CN210270130U

CN210270130U - Broken line detection circuit and underwater robot

Info

Publication number: CN210270130U
Application number: CN201920965244.1U
Authority: CN
Inventors: 黄军
Original assignee: Shenzhen Qysea Technology Co ltd
Current assignee: Shenzhen Qysea Technology Co ltd
Priority date: 2019-06-25
Filing date: 2019-06-25
Publication date: 2020-04-07
Anticipated expiration: 2029-06-25

Abstract

The utility model provides a broken line detection circuit and an underwater robot, wherein the detection circuit comprises a first joint, an MOS (metal oxide semiconductor) tube, a first control switch, a second control switch, a power supply and a control unit; the first pole of the MOS tube is electrically connected with the output end of the power supply, and the second pole of the MOS tube is electrically connected with the power supply input end of the underwater robot; the first control switch is electrically connected with a signal port of the first joint and a grid electrode of the MOS tube, and a signal of the signal port of the first joint can control the on or off of the MOS tube; after the first joint is connected with the paired second joint, the control unit can control the conduction of the MOS tube through the second control switch. The underwater robot comprises a remote controller. The first connector is arranged outside the remote controller, the second connector is arranged outside the underwater robot, and a broken line detection circuit, a GPS module, a PLC module and a pressure sensor are arranged inside the underwater robot.

Description

Broken line detection circuit and underwater robot

Technical Field

The utility model belongs to the technical field of underwater robot, especially, broken string detection circuitry and underwater robot.

Background

An underwater robot is also called an unmanned remote control submersible vehicle and is a limit operation robot working underwater. Underwater robots have become an important tool for the development of oceans at present.

The cable remote-control submersible is divided into an underwater self-propelled type, a towed type and a type capable of climbing on a seabed structure.

In the prior art, after a remote control cable of the cabled remote control submersible is disconnected, the cabled remote control submersible is easy to lose.

SUMMERY OF THE UTILITY MODEL

For making underwater robot possess the broken string and detect the function to can return the appointed place after with the remote control cable broken string, prevent that underwater robot from losing, the utility model provides a broken string detection circuitry and underwater robot.

The embodiment of the utility model provides an aspect provides a broken string detection circuit, including first joint, MOS pipe, first control switch, second control switch, power and the control unit;

the first pole of the MOS tube is electrically connected with the output end of the power supply, and the second pole of the MOS tube is electrically connected with the power supply input end of the underwater robot;

the first control switch is electrically connected with a signal port of the first connector and a grid electrode of the MOS tube, and a signal of the signal port can control the on or off of the MOS tube;

the control unit is electrically connected with the grid electrode of the MOS tube through the second control switch and controls the MOS tube to be conducted or disconnected through the second control switch;

after the first joint is connected with a second joint paired with the first joint, the control unit controls the MOS tube to be conducted through the second control switch.

Further, the first connector and the second connector further comprise a positive power port, a negative power port and a monitoring port; the monitoring port of the first joint is electrically connected with the control unit, and the monitoring port of the second joint is in short circuit with the negative power port of the second joint.

Further, the MOS tube comprises a first MOS tube and a second MOS tube,

a first pole of the first MOS tube is electrically connected with the output end of the power supply, and a second pole of the first MOS tube is electrically connected with the power supply input end of the underwater robot; the first pole of the second MOS tube is electrically connected with the output end of the power supply, the second pole of the second MOS tube is electrically connected with the input end of the power supply of the underwater robot,

the first control switch is electrically connected with a signal port of the first connector and a grid electrode of the first MOS tube, and the first control switch is electrically connected with a signal port of the first connector and a grid electrode of the second MOS tube;

the control unit is electrically connected with the grids of the first MOS tube and the second MOS tube through the second control switch, and the first MOS tube and the second MOS tube are controlled to be conducted or disconnected through the second control switch.

Furthermore, the first control switch is an optocoupler, and a collector of a triode in the optocoupler is electrically connected with a grid of the MOS tube.

Furthermore, the second control switch is a triode, a collector of the triode is connected with a grid electrode of the MOS tube, an emitter of the triode is grounded, and a base of the triode is electrically connected with the control unit through a first resistor.

Further, the power source is a battery.

Furthermore, a first capacitor, a second resistor, a second capacitor, a third capacitor and a first diode are connected in parallel between the source electrodes and the grid electrodes of the first MOS tube and the second MOS tube, and the anode of the first diode is electrically connected with the grid electrodes of the first MOS tube and the second MOS tube.

