WO2023231318A1

WO2023231318A1 - Voltage holding device for unmanned vehicle and unmanned vehicle

Info

Publication number: WO2023231318A1
Application number: PCT/CN2022/132818
Authority: WO
Inventors: 许哲涛
Original assignee: 北京京东乾石科技有限公司
Priority date: 2022-06-01
Filing date: 2022-11-18
Publication date: 2023-12-07
Also published as: CN114865912A

Abstract

The present invention provides a voltage holding device for an unmanned vehicle and the unmanned vehicle, and can be applied to the technical field of unmanned driving. The device comprises: a first field effect transistor, comprising a first source, a first drain and a first gate, the first source being configured to be connected to a positive electrode of a power supply of the unmanned vehicle, the first drain being configured to be connected to an energy storage module, and the first gate being configured to be connected to a control module; the control module, configured to be connected to the first field effect transistor in parallel, the control module being configured to control the first field effect transistor to be in a turn-on state or a turn-off state; and the energy storage module, configured to be connected to a load of the unmanned vehicle in parallel, the energy storage module being configured to store electric energy from the power supply. Under the condition that a voltage of the power supply drops sharply, the control module is configured to control the first field effect transistor to be in the turn-off state in response to the fact that a voltage of the first source and a voltage of the first drain meet a first voltage threshold condition, and the energy storage module is configured to supply power to the load in response to the fact that the first field effect transistor is in the turn-off state.

Description

Voltage holding device for unmanned vehicles and unmanned vehicles

Cross-references to related applications

This application requires the priority of the Chinese patent application submitted to the China Patent Office on June 1, 2022, with the application number 202210619649.6 and the invention name "Voltage maintenance device for unmanned vehicles and unmanned vehicles", and its entire content has been approved This reference is incorporated into this application.

Technical field

The present disclosure relates to the technical field of unmanned driving, and more specifically, to a voltage holding device for an unmanned vehicle and an unmanned vehicle.

Background technique

With the rapid development of driverless technology, driverless vehicles are increasingly used in many fields such as industrial and agricultural production, construction, logistics, and daily life. As the application environment and functions to be implemented become more and more complex, unmanned vehicles need to carry more and more loads, and the power consumption of the loads also increases.

In the process of realizing the concept of the present disclosure, the inventor found that there are at least the following problems in the related technology: the sudden drop in the power supply voltage of the unmanned vehicle will affect the normal operation of the load, thereby affecting the operational safety of the unmanned vehicle.

Contents of the invention

In view of this, the present disclosure provides a voltage holding device for an unmanned vehicle and an unmanned vehicle.

One aspect of the present disclosure provides a voltage holding device for unmanned vehicles, including: a first field effect transistor including a first source, a first drain and a first gate, the above-mentioned first source being configured In order to connect the positive electrode of the power supply of the unmanned vehicle, the above-mentioned first drain is configured to connect to the energy storage module, and the above-mentioned first gate is configured to connect to the control module; the above-mentioned control module is configured to be connected in parallel with the above-mentioned first field effect transistor. , the above-mentioned control module is configured to control the above-mentioned first field effect transistor to be in a conductive state or a cut-off state; and the above-mentioned energy storage module is configured to be connected in parallel with the load of the above-mentioned unmanned vehicle, and the above-mentioned energy storage module is configured to store data from the above-mentioned The electric energy of the power supply; wherein, in the case of a voltage drop of the above-mentioned power supply, the above-mentioned control module is configured to respond to the voltage of the above-mentioned first source electrode and the voltage of the above-mentioned first drain electrode satisfying a first voltage threshold condition, and control the above-mentioned third voltage threshold condition. The field effect transistor is in a cut-off state, and the energy storage module is configured to supply power to the load in response to the first field effect transistor being in a cut-off state.

According to an embodiment of the present disclosure, the control module includes: a first voltage dividing unit including a first resistor and a second resistor connected in series, the first voltage dividing unit being configured to be connected in parallel with the power supply; a second voltage dividing unit including The third resistor and the fourth resistor are connected in series, and the above-mentioned second voltage dividing unit is configured to be connected in parallel with the above-mentioned power supply; the first integrated operational amplifier includes a first positive input terminal, a first negative input terminal and a first output terminal, and the above-mentioned third A positive input terminal is configured to connect the first resistor and the second resistor, the first negative input terminal is configured to connect the third resistor and the fourth resistor, and the first output terminal is configured to pass through the fifth resistor. connected to the first gate; and a boosting unit configured to supply power to the first integrated operational amplifier, wherein the power supply is configured to supply power to the boosting unit through a first diode, and the energy storage module is configured To supply power to the above-mentioned boosting unit through the second diode.

According to an embodiment of the present disclosure, the first voltage dividing unit is configured to provide a first voltage dividing signal to the first positive input terminal based on the voltage of the first source; the second voltage dividing unit is configured to provide a first voltage dividing signal based on the voltage of the first source. The voltage of the first drain provides a second voltage-divided signal to the first negative input terminal; the first integrated operational amplifier is configured to, based on the first voltage-divided signal and the second voltage-divided signal, at the first output The terminal generates a first control signal, wherein in the case of a sudden drop in the voltage of the power supply, the first control signal is characterized as a low-level signal, and the first control signal is configured to control the first field effect transistor to be in a cut-off state. .

According to an embodiment of the present disclosure, the above-mentioned control module further includes: a second integrated operational amplifier including a second positive input terminal, a second negative input terminal and a second output terminal, and the above-mentioned second positive input terminal is configured to be connected to the above-mentioned first a negative input terminal, the above-mentioned second negative input terminal is configured to be connected to the above-mentioned first positive input terminal, the above-mentioned second output terminal is configured to be connected to the second gate of the second field effect transistor; and the above-mentioned second field effect transistor includes The second source electrode, the second drain electrode and the above-mentioned second gate electrode, the above-mentioned second source electrode is configured to be connected to the above-mentioned first source electrode, the above-mentioned second drain electrode is configured to be connected to the above-mentioned first gate electrode; wherein, the above-mentioned rising electrode The voltage unit is configured to supply power to the above-mentioned second integrated operational amplifier.

According to an embodiment of the present disclosure, the first voltage dividing unit is configured to provide a first voltage dividing signal to the second negative input terminal; the second voltage dividing unit is configured to provide a second voltage dividing signal to the second positive input terminal. voltage signal; the above-mentioned second integrated operational amplifier is configured to generate a second control signal at the above-mentioned second output terminal based on the above-mentioned first voltage-divided signal and the above-mentioned second voltage-divided signal, wherein, in the case of a voltage drop of the above-mentioned power supply under The tube is in the on state and switches to the off state.

