CN114865912A - Voltage holding device for unmanned vehicle and unmanned vehicle - Google Patents

Abstract

The utility model provides a voltage holding device and unmanned car for unmanned car can be applied to unmanned driving technical field. The device includes: the first field effect transistor comprises a first source electrode, a first drain electrode and a first grid electrode, the first source electrode is configured to be connected with the positive electrode of the power supply of the unmanned vehicle, the first drain electrode is configured to be connected with the energy storage module, and the first grid electrode is configured to be connected with the control module; the control module is configured to be connected with the first field effect transistor in parallel and is configured to control the first field effect transistor to be in a conducting state or a cut-off state; an energy storage module configured to be connected in parallel with a load of the unmanned vehicle, the energy storage module configured to store electrical energy from a power source; in the event of a voltage dip of the power supply, the control module is configured to control the first field effect transistor to be in an off state in response to the voltage of the first source and the voltage of the first drain satisfying a first voltage threshold condition, and the energy storage module is configured to supply power to the load in response to the first field effect transistor being in the off state.

Description

Voltage holding device for unmanned vehicle and unmanned vehicle

technical field

The present disclosure relates to the technical field of unmanned driving, and more particularly, to a voltage maintaining device for unmanned vehicles and unmanned vehicles.

Background technique

With the rapid development of unmanned technology, unmanned vehicles are increasingly used in many fields such as industrial and agricultural production, construction, logistics and daily life. As the application environment and the functions that need to be implemented become more and more complex, the unmanned vehicle needs to load more and more loads, and the power consumption of the load 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 art: the sudden drop of the power supply voltage of the unmanned vehicle will affect the normal operation of the load, thereby affecting the operation safety of the unmanned vehicle.

SUMMARY 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 an unmanned vehicle, including: a first field effect transistor including a first source electrode, a first drain electrode and a first gate electrode, the first source electrode being configured In order to connect the positive pole of the power supply of the unmanned vehicle, the first drain is configured to be connected to an energy storage module, the first grid is configured to be connected to a control module; the control module is configured to be connected in parallel with the first field effect transistor , the above-mentioned control module is configured to control the above-mentioned first field effect transistor to be in an on state or an 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 the energy from the above-mentioned The electric energy of the power supply; wherein, in the case of a voltage dip of the power supply, the control module is configured to control the first voltage threshold condition in response to the voltage of the first source and the voltage of the first drain satisfying a first voltage threshold condition, control the first The field effect transistor is in the 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 the 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 is 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, the second voltage dividing unit is configured to be connected in parallel with the power supply; the first integrated operational amplifier includes a first positive input terminal, a first negative input terminal and a first output terminal, the above-mentioned first 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 connecting 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 For supplying power to the above 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 electrode; the second voltage dividing unit is configured to be based on the above The voltage of the first drain provides a second voltage division signal to the first negative input terminal; the first integrated operational amplifier is configured to be based on the first voltage division signal and the second voltage division signal, at the first output The terminal generates a first control signal, wherein, in the case of a voltage drop 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 an off state .

According to an embodiment of the present disclosure, the above 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, the second positive input terminal is configured to be connected to the first a negative input terminal, the second negative input terminal is configured to be connected to the first positive input terminal, 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 electrode, a second drain electrode, and the second gate electrode, the second source electrode is configured to be connected to the first source electrode, and the second drain electrode is configured to be connected to the first gate electrode; wherein the rise The voltage unit is configured to supply power to the second integrated operational amplifier described above.

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 second integrated operational amplifier is configured to generate a second control signal at the second output terminal based on the first voltage divider signal and the second voltage divider signal, wherein in the case of a voltage drop of the power supply , the above-mentioned second control signal is characterized as a high-level signal, and the above-mentioned second control signal is configured to control the above-mentioned second field effect transistor to be in a conducting state; the above-mentioned first field-effect transistor is configured to respond to the above-mentioned second field effect transistor. The tube is turned on and switched to the off state.

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

According to an embodiment of the present disclosure, the charging unit is configured to control the voltage of the third grid to gradually decrease within a preset time in response to the first field effect transistor being in an off state, wherein the third field effect transistor is is configured to transition to the off state in response to the voltage of the third gate satisfies 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 voltage-stabilizing unit The anode of the diode is configured to be connected to the above-mentioned eighth resistor, and the cathode of the above-mentioned Zener diode is configured to be connected to the above-mentioned first drain; the triode includes a collector, a base and an emitter, and the above-mentioned collector is configured to pass through the first drain. Nine resistors are connected to the cathode of the zener diode, the base is configured to connect the anode of the zener diode and the eighth resistor, the emitter is configured to be grounded; and a discharge unit includes a tenth resistor and a fourth resistor connected in series a 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, the fourth source is configured to be grounded, The above-mentioned fourth gate electrode is configured to be connected to the above-mentioned collector electrode.

