CN112027034B - Low-loss underwater detection robot system and power supply method thereof - Google Patents
Low-loss underwater detection robot system and power supply method thereof Download PDFInfo
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- CN112027034B CN112027034B CN202010901468.3A CN202010901468A CN112027034B CN 112027034 B CN112027034 B CN 112027034B CN 202010901468 A CN202010901468 A CN 202010901468A CN 112027034 B CN112027034 B CN 112027034B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other DC sources, e.g. providing buffering
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- H02J7/855—
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- H02J7/865—
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- Ocean & Marine Engineering (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
本发明公开了一种低损耗的水下检测机器人系统及其供电方法，系统包括水上电源、控制模块、电源路径管理电路、电池包、动力模块以及信号处理模块。供电方法：当水下机器人处于静态观察模式时，采用水上电源对水下机器人进行供电，电源路径电路切断电池放电回路，开通电池充电回路，对信号处理电路供电并对电池进行充电；当启动动力模块时，控制模块通过数字接口给电源路径管理电路发送启动命令，电源路径电路开启电池与动力模块之间的供电路径，使用电池对动力模块进行供电。根据水下装备的两类电源负载的不同特性，采用水上供电与水下设备内部电池供电组合的方法，降低水面以上供电设备的功率等级。
The invention discloses a low-loss underwater detection robot system and a power supply method thereof. The system includes an underwater power supply, a control module, a power supply path management circuit, a battery pack, a power module and a signal processing module. Power supply method: When the underwater robot is in the static observation mode, the underwater power supply is used to supply power to the underwater robot, the power path circuit cuts off the battery discharge circuit, opens the battery charging circuit, supplies power to the signal processing circuit and charges the battery; When the module is installed, the control module sends a start command to the power path management circuit through the digital interface, and the power path circuit opens the power supply path between the battery and the power module, and uses the battery to supply power to the power module. According to the different characteristics of the two types of power loads of the underwater equipment, the method of combining the power supply on the water and the internal battery power supply of the underwater equipment is adopted to reduce the power level of the power supply equipment above the water surface.
Description
Technical Field
The invention relates to a low-loss underwater detection robot system and a power supply method thereof.
Background
Subsea electronics, typically employ an umbilical to obtain power from a power supply on the surface. The single power supply mode needs to ensure that enough power is provided, and the power consumption requirement of the underwater electronic equipment in any working state is met. However, many underwater electronic products, such as underwater robots, are generally divided into two types of loads, i.e., signal processing circuits and power modules. The signal processing circuit is generally composed of a processor, a sensor, a communication circuit and other circuits with low power consumption. The power module typically consists of a motor driven motorized propeller.
The power consumption requirements and the service time of a signal processing circuit and a power module of the underwater electronic equipment are greatly different. The signal processing circuit typically operates for long periods of time but with very low power consumption (typically within 50W), while the power module typically operates for short periods of time with very high power consumption (up to several kilowatts).
The traditional power supply mode requires that a power supply system on the water surface meets the power supply of a signal circuit and a power module of the underwater robot at any time. And the power consumption is high, the proportion of the working time of the power module in the actual working time of the system is very low, usually less than 10%, so that the traditional power supply mode has a large optimization space.
Disclosure of Invention
The invention aims to provide a low-loss underwater detection robot system, which greatly reduces the transmission power on an umbilical cable by distinguishing the working state characteristics of underwater robots and dynamically optimizing the power supply mode, and has the advantages of reducing the system cost and improving the system availability.
In order to solve the technical problems, the invention adopts the following technical scheme: a low-loss underwater detection robot system comprising an above-water power supply, an underwater robot, the underwater robot comprising: a control module, a power path management circuit, a battery pack, a power module and a signal processing module,
the power supply path management circuit is electrically connected with the above-water power supply and is used for charging the battery pack, respectively supplying power to the power module and the signal processing module and transmitting control signals with the signal processing module;
the battery pack is used for receiving the charging of the power supply path management circuit or supplying power to the power supply path management circuit;
the power module is used for receiving power supply of the power path management circuit and driving the underwater robot to act;
the signal processing module is used for receiving the power supply of the power supply path management circuit, processing the control signal and transmitting the control signal with the signal processing module,
the control module is used for controlling the signal processing module, the power supply path management circuit and the power module.
Preferably, the above-water power supply is a 48V/2A power supply.
The invention also provides a power supply method of the underwater detection robot system, when the underwater robot is in a static observation mode, only the signal processing control circuit with low power consumption is in a working state, the underwater robot is powered by the above-water power supply, the power supply path circuit cuts off the battery discharging loop, turns on the battery charging loop, supplies power to the signal processing circuit and charges the battery; when the underwater robot needs to start the power module and generates high power consumption, the control module sends a starting command to the power path management circuit through the digital interface, and the power path circuit starts a power supply path between the battery and the power module and uses the battery to supply power to the power module.
The invention has the beneficial effects that: according to different characteristics of two types of power loads of underwater equipment, the method of combining water power supply and battery power supply inside the underwater equipment is adopted, and a mode of combining a power path management circuit and a microcontroller program is used for reducing the power grade and the working voltage of the power supply equipment above the water surface and the umbilical cable diameter, so that the optimization effects of reducing the system cost and improving the product usability are achieved.
Drawings
FIG. 1 is a schematic diagram of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.