According to an embodiment of the present disclosure, the above device further includes: a soft start module configured to connect the above first field effect transistor and the above energy storage module; wherein the above soft start module includes: a charging unit including a sixth resistor, a seventh resistor Resistor and capacitor, the above-mentioned sixth resistor is configured to be connected in series with the above-mentioned seventh resistor, the above-mentioned capacitor is configured to be connected in parallel with the above-mentioned sixth resistor; and a third field effect transistor, including a third source, a third drain and a third The gate, the third source is configured to connect to the first drain, the third drain is configured to connect to the energy storage module, and the third gate is configured to connect to the sixth resistor and the seventh resistor. and the above capacitor.

According to an embodiment of the present disclosure, the charging unit is configured to control the voltage of the third gate to gradually decrease within a preset time in response to the first field effect transistor being in a cut-off state, wherein the third field effect transistor is configured to transition to the off state in response to the voltage of the third gate satisfying the second voltage threshold condition.

According to an embodiment of the present disclosure, the above-mentioned device further includes: a discharge module configured to be connected in parallel with the above-mentioned energy storage module; wherein the above-mentioned discharge module includes: a voltage stabilizing unit including a series-connected voltage stabilizing diode and an eighth resistor. The above-mentioned voltage stabilizing module The anode of the diode is configured to be connected to the eighth resistor, and the cathode of the Zener diode is configured to be connected to the first drain; the transistor includes a collector, a base and an emitter, and the collector is configured to pass through a third Nine resistors are connected to the cathode of the above-mentioned Zener diode, the above-mentioned base is configured to connect the anode of the above-mentioned Zener diode and the above-mentioned eighth resistor, the above-mentioned emitter is configured to be grounded; and the discharge unit includes a tenth resistor and a fourth resistor connected in series. Field effect transistor, the fourth field effect transistor includes a fourth drain, a fourth source and a fourth gate, the fourth drain is configured to be connected to the tenth resistor, and the fourth source is configured to be grounded, The fourth gate is configured to be connected to the collector.

According to an embodiment of the present disclosure, the voltage stabilizing unit is configured to provide an enable signal characterized by a low level to the base when the power supply voltage of the energy storage module meets the third voltage threshold condition, wherein the above The enable signal is configured to control the transistor to be in a cut-off state; and the fourth field effect transistor is configured to switch to a conductive state in response to the transistor being in a cut-off state, so that the energy storage module can be discharged through the discharge unit.

According to an embodiment of the present disclosure, the above-mentioned first, second and fourth field effect transistors are N-channel enhancement type field effect transistors; the third field effect transistor is a P-channel enhancement type field effect transistor; The transistor is an NPN type transistor.

Another aspect of the present disclosure provides an unmanned vehicle, including: a battery device; a power device; a sensing device; and a voltage holding device configured to connect the battery device and the sensing device, the voltage holding device including: Field effect transistor, control module and energy storage module; wherein, the above-mentioned first field effect transistor includes a first source, a first drain and a first gate, and the above-mentioned first source connection is configured as a connection of the above-mentioned battery device. Positive electrode, the above-mentioned first drain is configured to connect to the energy storage module, the above-mentioned first gate is configured to connect to the control module; the above-mentioned control module is configured to be connected in parallel with the above-mentioned first field effect transistor, and the above-mentioned control module is configured to control The above-mentioned first field effect transistor is in a conductive state or a cut-off state; and the above-mentioned energy storage module is configured to be connected in parallel with the above-mentioned sensing device, and the above-mentioned energy storage module is configured to store electrical energy from the above-mentioned battery device; wherein, in the above-mentioned battery When the voltage of the device drops suddenly, the control module is configured to control the first field effect transistor to be in a cut-off state in response to the voltage of the first source and the voltage of the first drain meeting the first voltage threshold condition, The energy storage module is configured to supply power to the sensing device in response to the first field effect transistor being in a cut-off state.

According to an embodiment of the present disclosure, the battery device includes a battery and a power management module, and the battery is configured to supply power to the power device and the sensing device through the power management module; the sensing device includes a sensor and a core processing unit. Kit, the above-mentioned sensing device is configured to connect to the above-mentioned power device, the above-mentioned sensing device is configured to send a motion control signal to the above-mentioned power device; and the above-mentioned power device is configured to control the above-mentioned unmanned vehicle in response to the above-mentioned motion control signal sports.

According to embodiments of the present disclosure, when the power supply of the unmanned vehicle is operating normally, the control module can control the first field effect transistor to be in a conductive state, and the power supply can charge the energy storage module; when the power supply of the unmanned vehicle drops suddenly, due to Due to the potential difference, the energy storage module can supply power to the load to ensure that the load can operate normally during a period of power sag. Therefore, it is at least partially overcome that the power supply voltage sag of unmanned vehicles in related technologies will affect the normal operation of the load. Technical issues that further affect the operational safety of unmanned vehicles effectively improve the safety of unmanned vehicles by ensuring the working stability of the load; on the other hand, due to the sudden drop in power supply, the first field effect tube will fail. The voltage of the source and the voltage of the first drain meet the first voltage threshold condition, so the control module can control the first field effect transistor to be in a cut-off state, so that the loop between the energy storage module and the power supply is in an open circuit state, and the energy storage module The electric energy in the module will not flow to the power supply, which effectively suppresses the waste of electric energy in the energy storage module and improves the working stability of the load.

Description of the drawings

The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure with reference to the accompanying drawings, in which:

Figure 1 schematically shows the timing diagram of the power supply voltage and the load terminal voltage during the power sag process.

Figure 2 schematically shows a schematic diagram of a voltage maintaining device for an unmanned vehicle according to an embodiment of the present disclosure.

Figure 3A schematically shows a schematic diagram of a control module according to an embodiment of the present disclosure.

FIG. 3B schematically shows a schematic diagram of a control module according to another embodiment of the present disclosure.

FIG. 4 schematically shows a voltage maintaining device for an unmanned vehicle according to another embodiment of the present disclosure.

Figure 5 schematically shows a schematic diagram of a voltage maintaining device for an unmanned vehicle according to yet another embodiment of the present disclosure.

FIG. 6A schematically shows a voltage maintaining device for an unmanned vehicle according to yet another embodiment of the present disclosure.

FIG. 6B schematically shows a voltage timing diagram of a voltage holding device for an unmanned vehicle according to yet another embodiment of the present disclosure.

FIG. 6C schematically shows yet another voltage timing diagram of a voltage holding device for an unmanned vehicle according to yet another embodiment of the present disclosure.

Figure 7 schematically shows a schematic diagram of an unmanned vehicle according to an embodiment of the present disclosure.

