Power supply system for underwater robot

Abstract

The utility model discloses a power supply system for an underwater robot. The power supply system comprises a power supply module, an electric quantity detection module, a current limiting protection module, a slow start module, a water leakage detection module and a voltage reduction module, the electric quantity detection module and the current-limiting protection module are electrically connected with the power supply module, the current-limiting protection module is electrically connected with the slow start module, and the slow start module is electrically connected with the water leakage detection module and the voltage reduction module; the power supply module comprises a direct-current power supply, a standby power supply, a change-over switch and a battery pack; the direct-current power supply and the standby power supply are connected with the battery pack through the selector switch The electric quantity detection module comprises a CN1185 chip, a resistance potential-divider network, a communication interface and a trigger port; the CN1185 chip is electrically connected with the resistance potential-divider network to form a voltage acquisition network; the output end is respectively connected with the communication interface and the trigger port; the input end is connected with the battery pack; and the trigger port is electrically connected with the change-over switch. According to the utility model, through the modular design, the working time, the safety and the reliability of the power supply system of the underwater robot are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to underwater robot technical field more specifically is related to a power supply system for underwater robot. BACKGROUND

[0002] At present, with the exploration and development of marine resources increasingly frequent, underwater robot as an effective carrier has made great progress. In the application scene of marine exploration and research, underwater construction and maintenance, marine rescue and underwater scientific research equipment, underwater robot needs to run stably for a long time in harsh environment, and the reliability and high efficiency of power supply system are crucial.

[0003] However, the existing power supply system has the problems of insufficient power stability, complex battery management, high safety hazard and difficulty in adapting to complex environment.

[0004] Therefore, it is an urgent problem for those skilled in the art to provide a safe and stable power supply system. UTILITY MODEL CONTENT

[0005] Therefore, the utility model provides a power supply system for underwater robot, which solves the battery management problem of underwater robot in water through modularization and intelligentization design.

[0006] In order to realize the above purpose, the utility model adopts the following technical scheme:

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

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

[0009] The power supply module comprises DC power supply, standby power supply, switch and battery pack, and the DC power supply and the standby power supply are connected with the battery pack through the switch;

[0010] The power detection module comprises CN1185 chip, resistance voltage division network, communication interface and trigger port, the CN1185 chip and the resistance voltage division network are electrically connected to form voltage acquisition network;

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

[0012] The input end of the voltage acquisition network is connected with 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 comprises three pairs of PMOS transistors Q1-Q6, a chip FM8254AAV, resistors R1-R10 and R17, capacitors C1-C5 and C13, and a switch SW1.

[0015] The source electrodes of the PMOS transistors Q1, Q3 and Q5 are commonly connected to the positive electrode of the battery pack, and the source electrodes of the PMOS transistors Q2, Q4 and Q6 are commonly connected to an output line; the drain electrodes of the PMOS transistors Q1 and Q2 are connected to each other, the drain electrodes of the PMOS transistors Q3 and Q4 are connected to each other, and the drain electrodes of the PMOS transistors Q5 and Q6 are connected to each other, forming three groups of output channels; the gate electrodes of the PMOS transistors Q1, Q3 and Q5 are connected to a COP pin of the chip FM8254AAV; the gate electrodes of the PMOS transistors Q2, Q4 and Q6 are connected to one end of a resistor R3, and the other end of the resistor R3 is connected to a DOP pin of the chip FM8254AAV.

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

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

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

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

[0020] One end of a resistor R5 is connected to a SEL pin of the chip FM8254AAV, and the other end of the resistor R5 is connected to one end of a capacitor C1, one end of a capacitor C2, one end of a capacitor C13, a VSS pin of the chip FM8254AAV and a VC4 pin of the chip FM8254AAV, and the resistor R5 is commonly connected to one end of a resistor R9.

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

[0022] The other end of the capacitor C2 is connected to a 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 a resistor R10, one end of a resistor R17 and a voltage dividing pin 4 of the battery pack.

[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 division 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 division 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 division pin 3 of the battery pack;

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

[0031] Further, the PMOS transistors Q1-Q6 are AS4435S.

