules; the switching elements are electrically connected between the first series connection point and the corresponding positive pole of the power module; the negative poles of each of the power modules are interconnected to form a second series connection point of the DC module; and the controller is signal-connected to the switching elements.

[0012] In one embodiment, the switch element is a MOS tube or a relay.

[0013] In one of the embodiments, a signal connection is formed between the controller and the power module to transmit current information or voltage information of the power module.

[0014] In one embodiment, a signal connection based on CAN bus is formed between the controller and the power module; or a signal connection based on RS485 is formed between the controller and the power module.

[0015] In one embodiment, the power module includes a transformer, a rectifier unit and a capacitor C1; the primary winding of the transformer is used to be electrically connected to an AC power source; the secondary winding of the transformer is electrically connected to the AC input end of the rectifier unit; and the capacitor C1 is connected between the positive terminal and the negative terminal of the rectifier unit.

[0016] An underwater robot system comprises a power supply device.

[0017] In one of the embodiments, it also includes an underwater host device and an electrical cable; the positive output terminal and the negative output terminal of the power supply device are electrically connected to the underwater host device through the electrical cable respectively.

[0018] In one of the embodiments, a signal connection is formed between the controller and the underwater host device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0020] Figure 1 Schematic diagram of the structure of an underwater robot system according to an embodiment of the present application.

[0021] Figure 2 It is a schematic structural diagram of a power supply device according to an embodiment of the present application.

[0022] Figure 3 for Figure 2 A schematic structural diagram of a DC module in a power supply device is shown.

[0023] Figure 4 Schematic diagram of the structure of a power module in an embodiment of the present application.

[0024] Figure 5 It is a schematic diagram of the structure of a power module in another embodiment of the present application.

[0025] Figure numerals: 100, underwater robot system; 20, power supply device; VOUT+, positive output terminal; VOUT-, negative output terminal; 21, DC module; 211, first series connection point; 212, second series connection point; 213, power module; 213a, rectifier unit; 213b, voltage regulating unit; 213c, sampling unit; 214, switch element; 22, controller; 30, underwater host device; 40, electrical cable. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0028] In the present utility model, unless otherwise clearly stipulated and limited, the terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. The technical solution of the present utility model is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0029] The technical solution provided by the embodiments of the present application is described below in conjunction with the accompanying drawings.

[0030] Combination Figure 1 As shown, the present application provides an underwater robot system 100 .

[0031] In some embodiments, the underwater robot system 100 is used to detect the underwater environment. Specifically, the underwater robot system 100 detects the underwater space environment. The underwater robot system 100 can also monitor underwater buildings or underwater topography through sonar elements.

[0032] In some embodiments, the underwater robot system 100 is used to perform underwater operations. Specifically, the underwater robot system 100 can clamp an object through a clamping mechanism and then drive the underwater object to move by rotating a propeller in the underwater robot system 100. In one embodiment, the underwater robot system 100 can be used to perform salvage operations.

[0033] In some embodiments, in combination Figure 1 As shown, the underwater robot system 100 includes a power supply device 20, an electrical cable 40 and an underwater host device 30. Specifically, the power supply device 20 can output DC power. The DC power output by the power supply device 20 is transmitted to the underwater host device 30 through the electrical cable 40. When the underwater robot system 100 is put into use, the power supply device 20 is used to be placed on the water. In one embodiment, the power supply device 20 is used to be placed on the shore.

[0034] Specifically, the underwater host device 30 is used to be put into water. In some embodiments, the underwater host device 30 is used to detect the underwater environment. In one embodiment, the underwater host device 30 includes a sonar element, and the underwater space environment is detected by the sonar element. In some other embodiments, the underwater host device 30 is used to perform underwater operations. In one embodiment, the underwater host device 30 includes a propeller, and the underwater host device 30 achieves the dragging of underwater objects by the rotation of the propeller.