Detailed ways

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood, however, that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for convenience of explanation, numerous specific details are set forth to provide a comprehensive understanding of the disclosed embodiments. It will be apparent, however, that one or more embodiments may be practiced without these specific details. Furthermore, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily confusing the concepts of the present disclosure.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the disclosure. The terms "comprising," "comprising," and the like, as used herein, indicate the presence of stated features, steps, operations, and/or components but do not exclude the presence or addition of one or more other features, steps, operations, or components.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art, unless otherwise defined. It should be noted that the terms used here should be interpreted to have meanings consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

Where an expression similar to "at least one of A, B, C, etc." is used, it should generally be interpreted in accordance with the meaning that a person skilled in the art generally understands the expression to mean (e.g., "having A, B and C "A system with at least one of" shall include, but is not limited to, systems with A alone, B alone, C alone, A and B, A and C, B and C, and/or systems with A, B, C, etc. ). Where an expression similar to "at least one of A, B or C, etc." is used, it should generally be interpreted in accordance with the meaning that a person skilled in the art generally understands the expression to mean (for example, "having A, B or C "A system with at least one of" shall include, but is not limited to, systems with A alone, B alone, C alone, A and B, A and C, B and C, and/or systems with A, B, C, etc. ).

During the operation of the autonomous vehicle, if a short circuit occurs in a certain circuit, the fuse element will melt, and the melting of the fuse element will cause the power supply voltage of the autonomous vehicle to drop suddenly. Usually, the fuse melting process takes a few microseconds or several seconds. Ten microseconds.

As shown in Figure 1, during the fuse melting process, the power supply voltage of the unmanned vehicle will drop to 0V or a lower voltage value. The lower voltage value may be the voltage value of other power supply devices or energy storage devices in the power supply loop. After the power supply voltage drops suddenly, due to the capacitance configured in the load, the load terminal voltage will gradually decrease within a certain period of time, that is, the load can keep working within this certain period of time. The certain time can be determined by the power consumption of the load and the capacitance value of the capacitor configured in the load.

In order for the unmanned vehicle to operate safely, in accordance with the EMC safety standards in GBT/28046, it is necessary to ensure that the fuse is blown and the load of the unmanned vehicle is in normal working condition. That is, a sudden drop in the power supply voltage within 100ms cannot cause system restart or reset on the unmanned vehicle.

As the application environment and the functions that need to be implemented become more and more complex, the power consumption of the load of unmanned vehicles is also increasing. Due to the limitation of the board area and the large capacitance, the surge current at the moment of power-on will be large. The problem is that the capacitance value of the capacitor configured in the load is limited, and the capacitor configured in the load can no longer meet the increasing demand for power consumption. For example, when the power consumption of the load reaches 100W, the capacitor configured in the load can generally only maintain the load's normal operation within 5ms. Restarting the load after shutting down generally takes a lot of time. During this period, the operation of unmanned vehicles lacks safety guarantees. Therefore, the circuit design of the unmanned vehicle in the related art cannot meet the requirements for normal operation of the unmanned vehicle when the voltage drops.

In view of this, embodiments of the present disclosure are aimed at voltage drops in unmanned vehicles caused by short circuits or other reasons. By configuring a voltage holding device between the power supply and the load, the load can operate normally during the voltage drop. , to avoid load reset and restart caused by voltage sag, which may affect the operational safety of unmanned vehicles.

Specifically, embodiments of the present disclosure provide a voltage holding device for an unmanned vehicle and an unmanned vehicle. The voltage holding device for an unmanned vehicle includes: a first field effect transistor including a first source, a first drain and a first gate, the first source being configured to be connected to the positive electrode of the power supply of the unmanned vehicle, The first drain is configured to connect to the energy storage module, the first gate is configured to connect to the control module; the control module is configured to be connected in parallel with the first field effect transistor, and the control module is used to control the first field effect transistor to be turned on. state or cut-off state; and an energy storage module configured to be connected in parallel with the load of the unmanned vehicle, the energy storage module is used to store electrical energy from the power supply; wherein, in the event of a voltage dip of the power supply, the control module is used to respond to The voltage of the first source and the voltage of the first drain meet the first voltage threshold condition to control the first field effect transistor to be in a cut-off state, and the energy storage module is used to supply power to the load in response to the first field effect transistor being in a cut-off state.

As shown in Figure 2, the voltage holding device for the unmanned vehicle can be connected to the power supply 110 and the load 120 of the unmanned vehicle. The voltage holding device may include a first field effect transistor 200, a control module 300 and an energy storage module 400.

According to an embodiment of the present disclosure, the first field effect transistor 200 may include a first source S1, a first drain D1, and a first drain G1. The first source S1 is configured to be connected to the positive electrode of the power supply 110 of the unmanned vehicle. , the first drain D1 is configured to connect to the energy storage module 400 , and the first drain G1 is configured to connect to the control module 300 .

According to the embodiment of the present disclosure, the first field effect transistor 200 can be any power field effect transistor, its model can be selected according to specific application scenarios, and its specifications can be determined according to the rated voltage of the power supply 110 and the rated power of the load 120, No limitation is made here.

According to an embodiment of the present disclosure, there may be a parasitic diode between the first source S1 and the first drain D1 of the first field effect transistor 200 . The instantaneous reverse current generated in the circuit can be derived through the parasitic diode, thereby ensuring that the first field effect transistor 200 is not broken down and extending the service life of the first field effect transistor 200 .

According to an embodiment of the present disclosure, the control module 300 may be configured to be connected in parallel with the first field effect transistor 200, and the control module 300 is configured to control the first field effect transistor 200 to be in an on state or a cut off state.

According to an embodiment of the present disclosure, by configuring the control module 300 to be connected in parallel with the first field effect transistor 200, the two input terminals of the control module 300 can be connected to the first source S1 and the first drain D1 respectively, that is, the control module The voltages of the two input terminals of 300 may be the voltage of the first source S1 and the voltage of the first drain D1 respectively.

According to an embodiment of the present disclosure, the control module 300 can output a low level signal or a high level signal to the first drain electrode G1 through the signal output port connected to the first drain electrode G1, thereby controlling the first field effect transistor 200 to be in On state or off state. Taking the first field effect transistor 200 as an N-channel enhancement type field effect transistor as an example, when the control module 300 outputs a low-level signal, the gate-source voltage of the first field effect transistor 200 can be smaller than the first field effect transistor 200 The turn-on voltage of the first field effect transistor 200 is in a cut-off state; when the control module 300 outputs a high-level signal, the gate-source voltage of the first field effect transistor 200 can be greater than the turn-on voltage of the first field effect transistor 200 , thereby causing the first field effect transistor 200 to be in a conductive state. The low-level signal can refer to a voltage signal with a voltage value of 0V, that is, a 0 signal, or a voltage signal with a voltage value less than a low-voltage threshold. The low-voltage threshold can be determined according to the specific circuit design, for example, according to the first field effect transistor 200 Turn on voltage to set. A high-level signal can refer to a voltage signal with a voltage value greater than a high-voltage threshold, that is, a 1 signal. The high-voltage threshold can be determined according to the specific circuit design.