[0032] Further, the slow start module comprises a plurality of parallel PMOS transistors Q7-QN, 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-QN are commonly connected to one end of the external switch SW2, the drains are commonly connected to the voltage reduction module and the water leakage detection module, and 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 comprises resistors R18, R19 and a capacitor C14, which are connected in sequence to form a charge and discharge circuit;

[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 drains of the PMOS transistors Q7-QN.

[0037] Further, the PMOS transistors Q7-QN are WPM2341A.

[0038] Further, the voltage reduction module comprises: 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 positive poles of the post-stage power supply output by the slow start module and three parallel capacitors C7, C8 and C12, and the negative pole is grounded.

[0040] The PH pin of the chip TPS5450DDAR is connected to one end of the capacitor C11 and 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] The capacitors C9 and C10 are connected in parallel, the positive pole 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 pole of the parallel circuit is grounded.

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

[0043] Compared with the prior art, the power supply system for the underwater robot has the following beneficial effects:

[0044] 1. The modular structure enables high integration of various functions, saves circuit board space, and improves system integration and overall performance.

[0045] 2. The dual power supply mode prolongs the working time of the underwater robot, improves the task completion rate and efficiency.

[0046] 3. The power detection module and multiple charging methods simplify battery management, making battery monitoring and replacement more convenient, reducing maintenance costs and operational complexity.

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

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only embodiments of the present application, and those skilled in the art can obtain other drawings according to the provided drawings without creating any creative labor.

[0049] Figure 1 The utility model provides a connection diagram of power supply system.

[0050] Figure 2 The utility model provides a circuit diagram of current -limiting protection module.

[0051] Figure 3 The utility model provides a circuit diagram of slow -starting module.

[0052] Figure 4 The utility model provides a circuit diagram of voltage -reducing module. DETAILED DESCRIPTION

[0053] The technical scheme in the embodiments of the utility model will be apparently and completely described in conjunction with the drawings in the embodiments of the utility model, and obviously, the described embodiments are only a part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without making creative labor belong to the range of protection of the utility model.

[0054] The embodiment discloses a power supply system for underwater robot, refer to Figure 1 As shown in the figure, including power supply module, electric quantity detection module, current -limiting protection module, slow -starting module, water leakage detection module and voltage -reducing module;

[0055] Electric quantity detection module and current -limiting protection module are electrically connected with power supply module, current -limiting protection module is electrically connected with slow -starting module, and slow -starting module is electrically connected with water leakage detection module and voltage -reducing module.

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

[0057] The relationship between each module of the power supply system is as follows:

[0058] The power supply module is as the power source, monitors the battery state through the electric quantity detection module, and transfers the electric power to the current -limiting protection module. After the current -limiting protection module ensures that the current and voltage are in the safe range, the electric power enters the slow -starting module and carries out slow power -on control. After the slow -starting module stabilizes power supply, the electric power is transferred to the voltage -reducing module to provide the required voltage for each sub -module. The water leakage detection module independently monitors the environment, and once detects water leakage, immediately cuts off the power supply through the relay to protect the system safety. The close connection and cooperation between each module build an efficient, safe and stable power management system.

[0059] In the embodiment, the power supply module includes a direct current power supply, a backup power supply, a switching switch and a battery pack; the direct current 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 connected to the current limiting protection module and the soft start module at the same time, ensuring the stable output of the power supply.

[0060] The power supply module has two power supply modes. One is a direct power supply mode, that is, three series and four parallel 12 18650 lithium batteries are used to form a battery pack, which is loaded on a battery box and can be freely disassembled and installed. After the power is consumed, the battery can be immediately replaced to continue to use, so that the working time of the underwater robot is more durable. The battery pack has multiple charging methods. Not only can the charging line be led out through the external perforated bolt to charge the power supply externally without disassembling the circuit board, but also the lithium battery can be disassembled and charged using a charger. The second is a backup power supply mode. This mode is used when the battery pack of the underwater robot has low power. During the movement of the underwater robot underwater and on the water surface, clean energy is continuously collected using friction nanotechnology and a solar panel, and the backup power supply of the ship body is charged 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, the working time of the underwater robot is prolonged, and the task interruption caused by insufficient power is avoided.

[0062] In the embodiment, the power detection module includes a CN1185 chip, a resistance voltage dividing network, a communication interface and a trigger port; the CN1185 chip and the resistance voltage dividing 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 in communication connection with the upper computer, and the trigger port is in electrical connection with the switching switch.