The MOS transistor further comprises a second diode, a fourth capacitor and a fifth capacitor, wherein the cathode of the second diode, the first pole of the fourth capacitor and the first pole of the fifth capacitor are all electrically connected with the first pole of the MOS transistor, and the anode of the second diode, the second pole of the fourth capacitor and the second pole of the fifth capacitor are all connected with the same potential point.

Furthermore, the transistor also comprises a third resistor, and the grids of the first MOS transistor and the second MOS transistor are grounded through the third resistor.

In another aspect, the present embodiment provides an underwater robot, where a remote controller for controlling the underwater robot is connected to the second connector, and a signal port on the second connector is connected to a first PLC module in the remote controller through a signal line;

and the underwater robot is provided with a second PLC module electrically connected with the signal port on the first joint, and a pressure sensor and a GPS which are in communication connection with the second PLC module.

Compared with the prior art, the beneficial effects of the utility model reside in that: the disconnection detection circuit is provided with a primary switch, a secondary switch and an MCU (microprogrammed control unit), the MCU judges whether the signal cable is disconnected or not by detecting the on-off of the primary switch and the potential of the GPIO port, and the secondary switch maintains the connection of a power supply loop of the underwater robot when the signal cable is disconnected, so that the underwater robot can return to a water inlet position. The whole circuit is simple in structure and easy to produce and maintain.

Drawings

Fig. 1 is a structural diagram of a disconnection detection circuit according to a first embodiment of the present invention;

fig. 2 is a structural diagram of a disconnection detection circuit according to a second embodiment of the present invention;

fig. 3 is a structural diagram of another disconnection detecting circuit according to the second embodiment of the present invention;

fig. 4 is a structural diagram of another disconnection detecting circuit according to the second embodiment of the present invention;

fig. 5 is a structural diagram of another disconnection detecting circuit according to the second embodiment of the present invention;

fig. 6 is a structural diagram of another disconnection detecting circuit according to the second embodiment of the present invention;

fig. 7 is a structural diagram of another disconnection detecting circuit according to the second embodiment of the present invention;

fig. 8 is a structural diagram of another disconnection detecting circuit according to the second embodiment of the present invention;

fig. 9 is a schematic structural view of an underwater robot in the third embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Example one

Fig. 1 is a broken string detection circuit structure diagram in the first embodiment of the present invention, and this broken string detection circuit is applied to an underwater robot. Referring to fig. 1, the disconnection detecting circuit includes a first connector 1, a MOS transistor 6, a first control switch 3, a second control switch 4, a power supply 5, and a control unit 7; a first pole of the MOS tube 6 is electrically connected with the output end of the power supply 5, and a second pole of the MOS tube 6 is electrically connected with the input end of the power supply 5 of the underwater robot; the first control switch 3 is electrically connected with a signal port of the first connector 1 and a grid electrode of the MOS tube 6, and a signal of the signal port of the first connector 1 can control the on or off of the MOS tube 6; the control unit 7 is electrically connected with the grid of the MOS tube 6 through the second control switch 4, and the MOS tube 6 is controlled to be switched on or switched off through the second control switch 4.

In this embodiment, after the first connector 1 is connected to the paired second connector 2, the control unit 7 controls the MOS transistor 6 to be turned on through the second control switch 4. The first connector 1 and the second connector 2 can be male and female connectors of a connector. The external device is generally connected to the second connector 2 through a cable, and after the second connector 2 is connected to the first connector 1, the external device can communicate with the underwater robot, charge the underwater robot, and the like.