[0035] In some embodiments, in combination Figure 2 As shown, the power supply device 20 has a positive output terminal VOUT+ and a negative output terminal VOUT-. Specifically, the power supply device 20 outputs DC power to the outside through the positive output terminal VOUT+ and the negative output terminal VOUT-. There is a voltage difference between the positive output terminal VOUT+ and the negative output terminal VOUT-. The positive output terminal VOUT+ and the negative output terminal VOUT- of the power supply device 20 are electrically connected to the underwater host device 30 through the electrical cable 40 respectively. Specifically, the electrical cable 40 includes at least two wires, and the wires are insulated from each other.

[0036] The present application also provides a power supply device 20.

[0037] In some embodiments, in combination Figure 2 and Figure 3As shown, the power supply device 20 includes: a DC module 21 and a controller 22. A plurality of DC modules 21 are connected in series between the positive output terminal VOUT+ and the negative output terminal VOUT-. The DC module 21 is provided with a first series connection point 211 and a second series connection point 212. The DC module 21 includes a plurality of power modules 213. The plurality of power modules 213 are connected in parallel between the first series connection point 211 and the second series connection point 212. The controller 22 is electrically connected to each power module 213.

[0038] Specifically, each power module 213 can output a DC current individually. Since the DC module 21 includes a plurality of power modules 213, each power module 213 in the same DC module 21 is connected in parallel between the first series connection point 211 and the second series connection point 212, so that the DC current output by each power module 213 can be combined, so that the DC module 21 or the power supply device 20 can output a larger current, thereby being able to drive the underwater host device 30 with a larger power demand, so that the underwater host device 30 can perform a more intensive operation. Each DC module 21 is connected in series between the positive output terminal VOUT+ and the negative output terminal VOUT-, so that the output voltage of each DC module 21 is superimposed, so that a higher voltage is output between the positive output terminal VOUT+ and the negative output terminal VOUT- of the power supply device 20. When the power output of the power supply device 20 is constant, the output voltage of the power supply device 20 rises, and the current passing through the electrical cable 40 is smaller. According to Ohm's theorem, the loss of the output power of the power supply device 20 on the electrical cable 40 can be reduced. The controller 22 is electrically connected to each power module 213 , so that each power module 213 can operate in coordination.

[0039] Specifically, by superimposing the output voltages of a plurality of DC modules 21 , it is possible to maintain a minimum power consumption on the electrical cable 40 when the electrical cable 40 is as long as three kilometers.

[0040] Specifically, the first series connection point 211 of one DC module 21 is connected to the positive output terminal VOUT+ of the power supply device 20. The second series connection point 212 of any DC module 21 is connected to the first series connection point 211 of another DC module 21. Specifically, the second series connection point 212 of another DC module 21 is connected to the negative output terminal VOUT- of the power supply device 20.

[0041] In some embodiments, the power module 213 can convert AC power into DC power. In some embodiments, the input end of the power module 213 is connected to a single-phase AC power supply or a three-phase AC power supply of a mains power supply. In one embodiment, the power module 213 uses a power module 213 of the model number AD352M700S5 of China Science and Technology United Electronics.

[0042] In some embodiments, in combination Figure 3 As shown, the power module 213 is provided with a positive pole V+ and a negative pole V-. The DC module 21 includes a plurality of switch elements 214, and the switch elements 214 are arranged one-to-one with the power modules 213. The switch element 214 is electrically connected between the first series connection point 211 and the positive pole V+ of the corresponding power module 213. The negative poles V- of each power module 213 are interconnected to form a second series connection point 212 of the DC module 21. The controller 22 is signal-connected to the switch element 214. Specifically, the switch element 214 has an on state and an off state. Through the signal connection between the controller 22 and the switch element 214, the controller 22 can apply a control signal to the switch element 214 to switch the switch element 214 between the on state and the off state. The positive pole V+ of the power module 213 is connected to the first series connection point 211 of the DC module 21 through the switch element 214. The switch element 214 can realize electrical connection or electrical isolation between the positive electrode V+ of the power module 213 and the positive electrode V+ of other power modules 213 in the cut-off state, thereby stopping the power output of the corresponding power module 213. In combination with the power requirement of the underwater host device 30, the controller 22 can match the output power of the power supply device 20 with the power requirement of the underwater host device 30 by switching the switch element 214.