[0063] The CN1185 chip is used for voltage sampling and power calculation; the resistance voltage dividing network divides the voltage of the energy storage device to a range that can be processed by the CN1185 chip; the communication interface is used for transmitting power data to the upper computer.

[0064] The power detection module monitors the power in real time and sends data to the upper computer, and can also switch to the backup battery pack for power supply when the battery pack power is low to the set threshold value through the switching switch; the power detection module sends a signal to the upper computer according to the current power of the energy storage device obtained according to the current voltage through the CN1185 chip, and the upper computer system displays it; 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 resistance voltage division 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 upper computer through the communication interface. At the same time, the power detection module is connected to the power supply module through a signal line to trigger 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 in the figure, 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 P-channel MOSFETs, which are used to control the overall charging and discharging 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 and Q2 and Q3 and Q4 and Q5 and Q6 are connected together 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 the corresponding bias, and when the chip outputs low level, these MOSFETs are turned on; when the chip outputs high level, the MOSFETs are turned off, realizing the rapid cutting off of overcurrent protection; the gates of Q2, Q4, and Q6 are connected to the DOP output pin of the FM8254 chip, respectively, and when abnormal current or disconnection is detected, the chip will raise the gate to a level sufficient to turn off the PMOS, protecting the battery and the subsequent load.

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

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

[0070] The resistance R2 has a resistance value of 5.1kΩ, one end is connected to the positive electrode of the battery pack, which is +5V power supply in this embodiment, and the other end leads to the VMP pin of the FM8254AAV and the circuit where the switch SW1 is located. A pull-up voltage is provided for the VMP pin to cooperate with SW1 for power-on / power-off control, so that the chip can correctly identify the power supply state.

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

[0072] Resistor R4 is 1kΩ, one end connected to the VINI pin of FM8254AAV chip, the other end connected to ground. It limits the input current of VINI pin and performs simple current limiting on the detection signal, cooperating with the subsequent filter capacitor to stabilize the chip's internal measurement reference.

[0073] Resistor R5 is 1kΩ, one end connected to the SEL pin of FM8254AAV chip, the other end connected to R9. It provides pull-up / pull-down resistance for the SEL pin to prevent the pin from being floating and causing an uncertain state.

[0074] Resistors R6, R7, R8 are all 1kΩ, and these three 1kΩ resistors are respectively present in the measurement channels of VC1, VC2, VC3. One end of each resistor is connected to the node between adjacent two batteries in the battery string (i.e. the voltage division input for detecting single / multiple battery voltage), and the other end is respectively connected to VC1, VC2, VC3 of FM8254AAV. Each channel has a 100nF capacitor (C3, C4, C5 respectively from VC1, VC2, VC3 to ground) in parallel, forming a low-pass filter for sampling single or multiple battery voltage, smoothing transient voltage, and preventing the detection circuit from being disturbed.

[0075] Resistor R9 is 51Ω: connected in series with CDT, CCT, C1, C2 pins and filter network. It suppresses sharp current to ensure stable response for overcurrent or short circuit detection.

[0076] Resistor R10 is 1mΩ, current sampling detection resistor, connected in series between the output negative and the system common ground.

[0077] Resistor R5 is 10kΩ, one end connected to the CTL pin of FM8254AAV, the other end connected to the corresponding detection node of R10, with a parallel capacitor C13 (2.2μF) around. It forms an RC network with C13 to delay and filter the CTL pin, making the control logic or enable pin have stable power-on / power-off behavior and prevent false actions.

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

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

[0080] The current limiting protection module uses FM8254 chip to control the current limiting protection module of the power supply, which is suitable for large current, to ensure the safety of the battery and the normal power supply of the whole system. FM8254 is easy to use, has a built-in high-precision voltage detection circuit and a delay circuit, is suitable for current limiting protection of three series lithium batteries, has small required current, has a maximum current of 40 microamperes during work and a maximum current of 0.1 microamperes during sleep, and has the characteristics of low power consumption. At the same time, the FM8254 chip has small size and occupies small area of the circuit board, 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 charging and discharging of the whole power supply. Under normal current, the DOP pin outputs 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 passes through the MOS tube to discharge. When the FM8254 chip is in overcurrent state, the gate G is given high level, so that the MOS tube is cut off, at this time the circuit is disconnected, which plays a protection role and prevents the subsequent circuit from burning out to ensure the safety in the cabin. The CTL terminal is grounded, so that the circuit charging mode is always open. When the protection is locked, the protection is re-opened through the current limiting protection switch.