In order to enable the underwater robot to have a wire breakage detection function so as to return to a specified place after a cable is broken, a wire breakage detection circuit with a first control switch 3 and a second control switch 4 is designed, and the first control switch 3 and the second control switch 4 are electrically connected with a grid electrode of an MOS (metal oxide semiconductor) tube in the wire breakage detection circuit. After the first connector 1 and the second connector 2 are connected, 3.3V electricity is added to a signal line connected with a signal port of the second connector 2, the first control switch 3 is turned on, the MOS tube is conducted, a power supply loop inside the underwater robot is conducted at the moment, the power supply 5 supplies power to the underwater robot, and the signal ports of the first connector 1 and the second connector 2 are provided with communication signals. Meanwhile, when the control unit 7 detects that the potential of the signal port on the first connector 1 changes, the control unit 7 turns on the second control switch 4. After the cable connected with the second connector 2 is disconnected, the underwater robot cannot receive the communication signal, and the disconnection of the cable is determined. At the moment, the second connector 2 and the first connector 1 are still connected, the control unit controls the second control switch 4 to be continuously opened, the MOS is conducted, the power input end VBAT of the underwater robot is connected with the power supply 5 through the conducted MOS tube 6, the power supply loop is still conducted, the power supply 5 can supply power to the underwater robot, and therefore the underwater robot is guaranteed to have the capability of returning to the water inlet position after the cable is disconnected. The underwater robot can automatically return to a designated point according to GPS information recorded before launching, and waits for being recovered.

According to the technical scheme provided by the embodiment, the control unit 7 judges whether a cable, such as a remote control cable, is broken by detecting whether a communication signal exists in a signal port on the first connector 1, when the cable is broken, the first control switch 3 is turned off, but the second control switch 4 is still in an on state, so that a power supply loop is still conducted, and the underwater robot has the capability of returning to a water inlet position after the cable is broken.

Example two

Fig. 2 is a disconnection detection circuit structure diagram in the second embodiment of the present invention, refer to fig. 2, and in this embodiment, first joint 1 is 5pin joint, including signal port, positive power port VIN, negative power port GND and monitoring port, specific signal port is PLC _ N, PLC _ L respectively, and monitoring port is GPIO, and wherein GPIO is connected with the control unit 7 electricity. The second connector 2 is also a 5pin connector and comprises a signal port, a positive power port, a negative power port and a monitoring port, the specific signal port is respectively PLC _ N, PLC _ L, the monitoring port is GPIO, and the GPIO in the second connector 2 is in short circuit with the negative power port. And a positive power supply port VIN and a negative power supply port GND on the first joint 1 are used for charging the underwater robot.

In this embodiment, a GPIO port is disposed on the first terminal 1 and the second terminal 2, and the GPIO port in the second terminal 2 is short-circuited with the negative power port GND, because the GPIO port on the second terminal 2 is short-circuited with the negative power port GND, when the first terminal 1 is connected to the second terminal 2, the potential of the GPIO port on the first terminal 1 is a low potential, the control unit 7 detects that the potential of the GPIO port of the first terminal 1 is a low potential, and the GPIO port control unit 7 turns on the second control switch 4. When the potential of the GPIO port of the first connector 1 is low potential, the potential is used as the starting condition of the second control switch 4, so that the starting process of the second control switch 4 is simplified. Correspondingly, after the first connector 1 and the second connector 2 are disconnected, the potential of the GPIO port of the first connector 1 is high, and the potential of the GPIO port of the first connector 1 can be used as a condition for turning off the second control switch 4 when the potential is high, so that the shutdown process of the underwater robot is simplified.

Fig. 3 is a structure diagram of another disconnection detecting circuit according to the second embodiment of the present invention, referring to fig. 3, optionally, the MOS transistor 6 includes a first MOS transistor 61 and a second MOS transistor 62.

A first pole of the first MOS tube 61 is electrically connected with the output end of the power supply 5, and a second pole of the first MOS tube 61 is electrically connected with the power supply input end of the underwater robot; a first pole of the second MOS transistor 62 is electrically connected to the output terminal of the power supply 5, and a second pole of the second MOS transistor 62 is electrically connected to the power supply input terminal of the underwater robot.

The first control switch 3 is electrically connected to the signal port (PLC _ N, PLC _ L) of the first connector 1 and the gate of the first MOS transistor 61, and the first control switch 3 is electrically connected to the signal port (PLC _ N, PLC _ L) of the first connector 1 and the gate of the second MOS transistor 62.

In this embodiment, the control unit 7 is electrically connected to the gates of the first MOS transistor 61 and the second MOS transistor 62 through the second control switch 4, and controls the first MOS transistor and the second MOS transistor to be turned on or off through the second control switch 4. After the first connector 1 is connected with the second connector 2, 3.3V electricity is added to a signal wire connected with a signal port of the second connector 2, the potential of the signal port on the first connector 1 changes, the first control switch 3 is turned on, and the first MOS tube 61 is conducted with the second MOS tube 62; when the control unit 7 detects that the GPIO port is at a low potential, the control unit 7 turns on the second control switch 4.