According to embodiments of the present disclosure, the control module 300 may be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package , Application Specific Integrated Circuit (ASIC), or can be implemented by hardware or firmware in any other reasonable way to integrate or package the circuit, or by any one or any combination of software, hardware and firmware implementations. to achieve this through an appropriate combination of species. Alternatively, the control module 300 may be at least partially implemented as a computer program module, and when the computer program module is executed, corresponding functions may be performed.

According to an embodiment of the present disclosure, the energy storage module 400 may be configured to be connected in parallel with the load of the unmanned vehicle, and the energy storage module 400 is configured to store electrical energy from the power source. The energy storage module 400 can be any component that can store electrical energy and discharge according to the potential difference, such as a capacitor bank, a battery, etc., which is not limited here.

According to an embodiment of the present disclosure, when the power supply 110 supplies power normally, the control module 300 may be configured to control the first field effect transistor 200 to be in a conductive state, and the power supply 110 may be configured to supply power to the storage through the first field effect transistor 200 . The energy module 400 and the load 120 provide power. At this time, the energy storage module 400 can store electric energy.

According to an embodiment of the present disclosure, in the case of a voltage sag of the power supply 110 , the control module 300 may be configured to control, in response to the voltage of the first source S1 and the voltage of the first drain D1 satisfying the first voltage threshold condition. The first field effect transistor 200 is in the cut-off state, and the energy storage module 400 is configured to supply power to the load 120 in response to the first field effect transistor 200 being in the cut-off state.

According to embodiments of the present disclosure, the first voltage threshold condition can be set according to specific application scenarios. For example, it can be set so that the voltage of the first drain D1 is greater than the voltage of the first source S1 , or it can also be set so that the voltage of the first source D1 is greater than the voltage of the first source S1 . The voltage value of S1 is 0 and is not limited here.

The voltage holding device for unmanned vehicles shown in Figure 2 will be further described below in conjunction with specific embodiments with reference to Figures 3A to 3B, Figures 4 to 5, and Figures 6A to 6C.

According to an embodiment of the present disclosure, the first field effect transistor 200 may be an N-channel enhancement type field effect transistor.

As shown in FIG. 3A , the control module 300 may include a first voltage dividing unit 310 , a second voltage dividing unit 320 , a first integrated operational amplifier 330 and a voltage boosting unit 340 .

According to an embodiment of the present disclosure, the first voltage dividing unit 310 may include a first resistor 311 and a second resistor 312 connected in series, and the first voltage dividing unit 310 may be configured to be connected in parallel with the power supply 110 .

According to an embodiment of the present disclosure, the second voltage dividing unit 320 may include a third resistor 321 and a fourth resistor 322 connected in series, and the second voltage dividing unit 320 may be configured to be connected in parallel with the power supply 110 .

According to an embodiment of the present disclosure, the first integrated operational amplifier 330 may include a first positive input terminal, a first negative input terminal and a first output terminal, and the first positive input terminal may be configured to connect the first resistor 311 and the second resistor 312. The first negative input terminal may be configured to connect the third resistor 321 and the fourth resistor 322, and the first output terminal may be configured to connect the first drain G1 through the fifth resistor 334.

According to an embodiment of the present disclosure, the boost unit 340 may be configured to power the first integrated operational amplifier 330, wherein the power supply 110 is configured to power the boost unit 340 through the first diode 341, and the energy storage module 400 is It is configured to supply power to the boost unit 340 through the second diode 342 .

According to the embodiment of the present disclosure, the first resistor 311, the second resistor 312, the third resistor 321 and the fourth resistor 322 may be a single resistor or a resistor group formed by a plurality of resistors connected in series or in parallel, which will not be discussed here. limited.

According to embodiments of the present disclosure, the first resistor 311 , the second resistor 312 , the third resistor 321 and the fourth resistor 322 may be any type of fixed resistor, for example, they may be a chip resistor, a carbon film resistor, a metal film resistor, a wire resistor, or a chip resistor. Winding resistors, etc.

According to the embodiment of the present disclosure, the first integrated operational amplifier 330 may be an integrated operational amplifier of any type, which is not limited here.

According to embodiments of the present disclosure, the boosting unit 340 can be any boosting circuit or boosting component, such as a BOOST circuit, a boosting charge pump, etc., which is not limited here.

According to an embodiment of the present disclosure, the first voltage dividing unit may be configured to provide a first voltage dividing signal to the first positive input terminal based on the voltage of the first source S1, as shown in formula (1):

In the formula, V _p1 represents the first divided voltage signal; V _S1 represents the voltage of the first source; R ₁ represents the resistance of the first resistor 311 ; R ₂ represents the resistance of the second resistor 312 .

According to an embodiment of the present disclosure, the second voltage dividing unit may be configured to provide a second voltage dividing signal to the first negative input terminal based on the voltage of the first drain D1, as shown in formula (2):

In the formula, V _p2 represents the second divided voltage signal; V _D1 represents the voltage of the first drain; R ₃ represents the resistance of the third resistor 321 ; R ₄ represents the resistance of the fourth resistor 322 .

According to an embodiment of the present disclosure, the first integrated operational amplifier 330 may be configured to generate a first control signal at the first output terminal based on the first divided voltage signal and the second divided voltage signal.

According to embodiments of the present disclosure, the first integrated operational amplifier 330 may be configured as a comparator. When the first divided voltage signal is greater than the second divided voltage signal, the first integrated operational amplifier 330 outputs a first control signal represented as a high level at the first output terminal; when the first divided voltage signal is less than or equal to the second divided voltage signal When the signal is generated, the first integrated operational amplifier 330 outputs a first control signal characterized by a low level at the first output terminal.

According to an embodiment of the present disclosure, the ratio of the first resistor 311 and the second resistor 312 may be equal to the ratio of the third resistor 321 and the fourth resistor 322, so that the first divided voltage signal and the second divided voltage signal are only connected with the first divided voltage signal respectively. The voltage of a source S1 is related to the voltage of the first drain D1. When the power supply 110 supplies power normally, due to the voltage drop of the first field effect transistor 200, the voltage of the first source S1 is greater than the voltage of the first drain D1, so that the first integrated operational amplifier 330 is at the first output end. Output high level signal. Alternatively, the ratio of the first resistor 311 and the second resistor 312 can also be set to be smaller than the ratio of the third resistor 321 to the fourth resistor 322, so that the first divided voltage signal is greater than the second divided voltage signal, so that when the power supply 110 is normal When power is supplied, the first output terminal outputs a high level signal.