[0082] The current limiting protection module of the embodiment, as a whole:

[0083] Input: Connect the positive and negative poles of the three series lithium batteries and the nodes of the middle batteries.

[0084] Output: Through Q1 / Q2, Q3 / Q4, Q5 / Q6, the main power supply path between the positive pole of the battery and the subsequent load is controlled. These PMOS are opened to allow the battery to supply power externally. Once overvoltage, overcurrent, short circuit and other abnormalities occur, the FM8254 chip will pull up the gate of the corresponding PMOS to make it off, thereby cutting off the connection between the battery and the load, and playing a protection role.

[0085] Control / detection signal: The DOP / COP / CTL pins of FM8254 are connected to the MOSFET gate, sampling resistor R10, etc. through a number of resistance-capacitance networks, which are used 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; the auxiliary pins VINI, VMP, etc. are used to power the chip and power-on identification; R1R9, C1C5, etc. are peripheral devices that cooperate with the chip to complete detection and gate driving.

[0086] In this embodiment, reference is made toFigure 3 As shown, the slow start module includes a plurality of parallel PMOS transistors Q7-QN, 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, i.e., the external control switch, is used to start or shut down the system power supply.

[0089] The RC network is used to control the switching speed of the PMOS, achieving the soft start effect.

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

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

[0092] This module achieves the soft start function through a plurality of parallel P-channel MOSFETs Q7-Q14, model WPM2341A, in combination with the external switch SW2 and the RC network, thereby avoiding the generation of excessive impact current at the moment of system power-on / power-off.

[0093] The sources of Q7-Q14 are connected to the input power supply, the drains are output to the subsequent load, and the gates are connected to the external switch SW2 through resistors R18 and R19 and a capacitor C14. The parallel connection of a plurality of MOSFETs can increase the conduction current capacity and meet the high-power demand.

[0094] The external switch SW2 is located outside the cabin, and the user can pull up or pull down the gate level through this switch to achieve control of the on-off of 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, and the MOSFET is gradually turned on.

[0095] The RC slow start network, R18 and C14 together form a charging and discharging circuit, so that the gate-source potential of the MOSFET does not jump instantaneously, but is pulled down slowly according to a certain time constant, which means that the P-channel device is gradually turned on. This "voltage variation" method can suppress the inrush current at the moment of power-on, and avoid the possible burning of the power board or other key components due to the instantaneous large current.

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

[0097] The soft start module of the present embodiment, as a whole:

[0098] Input: receiving the power output after the current limiting protection module (i.e. under the premise that Q1-Q6 are turned on, the battery voltage has been switched out), that is, the "protected positive electrode of the battery".

[0099] Output: the power voltage after soft start, which is further sent to the downstream system or directly to the subsequent voltage reduction module.

[0100] Core function: soft start during power-on is achieved through multiple parallel P-channel MOSFETs and RC networks (R18, C14). When the user turns on the power through the extravehicular switch SW2, the gate potential will not instantaneously become high / low, but will gradually change through the charging and discharging process of R18, C14, and the voltage between the source and gate of the MOSFET will gradually change, and the MOSFET will slowly turn on. This slow conduction method can suppress the inrush current during power-on and protect the subsequent load and the MOSFET itself.

[0101] Control / detection signal: the position of SW2 determines whether the parallel PMOS is pulled high gate (off) or gradually pulled low gate (on). R19 and other resistors are used to provide a reliable potential to the MOSFET gate when off, preventing uncertain states caused by open switches or interference.

[0102] In the present embodiment, referring to Figure 4 , the voltage reduction module includes chip TPS5450DDAR, capacitors C7-C12, inductor L1, freewheeling diode D1, resistor R15, adjustable resistor R16, and load H2.

[0103] In the present embodiment, the TPS5450DDAR chip, a high-power DC power converter, is responsible for voltage regulation; peripheral elements (inductors, capacitors, feedback resistors, etc.) build a voltage stabilizing circuit to ensure stable output voltage; the adjustable voltage interface allows users to adjust the output voltage according to their needs.