In the description of the present application, it is to be understood that the terms "central," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature. It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
As shown in fig. 1, the low-loss underwater detection robot system includes an above-water power supply, an underwater robot, and the underwater robot includes: the device comprises a control module, a power supply path management circuit, a battery pack, a power module and a signal processing module.
The power supply path management circuit is electrically connected with the above-water power supply and is used for charging the battery pack, respectively supplying power to the power module and the signal processing module and transmitting control signals with the signal processing module; the battery pack is used for receiving the charging of the power path management circuit or supplying power to the power path management circuit; the power module is used for receiving power supply of the power path management circuit and driving the underwater robot to act; the signal processing module is used for receiving power supply of the power supply path management circuit, processing a control signal and transmitting the control signal with the signal processing module, and the control module is used for controlling the signal processing module, the power supply path management circuit and the power module. The above-water power supply is a power supply of 48V/2A.
According to the power supply method of the underwater detection robot system, when the underwater robot is in a static observation mode, only the signal processing control circuit with low power consumption is in a working state, the underwater robot is powered by the above-water power supply, the power supply path circuit cuts off the battery discharging loop, opens the battery charging loop, supplies power to the signal processing circuit and charges the battery; when the underwater robot needs to start the power module and generates high power consumption, the control module sends a starting command to the power path management circuit through the digital interface, and the power path circuit starts a power supply path between the battery and the power module and uses the battery to supply power to the power module.
The power supply scheme of combining the power supply on the water surface with the battery in the machine and the circuit design of dynamic power supply path management are adopted, so that the power supply on the water surface supports the low-power work of the underwater robot signal circuit for a long time, the power supply path is automatically switched when the underwater robot power module starts to work, and the battery supplies power to the power module. Therefore, the power supply scheme of the system is greatly optimized, and the system cost is reduced.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (2)
1. A method of powering an underwater inspection robot system, the inspection robot system comprising: an above-water power supply and an underwater robot; the underwater robot includes: the power supply comprises a control module, a power supply path management circuit, a battery pack, a power module and a signal processing module; the power supply path management circuit is electrically connected with the above-water power supply and is used for charging the battery pack, respectively supplying power to the power module and the signal processing module and transmitting control signals with the signal processing module; the battery pack is used for receiving the charging of the power supply path management circuit or supplying power to the power supply path management circuit; the power module is used for receiving power supply of the power path management circuit and driving the underwater robot to act; the signal processing module is used for receiving power supply of the power supply path management circuit and processing a control signal; the control module is used for controlling the signal processing module, the power supply path management circuit and the power module, and is characterized in that: when the underwater robot is in a static observation mode, only the signal processing control circuit with low power consumption is in a working state, the power module circuit with high power is in a dormant state, the underwater robot is powered by an above-water power supply, the power path circuit cuts off a battery discharging loop, turns on a battery charging loop, supplies power to the signal processing circuit and charges a battery; when the underwater robot needs to start the power module, the control module sends a starting command to the power path management circuit through the digital interface, the power path circuit starts a power supply path between the battery and the power module, and the battery is used for supplying power to the power module.
2. The power supply method of an underwater detection robot system according to claim 1, characterized in that: the above-water power supply is a power supply of 48V/2A.
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| CN202010901468.3A CN112027034B (en) | 2020-08-31 | 2020-08-31 | Low-loss underwater detection robot system and power supply method thereof |
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| CN202010901468.3A CN112027034B (en) | 2020-08-31 | 2020-08-31 | Low-loss underwater detection robot system and power supply method thereof |
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| CN112027034B true CN112027034B (en) | 2022-07-01 |
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| CN114801878A (en) * | 2022-03-31 | 2022-07-29 | 杭州瀚陆海洋科技有限公司 | Power management method and system for underwater robot |
| CN114706408B (en) * | 2022-06-06 | 2022-08-19 | 山东科技大学 | A low-power intelligent underwater robot control system |
| WO2024036976A1 (en) * | 2022-08-15 | 2024-02-22 | 兆略有限公司 | Underwater cleaning robot with rechargeable battery |
| CN117097007B (en) * | 2023-10-20 | 2024-01-23 | 中国电建集团西北勘测设计研究院有限公司 | Portable power supply device for underwater robot |
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| CN103885391B (en) * | 2012-12-19 | 2016-08-03 | 中国科学院沈阳自动化研究所 | A kind of small-sized autonomous underwater robot power-supply management system |
| CN205882830U (en) * | 2016-06-29 | 2017-01-11 | 天津深之蓝海洋设备科技有限公司 | Underwater robot power management system |
| CN107953350A (en) * | 2016-10-17 | 2018-04-24 | 江苏舾普泰克自动化科技有限公司 | It is a kind of to be used to detect the underwater robot control system with operation |
| CN206546420U (en) * | 2017-01-22 | 2017-10-10 | 中电科海洋信息技术研究院有限公司 | A kind of underwater robot energy management control system |
| US20180364695A1 (en) * | 2017-06-16 | 2018-12-20 | Autel Europe Gmbh | Unmanned aerial vehicle, power management system thereof, and power management method therefor |
| IT201800021178A1 (en) * | 2018-12-27 | 2020-06-27 | Saipem Spa | SYSTEM AND METHOD OF MANAGING THE ENERGY OF A ROV |
| CN110794855A (en) * | 2019-11-26 | 2020-02-14 | 南方电网调峰调频发电有限公司 | Comprehensive control system and method for underwater robot |
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