System for automatically switching underwater emergency power supply of cable-controlled ROV (Remote Operated Vehicle)

Abstract

The utility model relates to the field of emergency backup power supply switching of an underwater cable-controlled ROV (Remote Operated Vehicle) robot, in particular to a system for automatically switching an underwater emergency power supply of a cable-controlled ROV. According to the technical scheme based on the standby battery, the automatic charging circuit, the voltage stabilizing circuit and the control circuit, the standby power supply can be switched stably and reliably, and the standby power supply switching circuit has the advantages of automatic charging, automatic switching, convenience in threshold adjustment and the like. Therefore, a new scheme is provided for the design of the standby power supply of the ROV body, and the reliability of ROV power supply management is improved. Specifically, when the main power supply is powered down, the system power supply can be automatically switched to the emergency battery power supply. The system is especially suitable for being applied to a high-reliability ROV, and can be automatically switched to a standby power supply to supply power to an emergency circuit under the condition that a main power supply fails. Compared with a conventional mode, additional charging management on the battery is not needed, external control is also not needed, and the use is relatively simple.

Description

Technical Field

[0001] The utility model relates to the field of emergency backup power switching of an underwater cable-controlled ROV robot, and in particular to a system for automatic switching of underwater emergency power supplies of a cable-controlled ROV. Background Art

[0002] With the rapid development of marine engineering and deep-sea exploration technology and the continuous expansion of application fields, in order to meet the needs of real-time monitoring of seabed operating equipment and ensure the normal operation of underwater equipment, it is necessary to establish an underwater energy supply network to support the development of these technologies and the safe operation of underwater operations. The traditional cable transmission mode plays a vital role in ensuring the safe and reliable operation of underwater systems. It mainly includes two parts: one is to provide power and data information support from the shore to the underwater; the other is to transmit the information collected by underwater detection to the control center on the shore. Based on the above needs, a cable-controlled ROV (remotely operated submersible) device was formed. It is directly controlled by the surface mother ship and provides strong power support and communication signal links to the inland to achieve remote control and management of underwater operating equipment. However, once a cable failure causes power supply abnormality, the ROV cannot receive operating instructions or other abnormal situations may cause accidents, which may have catastrophic consequences for the ongoing underwater inspection operations. Therefore, the use of backup power supplies should be considered during underwater inspection operations. Even if the umbilical cable power or communication is interrupted, the backup power supply can still be used to power the ROV acoustic communication module and key sensors such as depth gauges and UGPS, providing key support for subsequent emergency salvage operations.

[0003] Due to the complex underwater conditions, the umbilical cable may become entangled, torn, broken, or stuck, resulting in the interruption of power and communication of the underwater robot. In severe cases, the ROV may be lost, causing huge losses. One method is to be able to switch to its own backup power supply even if an accident occurs and the power supply is interrupted to ensure the normal operation of the ROV acoustic communication module and key sensors such as depth gauges, UGPS, GPS, and strobe lights. For example, the acoustic communication module can report key positioning information such as the robot's depth, height, and direction. At the same time, if the ROV can automatically float to the surface, it can report the current GPS location information through a base station or satellite communication. These safeguards, without exception, require a backup emergency power supply that can be automatically switched in the event of an accident.

[0004] Currently, there are various technical solutions that can be referred to at home and abroad. For example, when an external charger is connected to a mobile device, the device automatically switches to the charger for power supply and charges the battery. When the charger is unplugged, it resumes using the battery for power supply. In the case of new energy vehicles, when the vehicle-mounted system is powered on and an external charging gun is inserted, the system automatically switches to the charger for power supply. If the charging gun is unplugged, it automatically switches to the battery pack for power supply. However, due to the corresponding standards for power supply, interfaces, noise, and communication protocols in mobile devices and new energy vehicles, and there are mature chip solutions, but they are not applicable to the field of power backup power switching for ROVs. For the ROV power supply system, the voltage standard is not standardized, and the threshold setting needs to consider noise interference and be adjusted appropriately. Therefore, it is not feasible to directly use mature chip solutions.

[0005] In view of this, the present utility model provides a system for automatically switching the underwater emergency power supply of a cable-controlled ROV. Summary of the Utility Model

[0006] The purpose of the present utility model is to provide a system for automatically switching the underwater emergency power supply of a cable-controlled ROV in view of the deficiencies of the prior art. When the main power supply fails, the backup battery can be quickly and reliably used as the power source to ensure the normal operation of the acoustic communication and key positioning instrument equipment of the ROV, providing technical support for emergency disposal such as salvage.

[0007] To solve the above technical problems, the following technical solutions are adopted:

[0008] A system for automatically switching the underwater emergency power supply of a cable-controlled ROV, characterized by comprising: a power automatic switching circuit, a battery pack, a control circuit, and a voltage stabilizing circuit.

[0009] The input end of the power automatic switching circuit is connected to a main power supply A1 and an auxiliary power supply A2, and the output end of the power automatic switching circuit is connected to a power supply output AO.

[0010] Among them, the power automatic switching circuit: when the voltage of the input main power supply A1 is greater than or equal to the voltage of the auxiliary power supply A2 or the voltage of the main power supply A1 is greater than or equal to the threshold voltage, the output path of the power supply output AO is the main power supply A1; otherwise, the circuit of the auxiliary power supply A2 is turned on, and the output path of the power supply output AO is the auxiliary power supply A2.