[0104] The voltage reduction module is connected to the output of the soft start module and receives the stable power input after soft start. The TPS5450DDAR chip is connected to the power detection module through a feedback resistor network to achieve accurate voltage regulation and monitoring.

[0105] The output of the voltage reduction module is connected to each sub-module that needs to be supplied with reduced voltage.

[0106] The built-in current limit and short-circuit protection function ensures that the voltage reduction module can protect the system in abnormal conditions.

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

[0108] Input filtering: A plurality of capacitors (C7, C8, C12 with values of 4.7μF, 10nF) are connected in parallel between VIN and ground (GND) for high-frequency decoupling and input voltage stabilization; the enable pin (ENA, pin 5) is connected to the power supply through a pull-up / pull-down resistor or directly, according to the design requirements to control whether the TPS5450 works or not. The switch output (PH, pin 8) is the output of the internal power switch of the chip, a small capacitor C11=10nF is first connected in series to ground for suppressing high-frequency spikes, and then connected to one end of the inductor L1, and the other end of the inductor is connected to the voltage reduction output node (i.e. the positive electrode of the power supply to the load). The freewheeling diode (D1) is connected from the PH node to ground, with the cathode connected to PH and the anode connected to ground, for providing a freewheeling path for the inductor current when the switch is turned off.

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

[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) after being divided by resistors (R15, R16, etc.) and introduced into the internal chip for adjustment and control. A branch is taken from the output node → R15 → VSENSE → R16 → ground (GND), and the output voltage is set by adjusting the ratio of R15 / R16.

[0111] BOOT (pin 1) plus a small capacitor C11 from PH (pin 8) to BOOT (pin 1) to provide gate charge pump voltage for internal high-side drive.

[0112] The voltage reduction module uses the TPS5450DDAR chip to build an efficient voltage stabilization circuit with a small number of peripheral components, adjusting the battery voltage to the required level. The voltage reduction module is connected to the soft start module to ensure that a stable power supply is provided after receiving a multi-grade adjustable voltage output, meeting the voltage requirements of different sub-modules and devices. The built-in current limit and short-circuit protection function further improves the safety of the system.

[0113] The voltage reduction module of this embodiment, in general:

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

[0115] Output: the required voltage (5V, 3.3V) is finally obtained through the internal switch of TPS5450, inductor L1, freewheeling diode D1, output filter capacitor C9 / C10, etc. This stabilized output provides power to various power-consuming units downstream of the system.

[0116] Core function: convert higher and unstable battery voltage to lower and relatively stable DC voltage. The internal switch tube is integrated, and a typical Buck circuit is formed by external inductor, diode and capacitor. The feedback pin VSENSE (pin 4) is connected to the output voltage after the voltage dividing network (R15, R16), and the internal PWM modulation is automatically adjusted according to the set reference voltage to maintain constant output.

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

[0118] The buck module realizes multi-grade adjustable voltage output, which meets the needs of different loads such as single-chip microcomputer, Raspberry Pi and servo motor.

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

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

[0121] The water leakage detection probe detects whether there is water leakage in the cabin, and sends an alarm and cuts off the power supply when the robot equipment cabin is flooded; when the water leakage detection probe contacts a wet object or is immersed in seawater, current flows through the two ends of the probe, at this time the path is connected, the warning light is on and sends a signal to the upper computer system, and the relay controls the entire circuit to be disconnected.

[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 send an alarm when water leakage is detected.

[0123] The working principle is:

[0124] The water leakage detection probe is connected to the SS8550 chip, and once the probe detects water, the SS8550 chip triggers the warning device. The relay is controlled by the SS8550 chip and is located in the power supply path, and once triggered, the power supply is immediately disconnected to protect the system safety. At the same time, the water leakage detection module is connected to the upper computer system through the signal line to send a water leakage alarm signal.