According to an embodiment of the present disclosure, through the voltage boosting unit 340 supplying power to the first integrated operational amplifier 330, when the power supply 110 supplies power normally, the first integrated operational amplifier 330 can output a first control voltage value higher than that of the power supply 110. signal, so that the first field effect transistor 200 meets the turn-on conditions of the N-channel enhancement mode field effect transistor, that is, the voltage of the first drain G1 is greater than the voltage of the first source S1, and the voltage of the first drain G1 is the same as the voltage of the first source S1. The voltage difference of a source S1 is greater than the turn-on voltage of the first field effect transistor 200 .

According to the embodiment of the present disclosure, when the voltage of the power supply 110 drops suddenly, the voltage of the first source S1 decreases with the voltage of the power supply 110. Since the energy storage module 400 stores electric energy, the voltage of the first drain D1 still remains. High level state. For the first integrated operational amplifier 330, the voltage value of the first positive input terminal is smaller than the first negative input terminal, and the first control signal output by the first integrated operational amplifier 330 is characterized as a low-level signal. At this time, the first control signal may be configured to control the first negative input terminal. The field effect transistor 200 is in a cut-off state.

According to an embodiment of the present disclosure, by configuring the control module 300 based on the first voltage dividing unit 310, the second voltage dividing unit 320, the first integrated operational amplifier 330 and the boosting unit 340, the level signal output by the control module 300 can be adjusted according to the first voltage dividing unit 310. The voltage of the first source S1 and the voltage of the first drain D1 change, thereby controlling the first field effect transistor 200 to switch states when the power supply 110 is providing normal power and when the voltage drops, thereby effectively ensuring the normal power supply of the power supply 110 , and reduce the waste of electric energy in the energy storage module 400 when the voltage of the power supply 110 drops.

As shown in FIG. 3B , in addition to the first voltage dividing unit 310 , the second voltage dividing unit 320 , the first integrated operational amplifier 330 and the boosting unit 340 , the control module 300 may also include a second integrated operational amplifier 350 and a third integrated operational amplifier 350 . Two field effect transistors 360.

According to an embodiment of the present disclosure, the second integrated operational amplifier 350 may include a second positive input terminal, a second negative input terminal, and a second output terminal. The second positive input terminal may be configured to be connected to the first negative input terminal, and the second The negative input terminal may be configured to be connected to the first positive input terminal, and the second output terminal may be configured to be connected to the second gate G2 of the second field effect transistor 360 .

According to an embodiment of the present disclosure, the second field effect transistor 360 may include a second source S2, a second drain D2, and a second gate G2. The second source S2 may be configured to be connected to the first source S1. The second drain electrode D2 may be configured to be connected to the first drain electrode G1.

According to an embodiment of the present disclosure, the boost unit 340 may be configured to power the second integrated operational amplifier 350 .

According to the embodiment of the present disclosure, the second integrated operational amplifier 350 may be an integrated operational amplifier of any type, which is not limited here.

According to an embodiment of the present disclosure, the second field effect transistor 360 may be an N-channel enhancement type field effect transistor.

According to an embodiment of the present disclosure, the first voltage dividing unit 310 may be configured to provide a first voltage dividing signal to the second negative input terminal, and the second voltage dividing unit 320 may be configured to provide a second voltage dividing signal to the second positive input terminal. Pressure signal. The first voltage-divided signal and the second voltage-divided signal are shown in formulas (1) and (2) respectively, which will not be described again here.

According to an embodiment of the present disclosure, the second integrated operational amplifier 350 may be configured to generate a second control signal at the second output terminal based on the first divided voltage signal and the second divided voltage signal.

According to embodiments of the present disclosure, the second integrated operational amplifier 350 may be configured as a comparator. When the first divided voltage signal is greater than the second divided voltage signal, the second integrated operational amplifier 350 outputs a second control signal represented as a low level at the second output terminal; when the first divided voltage signal is less than or equal to the second divided voltage signal When the signal is generated, the second integrated operational amplifier 350 outputs a second control signal characterized by a high level at the second output terminal.

According to an embodiment of the present disclosure, when the power supply 110 supplies power normally and the first divided voltage signal is greater than the second divided voltage signal, the second integrated operational amplifier 350 outputs a second control signal characterized by a low level at the second output terminal. , at this time, the second field effect transistor 360 is in the off state.

According to an embodiment of the present disclosure, when the voltage of the power supply 110 drops suddenly and the first divided voltage signal is smaller than the second divided voltage signal, the second integrated operational amplifier 350 outputs a second voltage represented by a high level at the second output terminal. Control signal, at this time, the second control signal is configured to control the second field effect transistor 360 to be in a conductive state. Since the second field effect transistor 360 is turned on, the first source S1 and the first drain G1 of the first field effect transistor 200 are short-circuited, and the first field effect transistor 200 is configured to respond to the second field effect transistor 360 being in from the on state to the off state.

According to the embodiment of the present disclosure, since the first field effect transistor 200 is a power field effect transistor, turning on and off, that is, switching between the on state and the off state requires a large gate current, and the first integrated operational amplifier 330 can provide a lower gate current to the first drain G1, resulting in a slower turn-off speed of the first field effect transistor 200, thereby causing the energy storage module 400 to release more power to the power supply 110. Through the settings of the second integrated operational amplifier 350 and the second field effect transistor 360, the turn-off speed of the first field effect transistor 200 can be effectively increased by controlling the conduction of the second field effect transistor 360, thereby effectively reducing energy storage. Module 400 releases electrical energy in the direction of power source 110 .

As shown in FIG. 4 , the voltage holding device for unmanned vehicles may include a first field effect transistor 200 , a control module 300 , an energy storage module 400 and a soft start module 500 .

According to an embodiment of the present disclosure, the soft start module 500 may be configured to connect the first field effect transistor 200 and the energy storage module 400.

According to an embodiment of the present disclosure, the soft start module 500 may include a charging unit 510 and a third field effect transistor 520 .

According to an embodiment of the present disclosure, the charging unit 510 may include a sixth resistor 511, a seventh resistor 512, and a capacitor 513. The sixth resistor 511 may be configured to be connected in series with the seventh resistor 512, and the capacitor 513 may be configured to be connected in series with the sixth resistor 512. 511 in parallel.

According to an embodiment of the present disclosure, the third field effect transistor 520 may include a third source S3, a third drain D3 and a third gate G3, and the third source S3 may be configured to connect the first drain D1, The three-drain D3 may be configured to connect to the energy storage module 400 , and the third gate G3 may be configured to connect the sixth resistor 511 , the seventh resistor 512 and the capacitor 513 .