[0011] The battery pack is an electric energy storage and release unit, and the battery pack is used to store electric energy; when the main power supply A1 is invalid, it is used to provide power to the voltage stabilizing circuit, and after voltage conversion, the voltage stabilizing circuit generates a stable working voltage for the auxiliary power supply A2.

[0012] The control circuit: After dividing the input voltage of the main power supply A1, it is compared with the threshold voltage generated by the voltage stabilizer generated by the control circuit itself. If it is greater than or equal to the threshold voltage, EN is output as a low level, and the voltage stabilizer circuit is not enabled. If it is less than the threshold voltage, the EN signal is output as a high level, and the voltage stabilizer circuit is enabled.

[0013] The voltage stabilizer circuit: When the enable EN signal is at a high level and is effective, according to the battery power output by the battery pack, it is regulated to the normal working voltage of the auxiliary power supply A2 through a boost circuit or a buck chip circuit; when the enable EN signal is at a low level and is ineffective, the boost circuit or the buck chip circuit does not work, and the output of the auxiliary power supply A2 is 0V.

[0014] Based on the above technical solution, a further improvement is that the voltage stabilizer inside the control circuit includes a control integrated circuit U1, a triode Q1, a resistor R1, a resistor R2, a resistor R3, and a resistor R4.

[0015] The input end of the resistor R1 is connected to the battery power supply. The output end of the resistor R1 is connected to the resistor R2, the resistor R4, and the output of the voltage stabilizer. The resistor R2 is in series with the resistor R3, and the other end of the resistor R3 is grounded.

[0016] The input end of the control integrated circuit U1 is connected to the resistor R4. The resistor R4 is in series with the resistor R1. The output end of the control integrated circuit U1 is grounded, and the control integrated circuit U1 is connected to the resistor R3.

[0017] The base of the triode Q1 is connected to the input end of the control integrated circuit U1. The emitter of the triode Q1 is connected to the output end of the resistor R1. The collector of the triode Q1 is grounded.

[0018] Based on the above technical solution, a further improvement is that the control integrated circuit U1 is a TL431 programmable reference chip.

[0019] Based on the above technical solution, a further improvement is that the control circuit further includes a comparison circuit. The comparison circuit includes a linear voltage regulator LDO, a comparator, a resistor R1, a resistor R2, a resistor R3, a capacitor C1, and a TVS diode D1.

[0020] The input end of the linear voltage regulator LDO is connected to the battery power supply. The output end of the linear voltage regulator LDO is connected to the voltage VCC. The voltage VCC is connected to the input end of the resistor R3. The output end of the resistor R3 is connected to the enable output to the voltage stabilizer circuit.

[0021] The VCC terminal of the comparator is connected to the output terminal of the linear voltage regulator LDO. The OUT terminal of the comparator is connected to enable the output EN signal to the voltage stabilization circuit. The IN+ terminal of the comparator is connected to the output terminal of the resistor R1. The input terminal of the resistor R1 is connected to the main power supply A1. The IN- terminal of the comparator is connected to the output terminal of the voltage stabilization source.

[0022] The input terminal of the resistor R2 is connected to the output terminal of the resistor R1. The output terminal of the resistor R2 is connected to ground.

[0023] One end of the capacitor C1 is connected to the resistor R1, and the other end of the capacitor C1 is connected to ground.

[0024] The positive electrode of the TVS tube D1 is grounded, and the negative electrode of the TVS tube D1 is connected to the IN+ terminal of the comparator.

[0025] Based on the above technical solution, a further improvement is that the comparator is an ADCMP391 chip.

[0026] Based on the above technical solution, a further improvement is that the voltage stabilization circuit includes a capacitor C1, a capacitor C2, a voltage stabilization controller U1, an inductor L1, a diode D1, a triode Q1, a triode Q2, a resistor R1, a resistor R2, and a resistor R3.

[0027] The VIN terminal of the voltage stabilization controller U1 is respectively connected to the battery power supply and the capacitor C1, and the other end of the capacitor C1 is grounded.

[0028] The DR terminal of the voltage stabilization controller U1 is connected to the base of the triode Q2. The emitter of the triode Q2 is grounded. The collector of the triode Q2 is respectively connected to the inductor L1 and the positive electrode of the diode D1. The negative electrode of the diode D1 is connected to the auxiliary power supply A2.

[0029] The SD terminal of the voltage stabilization controller U1 is connected to the resistor R2. The other end of the resistor R2 is respectively connected to the resistor R1 and the collector of the triode Q1. The resistor R1 is connected to the inductor L1. The emitter of the triode Q1 is grounded. The base of the triode Q1 is connected to the enable output of the control circuit. The enable output of the control circuit is connected to the resistor R3, and the resistor R3 is grounded.

[0030] The PGND terminal of the voltage stabilization controller U1 is connected to the capacitor C2, and the capacitor C2 is connected to the auxiliary power supply A2.

[0031] On the basis of the above technical solution, a further improvement is that the power supply automatic switching circuit includes two rectifier diodes D1 and D2 connected in parallel. The positive electrode of the rectifier diode D1 is connected to the main power supply A1, and the negative electrode of the rectifier diode D1 is connected to the power supply output.