[0125] In the embodiment, the power detection module monitors the power in real time and sends data to the upper computer, and can also switch to the standby battery pack when the battery pack power is low to the set threshold; the current limiting protection module detects whether the overall system appears overcurrent, overvoltage and the like in real time, and once the abnormality appears, the power supply is cut off to avoid burning other chips and modules; the slow start module can realize slow power-on, suppress inrush current, and avoid burning the circuit board due to the too large inrush current in the power-on moment; the water leakage detection module can detect whether the cabin leaks water through the water leakage detection probe, and can cut off the power supply when the robot equipment cabin is filled with water; the voltage reduction module can reduce the battery voltage to the required value and stabilize the voltage output.

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

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

Claims

1. A power system for an underwater robot, characterized in that, It includes a power supply module, a power detection module, a current limiting protection module, a soft 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 soft start module, and the soft 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 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 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 terminals of the voltage acquisition network are respectively connected to the communication interface and the trigger port; The input terminal of the voltage acquisition network is connected to the battery pack; The communication interface is used to communicate with the host computer, and the trigger port is electrically connected to the switch.

2. The power supply system for an underwater robot as described in claim 1, characterized in that, The current limiting protection module includes three pairs of PMOS transistors Q1 to Q6, a chip FM8254AAV, resistors R1 to R10 and R17, capacitors C1 to C5 and C13, and a switch SW1. In this configuration, the sources of PMOS transistors Q1, Q3, and Q5 are all connected to the positive terminal of the battery pack, and the sources of Q2, Q4, and Q6 are all connected to the output line. The drains of Q1 and Q2 are interconnected, the drains of Q3 and Q4 are interconnected, and the drains of Q5 and Q6 are interconnected, forming three sets of output channels. The gates of Q1, Q3, and Q5 are connected to the COP pin of the FM8254AAV chip. The gates of Q2, Q4, and Q6 are connected to one end of resistor R3, and the other end of resistor R3 is connected to the DOP pin of the FM8254AAV chip. One end of resistor R1 is connected to the positive terminal of the battery pack, and the other end is connected to the COP pin of the FM8254AAV chip; One end of resistor R2 is connected to the positive terminal of the battery pack, and the other end is connected to the VMP pin of the FM8254AAV chip; One end of switch SW1 is connected to the output line and the VDD pin of chip FM8254AAV, and the other end is connected to the VMP pin of chip FM8254AAV. One end of resistor R4 is connected to the VINI pin of the FM8254AAV chip, and the other end is grounded; One end of resistor R5 is connected to the SEL pin of the FM8254AAV chip, and the other end is connected to one end of resistor R9 together with one end of capacitors C1, C2, and C13, and the VSS and VC4 pins of the FM8254AAV chip. The other end of capacitor C1 is connected to the CDT pin of the FM8254AAV chip; The other end of capacitor C2 is connected to the CCT pin of the FM8254AAV chip; The other end of capacitor C13 is connected to the output line; The other end of resistor R9 is connected to one end of resistors R10 and R17 and the voltage divider pin 4 of the battery pack, respectively. The other end of resistor R10 is grounded; The other end of resistor R17 is connected to the CTL pin of the FM8254AAV chip; One end of capacitor C3 is connected to the output line, and the other end is connected to the VC1 pin of the FM8254AAV chip and one end of resistor R6; the other end of resistor R6 is connected to the voltage divider pin 1 of the battery pack and the output line. One end of capacitor C4 is connected to the output line, and the other end is connected to the VC2 pin of the FM8254AAV chip and one end of resistor R7; the other end of resistor R7 is connected to the voltage divider pin 2 of the battery pack. One end of capacitor C5 is connected to the output line, and the other end is connected to the VC3 pin of the FM8254AAV chip and one end of resistor R8; the other end of 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 system for an underwater robot as described in claim 2, characterized in that, The PMOS transistors Q1 to Q6 are model AS4435S.

4. A power system for an underwater robot as described in claim 3, characterized in that, The soft-start module includes: multiple PMOS transistors Q7 to QN connected in parallel, an external switch SW2, and an RC network unit; where N is a positive integer greater than 7. The sources of PMOS transistors Q7 to QN are connected to one end of the external switch SW2, the drains are connected to the step-down module and the 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 system for an underwater robot as described in claim 4, characterized in that, The RC network unit includes resistors R18 and R19 and capacitor C14, which are connected in sequence to form a charging and discharging circuit. 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 system for an underwater robot as described in claim 5, characterized in that, The PMOS transistors Q7 to QN are model WPM2341A.

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

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