According to an embodiment of the present disclosure, the third field effect transistor 520 may be a P-channel enhancement type field effect transistor.

According to an embodiment of the present disclosure, the charging unit 510 is configured to control the voltage of the third gate G3 to gradually decrease within a preset time in response to the first field effect transistor 200 being in a cut-off state, wherein the third field effect transistor 520 is is configured to transition to the off state in response to the voltage of the third gate G3 satisfying the second voltage threshold condition.

According to an embodiment of the present disclosure, the second voltage threshold condition may be expressed as the voltage of the third gate G3 is lower than the turn-on voltage of the third field effect transistor 520 .

According to embodiments of the present disclosure, by controlling the third field effect transistor 520 to gradually turn on and off, the surge current generated by the power on and off of the energy storage module 400 can be reduced, thereby suppressing the impact of the surge current on components in the circuit. and module damage, thereby effectively ensuring the normal operation of the circuit.

As shown in FIG. 5 , the voltage holding device for unmanned vehicles may include a first field effect transistor 200 , a control module 300 , an energy storage module 400 and a discharge module 600 .

According to embodiments of the present disclosure, the discharge module 600 may be configured in parallel with the energy storage module 400.

According to embodiments of the present disclosure, one or more discharge modules 600 may exist in the voltage holding device for unmanned vehicles, which is not limited here.

According to an embodiment of the present disclosure, the discharge module 600 may include a voltage stabilizing unit 610, a diode 620, and a discharging unit 630.

According to an embodiment of the present disclosure, the voltage stabilizing unit 610 may include a Zener diode 611 and an eighth resistor 612 connected in series, the anode of the Zener diode 611 may be configured to be connected to the eighth resistor 612, and the cathode of the Zener diode 611 may be configured to be connected to the first drain D1.

According to an embodiment of the present disclosure, the transistor 620 may include a collector C, a base B, and an emitter E. The collector C may be configured to be connected to the cathode of the Zener diode 611 through the ninth resistor 621 , and the base B may be configured to Connecting the anode of the Zener diode 611 and the eighth resistor 612, the emitter E may be configured to be grounded.

According to embodiments of the present disclosure, the transistor 620 may be an NPN type transistor.

According to an embodiment of the present disclosure, the discharge unit 630 may include a tenth resistor 631 and a fourth field effect transistor 632 connected in series. The fourth field effect transistor 632 may include a fourth drain D4, a fourth source S4 and a fourth gate. G4, the fourth drain D4 may be configured to connect to the tenth resistor 631, the fourth source S4 may be configured to be grounded, and the fourth gate G4 may be configured to connect the collector C.

According to an embodiment of the present disclosure, the fourth field effect transistor 632 may be an N-channel enhancement type field effect transistor.

According to an embodiment of the present disclosure, the voltage stabilizing unit 610 may be configured to provide an enable signal characterized as a low level to the base B when the supply voltage of the energy storage module 400 meets the third voltage threshold condition, where, The enable signal may be configured to control the transistor 620 to be in an off state.

According to an embodiment of the present disclosure, the fourth field effect transistor 632 may be configured to switch to the on state in response to the transistor 620 being in the off state, so that the energy storage module 400 can be discharged through the discharge unit 630 .

According to an embodiment of the present disclosure, the third voltage threshold condition may refer to that the supply voltage of the energy storage module 400 is less than the breakdown voltage of the Zener diode 611 . The breakdown voltage may be the minimum operating voltage of the load 120 .

According to the embodiment of the present disclosure, by arranging the discharge module 600, the energy storage module 400 can be discharged when the electric energy in the energy storage module 400 is insufficient, that is, when the power supply voltage of the energy storage module 400 is lower than the breakdown voltage of the Zener diode 611. Discharge, thereby completely discharging the electric energy in the energy storage module 400, so that after the power supply 110 is restored, the energy storage module 400 generates a smaller surge current, thereby effectively improving the reliability of the circuit.

As shown in FIG. 6A , the voltage holding device for unmanned vehicles may include a first field effect transistor 200 , a control module 300 , an energy storage module 400 , a soft start module 500 and a discharge module 600 .

According to embodiments of the present disclosure, the energy storage module 400 may include multiple capacitors or capacitor groups connected in parallel, and the capacitor group may include multiple capacitors connected in series. The equivalent capacitance value of the energy storage module 400 may be the sum of the equivalent capacitance values of multiple capacitors or capacitor groups connected in parallel to form the energy storage module 400 . The equivalent capacitance value of the energy storage module 400 can be set according to the power consumption of the load 120. For example, when the power consumption of the load 120 is 100W, in order to ensure that the load 120 works normally within 100ms, the equivalent capacitance value of the energy storage module 400 The capacitance value can be configured between 15000uF and 20000uF.

As shown in FIG. 6B , the power supply 110 starts supplying power at time t1, the voltage drops sharply at time t2, and resumes normal power supply at time t3.

According to an embodiment of the present disclosure, after the power supply 110 starts supplying power at time t1:

The power supply 110 supplies power to the boosting unit 340 through the first diode 341, so that the boosting unit 340 provides power to the first integrated operational amplifier 330 and the second integrated operational amplifier 350.

Based on the resistance values of the first resistor 311 , the second resistor 312 , the third resistor 321 and the fourth resistor 322 , the first divided voltage signal is greater than the second divided voltage signal, so that the first positive input of the first integrated operational amplifier 330 The voltage at the terminal is greater than the voltage at the first negative input terminal, and the first integrated operational amplifier 330 outputs a first control signal characterized by a high level at the first output terminal, causing the first field effect transistor 200 to turn on; correspondingly, the second integrated operational amplifier The voltage of the second positive input terminal of the amplifier 350 is less than the voltage of the second negative input terminal, and the second integrated operational amplifier 350 outputs a second control signal represented by a low level at the second output terminal, causing the second field effect transistor 360 to turn off.

The capacitor 513 and the seventh resistor 512 form a charging circuit, and the power supply 110 charges the capacitor 513 through the first field effect transistor 200, as shown in formula (3):

In the formula, V _th represents the turn-on voltage of the third field effect transistor 520 ; R ₇ represents the resistance of the seventh resistor 512 ; C represents the capacitance of the capacitor 513 ; t represents the soft start time of the third field effect transistor 520 . The third field effect transistor 520 can be fully turned on at time t4, that is, time t1+t.

In the process of the third field effect transistor 520 gradually turning on, the power supply 110 begins to charge the energy storage module 400 .