[0032] The positive electrode of the rectifier diode D2 is connected to the auxiliary power supply A2, and the negative electrode of the rectifier diode D2 is connected to the power supply output.

[0033] On the basis of the above technical solution, a further improvement is that a battery charging circuit is also included. The power input end of the battery charging circuit is connected to the main power supply A1, and the output end of the battery charging circuit is connected to the battery pack. When the main power supply A1 is valid, the battery charging circuit is used to automatically manage the charging and power of the battery pack.

[0034] On the basis of the above technical solution, a further improvement is that if the main power supply A1 is greater than the battery charging control voltage threshold, the battery charging circuit automatically starts charging, otherwise it does not charge; the battery charging control voltage threshold is determined by the design of the battery charging circuit and needs to match the battery pack.

[0035] On the basis of the above technical solution, a further improvement is that the battery pack is a small battery pack composed of single or multiple lithium batteries and / or nickel-metal hydride batteries.

[0036] On the basis of the above technical solution, a further improvement is that the main power supply A1 is a normal power input to provide power for the instrument equipment at the rear end of the underwater ROV;

[0037] The auxiliary power supply A2 is the output of a voltage stabilizing circuit and is an auxiliary backup power supply. When the main power supply A1 is open or lower than the threshold voltage, the auxiliary power supply A2 provides a backup output.

[0038] The power supply output AO is the output of the power supply automatic switching circuit and supplies power to the instrument equipment at the rear end of the underwater ROV.

[0039] Due to the adoption of the above technical solution, the following beneficial effects are achieved:

[0040] The present utility model provides a system for automatic switching of the underwater emergency power supply of a cable-controlled ROV. The system of the present utility model is applied to the power system of a subsea cable-type remotely operated underwater vehicle (abbreviated as "ROV"). When the main power supply fails, the backup battery can be quickly and reliably used as the power supply to take over and ensure the emergency operation of the ROV, so as to ensure the normal operation of the acoustic communication and key positioning instrument equipment of the ROV, and provide technical support for emergency disposal such as salvage. The structure of the present utility model is concise, the principle is simple and clear, the cost is low, it is convenient for large-scale production and application, and it is easy to popularize and promote.

[0041] The present utility model proposes a technical solution based on a backup battery, an automatic charging circuit, a voltage stabilizing circuit and an analog control circuit, which can switch the backup power supply relatively stably and reliably, and has the advantages of automatic charging, automatic switching, and convenient threshold adjustment. Thus, a new solution is provided for the design of the backup power supply of the ROV body, improving the reliability of the ROV power management. Specifically, the present utility model can realize that when the main power supply loses power, the system power supply automatically switches to the emergency battery power supply. It is especially suitable for applications in high-reliability ROVs. When the main power supply fails, it can automatically switch to the backup power supply to supply power to the emergency circuit. Compared with the conventional method, there is no need for additional charging management of the battery, nor external control, and it is relatively simple to use.

[0042] The power supply automatic switching circuit of the present utility model can flexibly configure the power supply voltage and the main power supply power loss threshold, etc. according to the requirements of different scenarios, and is suitable for different application requirements. Brief Description of the Drawings

[0043] The following further describes the present utility model with reference to the drawings:

[0044] Figure 1 It is a schematic structural diagram of a system for automatic switching of the underwater emergency power supply of a cable-controlled ROV according to an embodiment of the present utility model.

[0045] Figure 2 It is a schematic structural diagram of the power supply automatic switching circuit according to an embodiment of the present utility model.

[0046] Figure 3 It is a schematic circuit principle structure diagram of a voltage stabilizing source based on a TL431 chip according to an embodiment of the present utility model.

[0047] Figure 4 It is a schematic circuit principle structure diagram of a comparison circuit between the main power supply and the voltage stabilizing source according to an embodiment of the present utility model.

[0048] Figure 5 It is a schematic principle structure diagram of the voltage stabilizing circuit according to an embodiment of the present utility model.

[0049] Figure 6This is the flowchart for automatic battery charging judgment of a system for automatic switching of underwater emergency power supply for cable-controlled ROV in an embodiment of the present utility model.

[0050] Figure 7 This is the flowchart for circuit switching judgment of an automatic switching system for underwater emergency power supply of a cable-controlled ROV in an embodiment of the present utility model.

[0051] Figure 8 This is the operation flowchart of the control circuit of an automatic switching system for underwater emergency power supply of a cable-controlled ROV in an embodiment of the present utility model.

[0052] Figure 9 This is the input-output block diagram of the voltage stabilizing circuit of an automatic switching system for underwater emergency power supply of a cable-controlled ROV in an embodiment of the present utility model. Detailed implementation manners

[0053] To make the objectives, technical solutions and advantages of the present utility model clearer and more understandable, the present utility model will be further described in detail below with reference to the drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present utility model and do not limit the scope of the present utility model. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present utility model.

[0054] Refer to Figure 1 , a system for automatic switching of underwater emergency power supply for cable-controlled ROV, including an automatic power switching circuit, a battery pack, a battery charging circuit, a control circuit and a voltage stabilizing circuit.