According to the prior art, the temperature characteristic of the internal resistance of the MOS tube is that the internal resistance is increased along with the increase of the temperature, if the current of a certain MOS tube is possibly larger in the parallel connection process, the MOS tube can generate heat seriously, the internal resistance is increased more, and the current is reduced, so that the MOS tube can be analyzed to have the automatic current equalizing characteristic and is easy to be connected in parallel. Therefore, in the present embodiment, the first MOS transistor 61 and the second MOS transistor 62 are connected in parallel for use, so that the large current of the underwater robot during operation is shared by the two MOS transistors, and the underwater robot is ensured to operate safely and stably.

Fig. 4 is a structure diagram of another disconnection detection circuit in the second embodiment of the present invention, referring to fig. 4, an optional first control switch is an optical coupler 31, a light emitting diode in the optical coupler 31 is electrically connected to a signal port of the first connector 1, and a collector of a triode in the optical coupler 31 is electrically connected to gates of the first MOS transistor 61 and the second MOS transistor 62. The optical coupler is used for realizing the one-way transmission of signals between the first joint 1 and the second joint 2, so that the input end and the output end are completely electrically isolated, and the anti-interference capability of the underwater robot is improved.

Fig. 5 is a diagram of a structure of another disconnection detecting circuit according to the second embodiment of the present invention, referring to fig. 5, an optional second control switch is a transistor 41, a collector of the transistor 41 is connected to gates of the first MOS transistor 61 and the second MOS transistor 62, an emitter of the transistor 41 is grounded, and a base of the transistor 41 is electrically connected to the control unit 7 through a first resistor R3.

Fig. 6 is a structural diagram of another disconnection detection circuit according to the second embodiment of the present invention, referring to fig. 6, a first capacitor C5, a second resistor R1, a second capacitor C4, a third capacitor C3, and a first diode D1 are connected in parallel between the source and the gate of the first MOS transistor 61 and the second MOS transistor 62, and the anode of the first diode D1 is electrically connected to the gates of the first MOS transistor 61 and the second MOS transistor 62. The first capacitor C5, the second resistor R1, the second capacitor C4, the third capacitor C3, and the first diode D1 are mainly used to keep the voltage between the gate and the source substantially constant, so as to prevent the mis-conduction of the MOS transistor caused by the sudden rise of the voltage on the drain when the MOS is turned off.

Fig. 7 is a structural diagram of another disconnection detecting circuit according to the second embodiment of the present invention, referring to fig. 7, the disconnection detecting circuit further includes a second diode D2, a fourth capacitor C2 and a fifth capacitor C1, a cathode of the second diode D2, a first pole of the fourth capacitor C2 and a first pole of the fifth capacitor C1 are all electrically connected to the first poles of the first MOS transistor 61 and the second MOS transistor 62, and an anode of the second diode D2, a second pole of the fourth capacitor C2 and a second pole of the fifth capacitor C1 are all connected to an equipotential point.

Fig. 8 is a structural diagram of another disconnection detecting circuit according to the second embodiment of the present invention, referring to fig. 8, the disconnection detecting circuit further includes a third resistor R2, and the gates of the first MOS transistor 61 and the second MOS transistor 62 are grounded through the third resistor R2. The third resistor R2 is a gate pull-down resistor of the first MOS transistor 61 and the second MOS transistor 62, and mainly functions to prevent the first MOS transistor 61 and the second MOS transistor 62 from being turned on by mistake. The disconnection detection circuit further comprises a fourth resistor R4 and a fifth resistor R5, one end of the fourth resistor R4 is 3.3V, the other end of the fourth resistor R4 is electrically connected to a pin connected with a GPIO port on the control unit 7 and the first connector 1, one end of the fifth resistor R5 is electrically connected to a pin connected with a GPIO port on the control unit 7 and the first connector 1, and the other end of the fifth resistor R5 is grounded.

EXAMPLE III

Fig. 9 is a schematic structural diagram of an underwater robot in the third embodiment of the present invention, referring to fig. 9, a disconnection detection circuit in the first or second embodiment is arranged inside the underwater robot, a remote controller 8 for controlling the underwater robot is connected to a second connector 2, a signal port on the second connector 2 is connected to a first PLC module 13 in the remote controller 8 through a signal line, and the first PLC module is in communication connection with an MCU 14; and the underwater robot is provided with a second PLC module 11 electrically connected with the signal port on the first joint 1. The control unit 7 is electrically connected with the second PLC module 11 and the camera module 12; the control unit 7 is also in communication connection with a pressure sensor 10, a GPS 9. In this embodiment, the power supply 5 is a lithium battery.