Since the supply voltage of the power supply 110 is greater than the breakdown voltage of the Zener diode 611, the Zener diode 611 is in a breakdown state, and the anode of the Zener diode 611 provides a high-level signal to the base B of the transistor 620, so that the transistor 620 is turned on. state, causing the fourth gate G4 to be grounded, and the fourth field effect transistor 632 to be in the off state.

According to an embodiment of the present disclosure, after the voltage of the power supply 110 drops suddenly at time t2:

Since there is electric energy stored in the capacitor 513, the voltage difference between the third source S3 and the third gate G3 of the third field effect transistor 520 will not disappear instantly, but will pass through the sixth resistor 511 as the charges at both ends of the capacitor 513 , so that the voltage difference across the capacitor 513 gradually decreases, so that the third field effect transistor 520 gradually turns off. The third field effect transistor 520 can be completely turned off at time t5, that is, the preset time can be characterized as t5-t2.

When the third field effect transistor 520 is gradually turned off, the voltage of the first drain D1 is greater than the voltage of the first source S1, so that the first divided voltage signal is smaller than the second divided voltage signal, so that the second integrated operational amplifier 350 A second control signal characterized by a high level is output, causing the second field effect transistor 360 to be turned on. The second field effect transistor 360 is turned on so that the first source S1 and the first drain G1 of the first field effect transistor 200 are turned on, and the first field effect transistor 200 is quickly turned off.

The energy storage module 400 starts to supply power to the load 120 .

According to an embodiment of the present disclosure, after the voltage of the power supply 110 is restored at time t3, the power supply 110 continues to supply power to the load 120 through the first field effect transistor 200 and the third field effect transistor 520.

As shown in FIG. 6C , the power supply 110 starts to provide power at time t1, the voltage drops sharply at time t2, and does not resume normal power supply at time t3.

According to the embodiment of the present disclosure, as the electric energy in the energy storage module 400 is consumed, the voltage provided by the energy storage module 400 is lower than the breakdown voltage of the Zener diode 611 at time t6, and the Zener diode 611 is in a cut-off state. The anode of 611 provides a low-level signal to the base B of the transistor 620, so that the transistor 620 is in a cut-off state, and the energy storage module 400 supplies power to the fourth gate G4, so that the fourth field effect transistor 632 is turned on. The remaining electric energy in the energy storage module 400 can be released through the tenth resistor 631 and the fourth field effect transistor 632, and the load 120 is turned off.

As shown in Figure 7, the unmanned vehicle may include a battery device 700, a power device 800, a sensing device 900 and a voltage maintaining device.

According to an embodiment of the present disclosure, a voltage holding device is configured to connect the battery device 700 and the sensing device 900 , and the voltage holding device includes a first field effect transistor 200 , a control module 300 and an energy storage module 400 .

According to an embodiment of the present disclosure, the first field effect transistor 200 includes a first source S1, a first drain D1 and a first drain G1. The first source S1 is connected to the positive electrode configured as the battery device 700, and the first The drain D1 is configured to connect to the energy storage module 400 , and the first drain G1 is configured to connect to the control module 300 .

According to an embodiment of the present disclosure, the control module 300 is configured to be connected in parallel with the first field effect transistor 200, and the control module 300 is configured to control the first field effect transistor 200 to be in an on state or a cut off state.

According to an embodiment of the present disclosure, the energy storage module 400 is configured to be connected in parallel with the sensing device 900 , and the energy storage module 400 is configured to store electrical energy from the battery device 700 .

According to an embodiment of the present disclosure, in the event of a voltage sag of the battery device 700 , the control module 300 is configured to, in response to the voltage of the first source S1 and the voltage of the first drain D1 satisfying the first voltage threshold condition, control The first field effect transistor 200 is in a cut-off state, and the energy storage module 400 is configured to supply power to the sensing device 900 in response to the first field effect transistor 200 being in a cut-off state.

According to embodiments of the present disclosure, when the battery device of the unmanned vehicle is operating normally, the control module can control the first field effect transistor to be in a conductive state, and the battery device can charge the energy storage module; when the battery device of the unmanned vehicle drops sharply, At this time, due to the potential difference, the energy storage module can provide power to the sensing device to ensure that the sensing device can work normally during a period of time when the battery device drops sharply. Therefore, it at least partially overcomes the battery device voltage of unmanned vehicles in related technologies. Sudden drops will affect the normal operation of the sensing device, thereby affecting the technical issues of the operational safety of unmanned vehicles. By ensuring the working stability of the sensing device, the safety of unmanned vehicles during operation is effectively improved; on the other hand, due to The sudden drop of the battery device will cause the voltage of the first source and the first drain of the first field effect transistor to meet the first voltage threshold condition, so the control module can control the first field effect transistor to be in a cut-off state, thereby allowing energy storage The loop between the module and the battery device is in an open circuit state, and the electric energy in the energy storage module will not flow to the battery device, thereby effectively suppressing the waste of electric energy in the energy storage module and improving the working stability of the sensing device.

According to an embodiment of the present disclosure, the battery device 700 may include a battery and a power management module, and the battery is configured to power the power device 800 and the sensing device 900 through the power management module.

According to embodiments of the present disclosure, the sensing device 900 may include a sensor and a core processing unit package, the sensing device 900 is configured to connect to the power device 800 , and the sensing device 900 is configured to send a motion control signal to the power device 800 .

According to embodiments of the present disclosure, the power device 800 may be configured to control unmanned vehicle motion in response to the motion control signal.

According to embodiments of the present disclosure, in response to voltage dips in unmanned vehicles caused by short circuits or other reasons, by configuring a voltage holding device between the battery device and the sensing device, the sensing device can be maintained during the voltage dip. normal operation to avoid reset and restart of the sensing device due to voltage sag, which may affect the operational safety of the unmanned vehicle.

Those skilled in the art will understand that features recited in various embodiments and/or claims of the present disclosure may be combined and/or combined in various ways, even if such combinations or combinations are not explicitly recited in the present disclosure. In particular, various combinations and/or combinations of features recited in the various embodiments and/or claims of the disclosure may be made without departing from the spirit and teachings of the disclosure. All such combinations and/or combinations fall within the scope of this disclosure.

The embodiments of the present disclosure have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although each embodiment is described separately above, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the disclosure is defined by the appended claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art can make various substitutions and modifications, and these substitutions and modifications should all fall within the scope of the present disclosure.