[0055] As a further description of this embodiment, the input end of the automatic power switching circuit is connected with a main power supply A1 and an auxiliary power supply A2, and the output end of the automatic power switching circuit is connected with a power supply output A0.

[0056] As a further description of this embodiment, the main power supply A1 is a normal power input to provide power for the instrument equipment at the rear end of the underwater ROV. Preferably, the main power supply A1 is 24V or 36V.

[0057] The auxiliary power supply A2 is the output of the voltage stabilizing circuit and is an auxiliary standby power supply. When the main power supply A1 is open-circuited or lower than the threshold voltage, the auxiliary power supply A2 provides a standby output. Preferably, the auxiliary power supply A2 is 24V or 36V.

[0058] The power supply output AO is the output of the automatic power switching circuit and supplies power to the instrument equipment at the rear end of the underwater ROV.

[0059] The input end of the power supply automatic switching circuit is connected to a main power supply A1 and an auxiliary power supply A2, and the output end of the power supply automatic switching circuit is connected to a power supply output AO;

[0060] Among them, the main power supply A1 is connected to the umbilical cable of the ROV through the mother ship for power supply. The mother ship power supply can be AC or DC. After passing through the ROV electronics bay power supply and undergoing AC / DC or DC / DC conversion, the low-voltage main power supply A1 is output. Due to the complex underwater conditions, situations such as umbilical cable entanglement, tearing, breakage, and jamming may occur, resulting in the interruption of power and communication of the underwater robot. In severe cases, the ROV may be lost, causing huge losses. With the adoption of this system, even in case of an accident and after the power supply is interrupted, it can still switch to the built-in backup power supply to ensure the normal operation of key sensors such as the acoustic communication module and depth gauge, UGPS, GPS, and strobe light of the ROV. For example, the acoustic communication module can report key positioning information such as the depth, height, and azimuth of the robot. At the same time, if the ROV can automatically float to the water surface, it can report the current GPS position information, etc. through the base station or satellite communication. All these safeguard measures require, without exception, a backup emergency power supply and the ability to automatically switch in case of an accident.

[0061] As a further description of this embodiment, the power supply automatic switching circuit: when the voltage of the input main power supply A1 is greater than or equal to the voltage of the auxiliary power supply A2 or the voltage of the main power supply A1 is greater than or equal to the threshold voltage, the output path of the power supply output AO is A1; otherwise, the circuit of the auxiliary power supply A2 is turned on, and the output path of the power supply output AO is the auxiliary power supply A2.

[0062] As a further description of this embodiment, the main power supply A1 is connected to a control circuit, and the control circuit is connected to a voltage stabilizing circuit.

[0063] Among them, the power supply automatic switching circuit: when the voltage of the input main power supply A1 is greater than the voltage of the auxiliary power supply A2, the circuit of the main power supply A1 is turned on; otherwise, the circuit of the auxiliary power supply A2 is turned on.

[0064] As a further description of this embodiment, see Figure 2 , the power supply automatic switching circuit can be composed of two parallel rectifier diodes. The power supply automatic switching circuit includes two rectifier diodes D1 and D2 arranged in parallel. The positive electrode of the rectifier diode D1 is connected to the main power supply A1, and the negative electrode of the rectifier diode D1 is connected to the power supply output; the positive electrode of the rectifier diode D2 is connected to the auxiliary power supply A2, and the negative electrode of the rectifier diode D2 is connected to the power supply output.

[0065] As a further illustration of this embodiment, when the voltage difference between the main power supply A1 and the auxiliary power supply A2 is less than the conduction voltage of the rectifying diode, both the main power supply A1 and the auxiliary power supply A2 supply power simultaneously; otherwise, when the voltage of the main power supply A1 is greater than the voltage of the auxiliary power supply A2, the main power supply A1 is used for power supply, and when the voltage of the main power supply A1 is less than the voltage of the auxiliary power supply A2, the auxiliary power supply A2 is used for power supply. It should be noted that during normal operation, only one of the diodes of the auxiliary power supply or the main power supply conducts.

[0066] In addition, the above-mentioned power supply automatic switching circuit can be replaced by a load switch, but a control circuit is required for cooperation.

[0067] In addition, the above-mentioned power supply automatic switching circuit composed of two parallel rectifying diodes can also be replaced by a circuit composed of a single or a pair of PMOS transistors combined with resistors for control instead of a single diode.

[0068] In addition, the above-mentioned power supply automatic switching circuit composed of two parallel rectifying diodes can also be implemented by using a dedicated chip, such as the LTC4616 dedicated chip, etc.

[0069] As a further illustration of this embodiment, the battery pack is a small battery pack composed of single or multiple lithium batteries and / or nickel-metal hydride batteries.

[0070] Alternatively, the battery pack can also be a battery module composed of single or multiple lithium batteries, nickel-metal hydride batteries, etc. For example, the common standard voltage of electronic devices such as mobile phones is 3.82V lithium batteries.

[0071] The battery pack: is an electric energy storage and release unit, generally assembled from battery cells and battery modules, such as a common lithium battery pack. The battery pack is used to store a certain amount of electricity and is used to provide power to the voltage stabilizing circuit when the main power supply A1 is invalid. After the voltage stabilizing circuit undergoes voltage conversion, a stable operating voltage of the auxiliary power supply A2 is generated.