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

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

Another aspect of the present disclosure provides an unmanned vehicle, including: a battery device; a power device; a sensing device; and a voltage maintaining device configured to connect the battery device and the sensing device, the voltage maintaining device comprising a first A 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, and the first source connection is configured as a Anode, the first drain is configured to be connected to an energy storage module, the first grid is configured to be connected to a control module; the control module is configured to be connected in parallel with the first FET, and the control module is configured to control The first field effect transistor is in an on state or an 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 battery In the case of a voltage dip of the device, the control module is configured to control the first field effect transistor to be in an off state in response to the voltage of the first source and the voltage of the first drain meeting a 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 an off state.

According to an embodiment of the present disclosure, 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 Kit, said sensing device configured to connect to said powered device, said sensing device configured to send a motion control signal to said powered device; and said powered device configured to control said unmanned vehicle in response to said motion control signal sports.

According to the embodiment of the present disclosure, when the power supply of the unmanned vehicle is working normally, the control module can control the first field effect transistor to be in a conducting state, and the power supply can charge the energy storage module; when the power supply of the unmanned vehicle suddenly drops, due to the Potential difference, the energy storage module can supply power to the load to ensure that the load can work normally during a period of time when the power supply sags, so at least partially overcomes the power supply voltage dip of the unmanned vehicle in the related art, which will affect the normal operation of the load. In turn, the technical problems that affect the operation safety of unmanned vehicles can effectively improve the safety of unmanned vehicles during operation by ensuring the working stability of the load. The voltage of the source and the voltage of the first drain satisfy the first voltage threshold condition, so the control module can control the first field effect transistor to be in an off state, so that the loop between the energy storage module and the power supply is in an open state, and the energy storage module The electric energy in the energy storage module will not flow to the power supply, thereby effectively suppressing the waste of electric energy in the energy storage module and improving the working stability of the load.

Description of 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:

FIG. 1 schematically shows a time sequence diagram of a power supply voltage and a load terminal voltage during a power dip.

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

FIG. 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 schematic diagram of a voltage maintaining device for an unmanned vehicle according to another embodiment of the present disclosure.

FIG. 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 schematic diagram of a voltage maintaining device for an unmanned vehicle according to still another embodiment of the present disclosure.

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

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

FIG. 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 in order to provide a thorough understanding of the embodiments of the present disclosure. It will be apparent, however, that one or more embodiments may be practiced without these specific details. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring 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 present 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 preclude 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 meaning as commonly understood by one of ordinary skill in the art, unless otherwise defined. It should be noted that terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly rigid manner.

Where expressions like "at least one of A, B, and C, etc.," are used, they should generally be interpreted in accordance with the meaning of the expression as commonly understood by those skilled in the art (eg, "has A, B, and C") At least one of the "systems" shall include, but not be limited to, systems with A alone, B alone, C alone, A and B, A and C, B and C, and/or A, B, C, etc. ). Where expressions like "at least one of A, B, or C, etc.," are used, they should generally be interpreted in accordance with the meaning of the expression as commonly understood by those skilled in the art (eg, "has A, B, or C, etc." At least one of the "systems" shall include, but not be limited to, systems with A alone, B alone, C alone, A and B, A and C, B and C, and/or A, B, C, etc. ).

During the operation of the unmanned vehicle, if there is a short circuit in a certain circuit, the fuse element will melt, and the melting of the fuse element will cause a sudden drop in the power supply voltage of the unmanned vehicle. Usually, the fuse melting process takes several microseconds or several days. ten microseconds.

FIG. 1 schematically shows a time sequence diagram of a power supply voltage and a load terminal voltage during a power dip.

As shown in Figure 1, during the melting process of the fuse, 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 sharply, the load terminal voltage will gradually decrease within a certain period of time due to the capacitance configured in the load, that is, the load can keep working within the 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 to make the unmanned vehicle run safely, according to the EMC safety standard in GBT/28046, it is necessary to ensure that the fuse is blown and the load of the unmanned vehicle is in a normal working state. That is, the power supply voltage dip within 100ms cannot cause system restart or reset of 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 the unmanned vehicle is also increasing. Due to the limitation of the board area and the large capacitance, it will lead to a large surge current at the moment of power-on. 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 requirements of increasing power consumption. For example, when the power consumption of the load reaches 100W, the capacitor configured in the load can generally only maintain the normal operation of the load within 5ms. However, the restart of the load after shutdown generally consumes a lot of time. During this period, the operation of the unmanned vehicle lacks safety guarantee. Therefore, the circuit design of the unmanned vehicle in the related art cannot meet the requirements for the normal operation of the unmanned vehicle when the voltage sags.