[0043] In some embodiments, the switch element 214 is a MOS tube, so as to achieve electrical connection or electrical isolation between the first series point 211 and the positive electrode V+ of the corresponding power module 213. More specifically, the switch element 214 is a high-voltage MOS tube. In other embodiments, the switch element 214 is a relay.

[0044] In some embodiments, the power module 213 includes a transformer T1, a rectifier unit 213a, and a capacitor C1. The primary winding of the transformer T1 is used to be electrically connected to an AC power source. The secondary winding of the transformer T1 is electrically connected to the AC input terminal of the rectifier unit 213a; the capacitor C1 is connected between the positive terminal and the negative terminal of the rectifier unit 213a. Specifically, the transformer T1 is used to adjust the amplitude of the AC voltage, so that the amplitude of the AC voltage increases, which is conducive to increasing the output voltage of the power module 213. In addition, the transformer T1 also forms an isolation between the input terminal and the output terminal of the power module 213. The rectifier unit 213a rectifies the AC power output by the transformer T1 and outputs DC power after rectification. The capacitor C1 filters the DC power output by the rectifier unit 213a, and the DC power is output from the output terminal of the power module 213 after filtering, so that the power module 213 can output a stable DC voltage.

[0045] In one embodiment, the turns ratio between the primary winding and the secondary winding of the transformer T1 is 1:2.5. When the amplitude of the AC voltage input to the primary winding is 230V, the voltage of the secondary winding is above 550V. In one embodiment, the rectifier unit 213a adopts a full-bridge rectifier circuit structure. After the voltage amplitude output by the voltage of the secondary winding is rectified by the rectifier unit 213a, the DC voltage amplitude output reaches above 750V.

[0046] In some implementations, the switch element 214 may also be connected in series with the secondary winding of the transformer T1 and the AC power source, so as to control the AC input of the power module 213 .

[0047] In some embodiments, the rectifier unit 213a includes a diode D1, a diode D2, a diode D3, and a diode D4. The cathode of the diode D1 and the anode of the diode D2 are electrically connected to one end of the secondary winding of the transformer T1, and the cathode of the diode D3 and the anode of the diode D4 are electrically connected to the other end of the secondary winding of the transformer T1. The cathode of the diode D2 and the cathode of the diode D4 are connected to form a positive terminal of the rectifier unit 213a. The anode of the diode D1 and the anode of the diode D3 are connected to form a negative terminal of the rectifier unit 213a.

[0048] In some embodiments, in combination Figure 2 As shown, the controller 22 is connected to the power module 213 by signal, and the controller 22 can transmit control instructions to the power module 213. By connecting the controller 22 to the power module 213 by signal, the working state of each power module 213 can be conveniently adjusted by using the controller 22. In some embodiments, the power module 213 also includes a voltage regulating unit 213b, and the voltage regulating unit 213b can be used to adjust the DC voltage amplitude after filtering the capacitor C1. Further, the controller 22 is connected to the voltage regulating unit 213b by signal. In one embodiment, the voltage regulating unit 213b adopts a power electronic DC / DC voltage regulating structure, and the controller 22 outputs a driving signal to the voltage regulating unit 213b to control the output voltage amplitude of the power module 213. In some embodiments, the power module 213 also includes a sampling unit 213c, and the sampling unit 213c is connected to the controller 22 by signal. In one embodiment, the sampling unit 213c is used to detect the output voltage of the rectifier unit 213a and feedback to the controller 22. In another embodiment, the sampling unit 213 c is electrically connected to the output end of the voltage regulating unit 213 b , and the sampling unit 213 c is used to detect the output voltage of the voltage regulating unit 213 b and feed back to the controller 22 .