[0072] The battery charging circuit: One end of the battery charging circuit is connected to the main power supply A1, and the other end of the battery charging circuit is connected to the battery pack. It is used to automatically charge the battery pack when the main power supply A1 is valid. The expression "when the main power supply A1 is valid" mentioned above means that when the voltage of the main power supply A1 is greater than the minimum charging voltage. That is, when the ROV is normal, the battery pack can be charged through the main power supply A1, and the charged battery pack can provide electrical energy to the standby auxiliary power supply A2 when necessary.

[0073] Specifically, the battery charging circuit: performs charging operations and power management for the battery pack. The power input is the main power supply A1, and according to the feedback voltage and temperature information of the battery pack, the battery charging circuit controls the charging current and voltage of the battery pack.

[0074] Additionally, the above battery charging circuit can be implemented using an application-specific integrated circuit. For example, the MP2759A chip from MPS can be used to charge a lithium battery pack, or it can be built using analog circuits.

[0075] Specifically, referring to Figure 6 , when the main power supply A1 is greater than the battery charging control voltage threshold, the battery charging circuit automatically starts charging; otherwise, it does not charge. The battery charging control voltage threshold is determined by the battery charging circuit design and needs to match the battery pack.

[0076] The control circuit: After dividing the input voltage of the main power supply A1, it is compared with the threshold voltage generated by the voltage stabilizer generated by the control circuit itself. If it is greater than or equal to the threshold voltage, EN is output as a low level, and the voltage stabilizer circuit is not enabled. If it is less than the threshold voltage, the EN signal is output as a high level, and the voltage stabilizer circuit is enabled.

[0077] Among them, the control circuit is powered by the battery pack, and the threshold voltage is generated inside the control circuit. This threshold voltage is compared with the voltage of the main power supply input A1 through a comparison circuit. If the main power supply input A1 is greater than or equal to the threshold voltage, the control circuit outputs the enable signal EN as a low level, that is, the voltage stabilizer circuit is not enabled, and at this time the output of the voltage stabilizer circuit is 0V. If the main power supply input A1 is less than the threshold voltage, the control circuit outputs the enable signal EN as a high level, that is, the voltage stabilizer circuit is enabled, and at this time the output of the voltage stabilizer circuit is the normal operating voltage of the auxiliary power supply A2. In this embodiment, the normal operating voltage is 24V.

[0078] Specifically, referring to Figure 3 , the technical solution in which the voltage stabilizer is implemented using a TL431 programmable reference chip. The voltage stabilizer inside the control circuit includes a control integrated circuit U1, a triode Q1, a resistor R1, a resistor R2, a resistor R3, and a resistor R4. The control integrated circuit U1 is a TL431 programmable reference chip.

[0079] The input end of the resistor R1 is connected to the battery power supply, the output end of the resistor R1 is connected to the resistor R2, the resistor R4, and the output of the voltage stabilizer. The resistor R2 is in series with the resistor R3, and the other end of the resistor R3 is grounded.

[0080] The input end of the control integrated circuit U1 is connected to the resistor R4, the resistor R4 is in series with the resistor R1, the output end of the control integrated circuit U1 is grounded, and the control integrated circuit U1 is connected to the resistor R3.

[0081] The base of the triode Q1 is connected to the input end of the control integrated circuit U1, the emitter of the triode Q1 is connected to the output end of the resistor R1, and the collector of the triode Q1 is grounded.

[0082] The aboveFigure 3 It is an adjustable voltage regulator built using the TL431 chip. When R2 is 0 ohms, the output is a stable 2.5V.

[0083] As a further illustration of this embodiment, the control circuit further includes a comparison circuit. The comparison circuit adopts the ADCMP391 solution. As Figure 4 shown, the comparison circuit includes a linear voltage regulator LDO, a comparator, resistor R1, resistor R2, resistor R3, capacitor C1, and TVS diode D1. The comparator is implemented using a dedicated chip such as ADCMP391. Additionally, the comparator can also be built using an analog circuit.

[0084] The input terminal of the linear voltage regulator LDO is connected to a battery power supply. The output terminal of the linear voltage regulator LDO is connected to voltage VCC. The voltage VCC is connected to the input terminal of the resistor R3. The output terminal of the resistor R3 is connected to enable the output to the voltage regulation circuit.

[0085] The VCC terminal of the comparator is connected to the output terminal of the linear voltage regulator LDO. The OUT terminal of the comparator is connected to enable the output to the voltage regulation circuit. The IN+ terminal of the comparator is connected to the output terminal of the resistor R1. The input terminal of the resistor R1 is connected to the main power supply A1. The IN- terminal of the comparator is connected to the output terminal of the voltage regulator.

[0086] The input terminal of the resistor R2 is connected to the output terminal of the resistor R1. The output terminal of the resistor R2 is connected to ground.

[0087] One end of the capacitor C1 is connected to the resistor R1, and the other end of the capacitor C1 is connected to ground. Capacitor C1 mainly functions as a filter.

[0088] The positive electrode of the TVS diode D1 is grounded, and the negative electrode of the TVS diode D1 is connected to the IN+ terminal of the comparator. TVS diode D1 plays a role in protecting the input of the ADCMP391 chip, preventing ESD or high-voltage surges.