The working process of the underwater robot is described by taking the underwater robot comprising any disconnection detection circuit in the second embodiment as an example, after the first connector 1 and the second connector 2 are connected, 3.3V electricity is added to a signal line connected with a signal port of the second connector 2 by using a remote controller 8, the first control switch 3 is turned on, at the moment, a power supply loop in the underwater robot is conducted, and a lithium battery supplies power to the underwater robot.

After the first connector 1 and the second connector 2 are connected, the control unit 7 detects that the potential of the GPIO port on the first connector 1 is a low potential because the GPIO port on the second connector 2 and the negative power port are short-circuited. When the underwater robot enters water, the value of the pressure sensor 10 is larger than zero. When the control unit 7 detects that the potential of the GPIO port on the first connector 1 is low and the measured value of the pressure sensor 10 is greater than zero, the control unit 7 controls the second control switch to be turned on.

When the signal line on the second connector 2 is disconnected, the first control switch 3 is turned off, and the communication between the PLC module 13 and the PLC module 11 is interrupted. Because the first connector 1 and the second connector 2 still keep the connection state, the potential of the GPIO port on the first connector 1 is still the low potential, the control unit 7 controls the second control switch 4 to be continuously started, the first MOS tube 61 and the second MOS tube 62 are conducted, the power loop is still conducted, the power supply can supply power to the underwater robot, and the underwater robot can still move. When the control unit 7 detects that the communication between the PLC module 13 and the PLC module 11 is disconnected, the potential of the GPIO port on the first connector 1 is low potential and the measured value of the pressure sensor 10 is greater than zero, the control unit 7 controls the underwater robot to float out of the water surface, and controls the underwater robot to return to a water inlet point according to the recorded GPS information of the underwater robot before the underwater robot enters the water.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims

1. A broken wire detection circuit is applied to an underwater robot and is characterized by comprising a first joint, an MOS (metal oxide semiconductor) tube, a first control switch, a second control switch, a power supply and a control unit;

2. The disconnection detection circuit of claim 1, wherein the first and second connectors further comprise a positive power port, a negative power port, and a monitoring port; the monitoring port of the first joint is electrically connected with the control unit, and the monitoring port of the second joint is in short circuit with the negative power port of the second joint.

3. The disconnection detection circuit of claim 1, wherein said MOS transistor comprises a first MOS transistor and a second MOS transistor,

4. The disconnection detection circuit of claim 1, wherein the first control switch is an optocoupler, and a collector of a transistor in the optocoupler is electrically connected to a gate of the MOS transistor.

5. The disconnection detection circuit of claim 1, wherein the second control switch is a transistor, a collector of the transistor is connected to the gate of the MOS transistor, an emitter of the transistor is grounded, and a base of the transistor is electrically connected to the control unit through a first resistor.

6. The disconnection detection circuit of claim 1, wherein the power source is a battery.

7. The disconnection detecting circuit of claim 3, wherein a first capacitor, a second resistor, a second capacitor, a third capacitor, and a first diode are connected in parallel between the source and the gate of the first MOS transistor and the second MOS transistor, and the anode of the first diode is electrically connected to the gates of the first MOS transistor and the second MOS transistor.

8. The disconnection detection circuit of claim 7, further comprising a second diode, a fourth capacitor, and a fifth capacitor, wherein a cathode of the second diode, a first pole of the fourth capacitor, and a first pole of the fifth capacitor are all electrically connected to the first pole of the MOS transistor, and an anode of the second diode, a second pole of the fourth capacitor, and a second pole of the fifth capacitor are all connected to an equal potential point.

9. The disconnection detecting circuit of claim 8, further comprising a third resistor, wherein the gates of the first MOS transistor and the second MOS transistor are grounded through the third resistor.

10. An underwater robot is characterized in that the underwater robot is internally provided with the disconnection detection circuit of any one of claims 1 to 9, a remote controller for controlling the underwater robot is connected with the second connector, and a signal port on the second connector is connected with a first PLC module in the remote controller through a signal wire;