[0049] In some embodiments, in combination Figure 2As shown, a signal connection is formed between the controller 22 and the power module 213, which can transmit the current information or voltage information of the power module 213. Specifically, an electrical detection structure is provided inside the power module 213, and the power module 213 can identify its own output voltage and output current, form voltage information reflecting the output voltage, and form current information reflecting the output current. By receiving the voltage information or current information output by the power module 213 through the controller 22, the controller 22 can timely identify the operating status of each power module 213, and determine whether the underwater host device 30 is suitable for continuing detection or operation.

[0050] In some embodiments, a signal connection is formed between the controller 22 and the underwater host device 30. Data information about its own operating conditions can be formed inside the underwater host device 30. In the case of a signal connection between the controller 22 and the underwater host device 30, the underwater host device 30 can feedback operating data information or detection information to the controller 22, so that the controller 22 can adjust the operating state of the power supply device 20 in a timely manner according to the state information of the underwater host device 30.

[0051] Furthermore, the underwater host device 30 has different power requirements under different operating conditions. The controller 22 determines the power requirement of the underwater host device 30 based on the data information fed back by the underwater host device 30. The controller 22 adjusts the output parameters of the power module 213 based on the power requirement of the underwater host device 30, thereby controlling the output current and output power of the power supply device 20, so that the output power of the power supply device 20 matches the power requirement of the underwater host device 30.

[0052] In some embodiments, in combination Figure 1 and Figure 2 As shown, a signal connection based on the CAN bus is formed between the controller 22 and the power module 213, so that serial data communication is formed between the controller 22 and the power module 213, which is beneficial to reducing the number of communication terminals between the controller 22 and the power module 213.

[0053] In some embodiments, in combination Figure 1 and Figure 2 As shown, a signal connection based on RS485 is formed between the controller 22 and the power module 213 , so that serial data communication is formed between the controller 22 and the power module 213 , which is beneficial to reducing the number of communication terminals between the controller 22 and the power module 213 .

[0054] The above is only a specific implementation of the present invention, and the protection scope is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention.

Claims

1. A power supply device having a positive output terminal and a negative output terminal; characterized in that: include: A DC module, wherein a plurality of the DC modules are connected in series between the positive output terminal and the negative output terminal; the DC module is provided with a first series connection point and a second series connection point; the DC module comprises a plurality of power modules; a plurality of the power modules are connected in parallel between the first series connection point and the second series connection point; and The controller is electrically connected to each of the power modules.

2. The power supply device according to claim 1, characterized in that: The power module is provided with a positive pole and a negative pole; the DC module includes a plurality of switching elements; the switching elements are arranged one-to-one corresponding to the power modules; the switching elements are electrically connected between the first series connection point and the corresponding positive pole of the power module; the negative poles of each of the power modules are interconnected to form a second series connection point of the DC module; the controller is signal-connected to the switching elements.

3. The power supply device according to claim 2, characterized in that: The switch element is a MOS tube or a relay.

4. The power supply device according to claim 1, characterized in that: A signal connection is formed between the controller and the power module, which can transmit current information or voltage information of the power module.

5. The power supply device according to claim 4, characterized in that: A signal connection based on CAN bus is formed between the controller and the power module; or a signal connection based on RS485 is formed between the controller and the power module.

6. The power supply device according to claim 1, characterized in that: The power module includes a transformer, a rectifier unit and a capacitor C1; the primary winding of the transformer is used to be electrically connected to an AC power source; the secondary winding of the transformer is electrically connected to the AC input end of the rectifier unit; and the capacitor C1 is connected between the positive terminal and the negative terminal of the rectifier unit.

7. An underwater robot system, characterized in that: Comprising the power supply device as described in any one of claims 1 to 6.

8. The underwater robot system according to claim 7, characterized in that: It also includes an underwater host device and an electrical cable; the positive output end and the negative output end of the power supply device are electrically connected to the underwater host device through the electrical cable respectively.

9. The underwater robot system according to claim 8, characterized in that: A signal connection is formed between the controller and the underwater host device.

Images