[0089] In the figure, the linear voltage regulator LDO is responsible for regulating the voltage of the battery power supply to a specified voltage, such as 3.3V. It is also possible not to use the linear voltage regulator LDO for voltage regulation and directly supply power to the ADCMP391 chip using the voltage regulator. Figure 4 After the main power supply is divided by R1 and R2, it is compared with the voltage regulator. If it is higher than the voltage of the voltage regulator, VCC is output; otherwise, the output is 0V. By appropriately designing R1 and R2, the threshold voltage can be determined. Assuming the normal operating voltage of the main power supply is V1 and the voltage of the voltage regulator is V2, the threshold voltage is: VT = V2(1 + R2 / R1).

[0090] As a further illustration of this embodiment, refer to Figure 5, the voltage stabilization circuit: when the enable EN signal is at a high level and is valid, according to the battery power output by the battery pack, it is regulated to the normal operating voltage of the auxiliary power supply A2 through a boost circuit or a buck chip circuit; when the enable EN signal is at a low level and is invalid, the boost circuit or the buck chip circuit does not work, and the output of the auxiliary power supply A2 is 0V. Among them, the above boost circuit is a DC or DC or DC / DC boost circuit.

[0091] The voltage stabilization circuit includes a capacitor C1, a capacitor C2, a voltage stabilization controller U1, an inductor L1, a diode D1, a triode Q1, a triode Q2, a resistor R1, a resistor R2, and a resistor R3.

[0092] The VIN terminal of the voltage stabilization controller U1 is respectively connected to the battery power supply and the capacitor C1, and the other end of the capacitor C1 is grounded.

[0093] The DR terminal of the voltage stabilization controller U1 is connected to the base of the triode Q2. The emitter of the triode Q2 is grounded, and the collector of the triode Q2 is respectively connected to the inductor L1 and the positive pole of the diode D1. The negative pole of the diode D1 is connected to the auxiliary power supply A2.

[0094] The SD terminal of the voltage stabilization controller U1 is connected to the resistor R2. The other end of the resistor R2 is respectively connected to the resistor R1 and the collector of the triode Q1. The resistor R1 is connected to the inductor L1. The emitter of the triode Q1 is grounded, the base of the triode Q1 is connected to the enable output of the control circuit, the enable output of the control circuit is connected to the resistor R3, and the resistor R3 is grounded.

[0095] The PGND terminal of the voltage stabilization controller U1 is connected to the capacitor C2, and the capacitor C2 is connected to the auxiliary power supply A2.

[0096] The voltage stabilization circuit is responsible for converting the input voltage of the main power supply A1 into a constant output voltage, and at the same time ensuring the stability of this output voltage. This automatic switching scheme solves the defects of the prior art and improves the reliability, safety, and robustness of the automatic switching.

[0097] Specifically, since the battery voltage of the battery pack varies within a certain range with the battery power, in order to provide stable power supply for the subsequent stage. And for the ROV power supply system, the voltage standard is not standardized, and the power supply directly output by the battery pack cannot directly supply power to sensors such as the underwater acoustic positioning module and the acoustic communication module. At this time, it is necessary to regulate the voltage to the normal operating voltage of the auxiliary power supply A2 through a boost circuit or a buck chip circuit. For example, it can be built with the LM3481 synchronous boost chip of TI company. Since the output is used for standby power supply switching, generally it is set that the main power supply is slightly less than the main power supply voltage, such as 100 mV - 200 mV lower than the main power supply voltage, to ensure the normal operation of the power supply automatic switching circuit.

[0098] In addition, the voltage regulator can be implemented by an application-specific integrated circuit or by a precision programmable reference chip such as TL431.

[0099] In addition, the voltage stabilizing circuit can also be implemented by a dedicated voltage reference chip, such as the REF192 chip.

[0100] Refer to Figure 7 , when the ROV is working normally, the voltage of the input main power supply A1 is greater than or equal to the voltage of the auxiliary power supply A2 or the voltage of the main power supply A1 is greater than or equal to the threshold voltage. The output path of the power supply output AO is the main power supply A1. The main power supply A1 is the normal power supply input, and the main power supply A1 supplies power to provide the power for the instrument equipment at the rear end of the underwater ROV. When the voltage of the input main power supply A1 is less than the voltage of the auxiliary power supply A2 or the voltage of the main power supply A1 is less than the threshold voltage, the control circuit outputs an enable signal EN as a high level, that is, enables the voltage stabilizing circuit. At this time, the output of the voltage stabilizing circuit is the normal working voltage of the auxiliary power supply A2. In this embodiment, the normal working voltage is 24V, and the auxiliary power supply A2 supplies power.

[0101] Refer to Figure 8 , after the input voltage of the main power supply A1 is divided, it is compared with the threshold voltage generated by the voltage regulator generated by the control circuit itself. When the divided input voltage of the main power supply A1 is greater than the threshold voltage of the voltage regulator, the output EN is a low level, that is, the voltage stabilizing circuit is not enabled, the auxiliary power supply A2 is turned off, and the main power supply A1 supplies power. When the divided input voltage of the main power supply A1 is less than the reference circuit threshold voltage of the voltage regulator, the output EN signal is a high level, that is, the voltage stabilizing circuit is enabled, and the auxiliary power supply A2 is turned on to supply power.