Claims

A voltage holding device for unmanned vehicles, including:

The first field effect transistor includes a first source, a first drain and a first gate, the first source is configured to be connected to the positive electrode of the power supply of the unmanned vehicle, and the first drain is configured to be connected to Energy storage module, the first gate is configured to connect to the control module;

The control module is configured to be connected in parallel with the first field effect transistor, and the control module is configured to control the first field effect transistor to be in an on state or a cut off state; and

The energy storage module is configured to be connected in parallel with the load of the unmanned vehicle, and the energy storage module is configured to store electrical energy from the power supply;

Wherein, in the case of a voltage sag of the power supply, the control module is configured to control the voltage in response to the voltage of the first source and the voltage of the first drain satisfying a first voltage threshold condition. The first field effect transistor is in a cut-off state, and the energy storage module is configured to supply power to the load in response to the first field effect transistor being in a cut-off state.
The device of claim 1, wherein the control module includes:

A first voltage dividing unit includes a first resistor and a second resistor connected in series, the first voltage dividing unit being configured to be connected in parallel with the power supply;

A second voltage dividing unit includes a third resistor and a fourth resistor connected in series, the second voltage dividing unit being configured to be connected in parallel with the power supply;

A first integrated operational amplifier includes a first positive input terminal, a first negative input terminal and a first output terminal. The first positive input terminal is configured to connect the first resistor and the second resistor. A negative input terminal is configured to connect the third resistor and the fourth resistor, and the first output terminal is configured to connect the first gate through a fifth resistor; and

A boosting unit is configured to power the first integrated operational amplifier, wherein the power supply is configured to power the boosting unit through a first diode, and the energy storage module is configured to power through a second Diodes supply power to the boost unit.
The device of claim 2, wherein:

The first voltage dividing unit is configured to provide a first voltage dividing signal to the first positive input terminal based on the voltage of the first source;

The second voltage dividing unit is configured to provide a second voltage dividing signal to the first negative input terminal based on the voltage of the first drain;

The first integrated operational amplifier is configured to generate a first control signal at the first output terminal based on the first divided voltage signal and the second divided voltage signal, wherein the voltage drop of the power supply In the case of , the first control signal is characterized as a low-level signal, and the first control signal is configured to control the first field effect transistor to be in a cut-off state.
The device according to claim 2, wherein the control module further includes:

The second integrated operational amplifier includes a second positive input terminal, a second negative input terminal and a second output terminal. The second positive input terminal is configured to be connected to the first negative input terminal. The second negative input terminal is configured to be connected to the first positive input terminal, and the second output terminal is configured to be connected to the second gate of the second field effect transistor; and

The second field effect transistor includes a second source, a second drain and a second gate. The second source is configured to be connected to the first source. The second drain is configured to connect the first gate;

Wherein, the boost unit is configured to supply power to the second integrated operational amplifier.
The device of claim 4, wherein:

The first voltage dividing unit is configured to provide a first voltage dividing signal to the second negative input terminal;

The second voltage dividing unit is configured to provide a second voltage dividing signal to the second positive input terminal;

The second integrated operational amplifier is configured to generate a second control signal at the second output terminal based on the first divided voltage signal and the second divided voltage signal, wherein the voltage drop of the power supply In the case of , the second control signal is characterized as a high-level signal, and the second control signal is configured to control the second field effect transistor to be in a conductive state;

The first field effect transistor is configured to transition to an off state in response to the second field effect transistor being in an on state.
The device of claim 1, further comprising:

A soft start module configured to connect the first field effect transistor and the energy storage module;

Wherein, the soft start module includes:

a charging unit including a sixth resistor, a seventh resistor, and a capacitor, the sixth resistor being configured to be connected in series with the seventh resistor, the capacitor being configured to be connected in parallel with the sixth resistor; and

The third field effect transistor includes a third source, a third drain and a third gate. The third source is configured to connect to the first drain. The third drain is configured to connect to the first drain. In the energy storage module, the third gate is configured to connect the sixth resistor, the seventh resistor and the capacitor.
The device of claim 6, wherein:

The charging unit is configured to control the voltage of the third gate to gradually decrease within a preset time in response to the first field effect transistor being in a cut-off state, wherein the third field effect transistor is configured to respond to The voltage at the third gate meets the second voltage threshold condition and switches to the off state.
The device of claim 1, further comprising:

A discharge module configured to be connected in parallel with the energy storage module;

Wherein, the discharge module includes:

A voltage stabilizing unit includes a Zener diode and an eighth resistor connected in series. The anode of the Zener diode is configured to be connected to the eighth resistor. The cathode of the Zener diode is configured to be connected to the first drain. connect;

The transistor includes a collector, a base and an emitter, the collector is configured to connect the cathode of the Zener diode through a ninth resistor, the base is configured to connect the anode of the Zener diode and the an eighth resistor, the emitter configured to be grounded; and

The discharge unit includes a tenth resistor and a fourth field effect transistor connected in series. The fourth field effect transistor includes a fourth drain, a fourth source and a fourth gate. The fourth drain is configured to connect all In the tenth resistor, the fourth source is configured to be grounded, and the fourth gate is configured to be connected to the collector.
The device of claim 8, wherein:

The voltage stabilizing unit is configured to provide an enable signal characterized by a low level to the base when the supply voltage of the energy storage module meets a third voltage threshold condition, wherein the enable signal configured to control the transistor in a cut-off state; and

The fourth field effect transistor is configured to switch to a conductive state in response to the transistor being in an off state, so that the energy storage module discharges through the discharge unit.
The device according to any one of claims 1 to 9, wherein,

The first field effect transistor, the second field effect transistor and the fourth field effect transistor are N-channel enhancement type field effect transistors;

The third field effect transistor is a P-channel enhancement type field effect transistor;

The transistor is an NPN type transistor.
An unmanned vehicle, including:

battery device;

powerplant;

Sensing devices; and

a voltage holding device configured to connect the battery device and the sensing device, the voltage holding device including a first field effect transistor, a control module and an energy storage module;

Wherein, the first field effect transistor includes a first source, a first drain and a first gate, the first source is connected to the positive electrode configured as the battery device, and the first drain is Configured to connect to the energy storage module, the first gate is configured to connect to the control module;

The control module is configured to be connected in parallel with the first field effect transistor, and the control module is configured to control the first field effect transistor to be in an on state or a cut off state; and

The energy storage module is configured to be connected in parallel with the sensing device, and the energy storage module is configured to store electrical energy from the battery device;

Wherein, in the case of a sudden voltage drop of the battery device, the control module is configured to control the voltage of the first source and the first drain in response to a first voltage threshold condition. The first field effect transistor is in a cut-off state, and the energy storage module is configured to supply power to the sensing device in response to the first field effect transistor being in a cut-off state.
The unmanned vehicle according to claim 11, wherein,

The battery device includes a battery and a power management module, the battery is configured to supply power to the power device and the sensing device through the power management module;

The sensing device includes a sensor and a core processing unit package, the sensing device is configured to connect to the power device, the sensing device is configured to send a motion control signal to the power device; and

The power device is configured to control the motion of the unmanned vehicle in response to the motion control signal.