[0102] Refer to Figure 9 , when the enable EN signal is at a high level and is effective, according to the battery power output by the battery pack, it is regulated to the normal working voltage of the auxiliary power supply A2 through a boost circuit or a buck chip circuit. The circuit of the auxiliary power supply A2 is turned on, and the output path of the power supply output AO is the auxiliary power supply A2 to provide the power for the instrument equipment at the rear end of the underwater ROV. In this embodiment, the normal working voltage of the auxiliary power supply A2 is 24V. When the enable EN is at a low level and is ineffective, the voltage stabilizing circuit does not perform a power conversion operation, and the output is 0V, that is, the auxiliary power supply A2 is 0V.

[0103] The system of the present invention is applied to the power system of a subsea cable-type remotely operated underwater vehicle (abbreviation: "ROV"). When the main power supply fails, the backup battery can be quickly and reliably used as the power source to ensure the emergency operation of the ROV.

[0104] The utility model provides an emergency power supply automatic switching technical solution based on a backup battery, an automatic charging circuit, a voltage stabilizing circuit, a control circuit and a power supply automatic switching circuit. When the umbilical cable power supply fails, the underwater ROV can automatically switch to the backup battery for power supply. When the umbilical cable power supply is normal, the mother ship automatically charges the power supply of the battery pack through the umbilical cable. The control circuit does not enable the voltage stabilizing circuit, and the automatic switching circuit automatically switches to the main power supply A1 path to supply power to the power supply output AO. When abnormal conditions such as umbilical cable tearing and breaking occur, resulting in power interruption of the underwater robot, the control circuit automatically enables the voltage stabilizing circuit. The voltage stabilizing circuit generates a normal auxiliary power supply A2 working voltage, and the automatic switching circuit automatically switches to the auxiliary power supply A2 path to supply power to the power supply output AO. When the main power supply A1 is interrupted from the host power supply of the mother ship on the water surface, the system can automatically switch to the auxiliary power supply A2 powered by the battery pack to ensure the emergency normal operation of core components such as underwater acoustic communication and acoustic positioning. For example, the acoustic communication module can report positioning information such as the depth, height, and azimuth of the robot. At the same time, if the ROV can automatically float to the water surface, it can report the current GPS position information, etc. through the base station or satellite communication.

[0105] The utility model can establish an automatic switching circuit by using PMOS and Schottky diodes, and the control circuit sets the threshold by resistor voltage division. The utility model can switch the backup power supply relatively stably and reliably, and has the advantages of automatic charging, automatic switching, and convenient threshold adjustment.

[0106] The above are only specific embodiments of the utility model, but the technical features of the utility model are not limited thereto. Any simple changes, equivalent replacements or modifications made based on the utility model to solve basically the same technical problems and achieve basically the same technical effects are all covered by the protection scope of the utility model.

Claims

1. A system for automatic switching of the underwater emergency power supply of a cable-controlled ROV, characterized in that Including: a power supply automatic switching circuit, a battery pack, a control circuit, and a voltage stabilizing circuit, The input end of the power supply automatic switching circuit is connected to a main power supply A1 and an auxiliary power supply A2, and the output end of the power supply automatic switching circuit is connected to a power supply output AO; Among them, the power supply automatic switching circuit: when the voltage of the input main power supply A1 is greater than or equal to the voltage of the auxiliary power supply A2 or the voltage of the main power supply A1 is greater than or equal to the threshold voltage, the output path of the power supply output AO is the main power supply A1; otherwise, the circuit of the auxiliary power supply A2 is turned on, and the output path of the power supply output AO is the auxiliary power supply A2; The battery pack is an electric energy storage and release unit, and the battery pack is used to store electric energy; when the main power supply A1 is invalid, it is used to provide power to the voltage stabilizing circuit, and after voltage conversion by the voltage stabilizing circuit, a stable operating voltage of the auxiliary power supply A2 is generated; The control circuit: After dividing the voltage of the input main power supply A1 and comparing it with the threshold voltage generated by the voltage stabilizing source generated by the control circuit itself, if it is greater than or equal to the threshold voltage, the output EN is at a low level, and the voltage stabilizing circuit is not enabled. If it is less than the threshold voltage, the output EN signal is at a high level, and the voltage stabilizing circuit is enabled; The voltage stabilizing circuit: When the enable EN signal is at a high level, that is, valid, according to the battery power output by the battery pack, it is regulated to the normal operating voltage of the auxiliary power supply A2 through a boost circuit or a buck chip circuit; when the enable EN signal is at a low level, that is, invalid, the boost circuit or the buck chip circuit does not work, and the output of the auxiliary power supply A2 is 0V.

2. The system for automatically switching the underwater emergency power supply of a cable-controlled ROV according to claim 1, wherein: The voltage stabilizing source inside the control circuit includes a control integrated circuit U1, a triode Q1, a resistor R1, a resistor R2, a resistor R3, and a resistor R4, The input end of the resistor R1 is connected to the battery power supply, the output end of the resistor R1 is connected to the resistor R2, the resistor R4, and the voltage stabilizing source output. The resistor R2 is in series with the resistor R3, and the other end of the resistor R3 is grounded; The input end of the control integrated circuit U1 is connected to the resistor R4, the resistor R4 is in series with the resistor R1, the output end of the control integrated circuit U1 is grounded, and the control integrated circuit U1 is connected to the resistor R3; The base of the triode Q1 is connected to the input end of the control integrated circuit U1, the emitter of the triode Q1 is connected to the output end of the resistor R1, and the collector of the triode Q1 is connected to the ground.

3. A system for automatic switching of the underwater emergency power supply of a cable-controlled ROV according to claim 2, characterized in that: The control integrated circuit U1 is a TL431 programmable reference chip.

4. A system for automatic switching of an underwater emergency power supply for a cable-controlled ROV according to claim 2, characterized in that: The control circuit further includes a comparison circuit, and the comparison circuit includes a linear voltage regulator LDO, a comparator, a resistor R1, a resistor R2, a resistor R3, a capacitor C1, and a TVS tube D1, The input end of the linear voltage regulator LDO is connected to the battery power supply, the output end of the linear voltage regulator LDO is connected to a voltage VCC, the voltage VCC is connected to the input end of the resistor R3, and the output end of the resistor R3 is connected to enable the output to the voltage stabilizing circuit; The VCC terminal of the comparator is connected to the output terminal of the linear voltage regulator LDO. The OUT terminal of the comparator is connected to enable the output EN signal to the voltage stabilization circuit. The IN+ terminal of the comparator is connected to the output terminal of the resistor R1. The input terminal of the resistor R1 is connected to the main power supply A1. The IN- terminal of the comparator is connected to the output terminal of the voltage stabilization source. The input terminal of the resistor R2 is connected to the output terminal of the resistor R1. The output terminal of the resistor R2 is connected to ground. One end of the capacitor C1 is connected to the resistor R1. The other end of the capacitor C1 is connected to ground. The positive electrode of the TVS diode D1 is grounded. The negative electrode of the TVS diode D1 is connected to the IN+ terminal of the comparator.

5. A system for automatically switching the underwater emergency power supply of a cable-controlled ROV according to claim 1, characterized in that: The voltage stabilization circuit includes a capacitor C1, a capacitor C2, a voltage stabilization controller U1, an inductor L1, a diode D1, a triode Q1, a triode Q2, a resistor R1, a resistor R2, and a resistor R3. The VIN terminal of the voltage stabilization controller U1 is respectively connected to the battery power supply and the capacitor C1. The other end of the capacitor C1 is grounded. The DR terminal of the voltage stabilization controller U1 is connected to the base of the triode Q2. The emitter of the triode Q2 is grounded. The collector of the triode Q2 is respectively connected to the inductor L1 and the positive electrode of the diode D1. The negative electrode of the diode D1 is connected to the auxiliary power supply A2. The SD terminal of the voltage stabilization controller U1 is connected to the resistor R2. The other end of the resistor R2 is respectively connected to the resistor R1 and the collector of the triode Q1. The resistor R1 is connected to the inductor L1. The emitter of the triode Q1 is grounded. The base of the triode Q1 is connected to the enable output of the control circuit. The enable output of the control circuit is connected to the resistor R3. The resistor R3 is grounded. The PGND terminal of the voltage stabilization controller U1 is connected to the capacitor C2. The capacitor C2 is connected to the auxiliary power supply A2.

6. A system for automatic switching of the underwater emergency power supply of a cable-controlled ROV according to claim 1, characterized in that: The power supply automatic switching circuit includes two rectifier diodes D1 and D2 connected in parallel. The positive electrode of the rectifier diode D1 is connected to the main power supply A1. The negative electrode of the rectifier diode D1 is connected to the power supply output. The positive electrode of the rectifier diode D2 is connected to the auxiliary power supply A2. The negative electrode of the rectifier diode D2 is connected to the power supply output.

7. A system for automatic switching of the underwater emergency power supply of a cable-controlled ROV according to claim 1, characterized in that: It also includes a battery charging circuit. The power input terminal of the battery charging circuit is connected to the main power supply A1. The output terminal of the battery charging circuit is connected to the battery pack. When the main power supply A1 is valid, the battery charging circuit is used to automatically manage the charging and power of the battery pack.

8. A system for automatically switching the underwater emergency power supply of a cable-controlled ROV according to claim 7, characterized in that: If the main power supply A1 is greater than the battery charging control voltage threshold, the battery charging circuit automatically starts charging, otherwise it does not charge. The battery charging control voltage threshold is determined by the design of the battery charging circuit.

9. A system for automatically switching an underwater emergency power supply of a cable-controlled ROV according to claim 1, characterized in that: The battery pack is a small battery pack composed of single or multiple lithium batteries and / or nickel-metal hydride batteries.

10. A system for automatically switching the underwater emergency power supply of a cable-controlled ROV according to claim 1, characterized in that: The main power supply A1 is a normal power input to provide power for the instrument equipment at the rear end of the underwater ROV. The auxiliary power supply A2 is the output of the voltage stabilization circuit and is an auxiliary backup power supply. When the main power supply A1 is open or lower than the threshold voltage, the auxiliary power supply A2 provides a backup output. The power supply output AO is the output of the power supply automatic switching circuit, which supplies power to the instrument equipment at the rear end of the underwater ROV.

Images