In view of this, the embodiments of the present disclosure are aimed at the voltage sag of the unmanned vehicle due to a short circuit or other reasons, and by configuring a voltage holding device between the power supply and the load, the load can be normally operated during the voltage sag. , to avoid the impact of load reset and restart caused by voltage sag on the operation safety of the unmanned vehicle.

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 electrode, a first drain electrode and a first grid electrode, the first source electrode is configured to be connected to the positive electrode of the power supply of the unmanned vehicle, The first drain is configured to be connected to the energy storage module, and the first gate is configured to be connected 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 for storing electrical energy from the power source; wherein, in the event of a voltage dip in the power source, the control module for responding to The voltage of the first source electrode and the voltage of the first drain electrode satisfy the first voltage threshold condition, the first field effect transistor is controlled to be in an off state, and the energy storage module is used for supplying power to the load in response to the first field effect transistor being in the off state.

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

As shown in FIG. 2 , the voltage maintaining device for the unmanned vehicle may be connected to the power supply 110 and the load 120 of the unmanned vehicle. The voltage maintaining 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 electrode S1, a first drain electrode D1 and a first drain electrode G1, and the first source electrode 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 be connected to the energy storage module 400 , and the first drain G1 is configured to be connected to the control module 300 .

According to the embodiment of the present disclosure, the first field effect transistor 200 may be any power field effect transistor, the model of which may be selected according to specific application scenarios, and the specification of which may be determined according to the rated voltage of the power supply 110 and the rated power of the load 120 , It is not limited 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 led out through the parasitic diode, so as to ensure that the first field effect transistor 200 is not broken down, and the service life of the first field effect transistor 200 is improved.

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 may be configured to control the first field effect transistor 200 to be in an on state or an off state.

According to the embodiment of the present disclosure, by configuring the control module 300 in parallel with the first field effect transistor 200, 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 may output a low-level signal or a high-level signal to the first drain G1 through a signal output port connected to the first drain G1, thereby controlling the first field effect transistor 200 to be in a state of 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 may be lower than that of the first field effect transistor 200 The turn-on voltage of the first field effect transistor 200 is turned off; in the case where the control module 300 outputs a high-level signal, the gate-source voltage of the first field effect transistor 200 may be greater than the turn-on voltage of the first field effect transistor 200 , so that the first field effect transistor 200 is in a conducting state. The low-level signal may refer to a voltage signal with a voltage value of 0V, that is, a 0 signal, or a voltage signal with a voltage value smaller than a low-voltage threshold, and the low-voltage threshold may be determined according to a specific circuit design, for example, according to the Turn on the voltage to set. The high-level signal may refer to a voltage signal with a voltage value greater than a high-voltage threshold, that is, a 1 signal, and the high-voltage threshold may be determined according to a specific circuit design.

According to embodiments of the present disclosure, the control module 300 may be implemented at least in part 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 such as any other reasonable way of integrating or encapsulating the circuit, or in any one of software, hardware and firmware, or in any of the three implementations. an appropriate combination of species to achieve. Alternatively, the control module 300 may be implemented, at least in part, as a computer program module that, when executed, may perform corresponding functions.

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

According to an embodiment of the present disclosure, when the power supply 110 is normally powered, the control module 300 may be configured to control the first field effect transistor 200 to be in a conducting state, and the power supply 110 may be configured to supply power to the storage via the first field effect transistor 200 The energy module 400 and the load 120 supply 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 dip of the power supply 110, the control module 300 may be configured to control the control module 300 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 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 off state.

According to an embodiment 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 electrode D1 is greater than the voltage of the first source electrode S1, or it can also be set as the first source electrode The voltage value of S1 is 0, which is not limited here.

According to the embodiment of the present disclosure, when the power supply of the unmanned vehicle is working normally, the control module can control the first field effect transistor to be in a conducting state, and the power supply can charge the energy storage module; when the power supply of the unmanned vehicle suddenly drops, due to the Potential difference, the energy storage module can supply power to the load to ensure that the load can work normally during a period of time when the power supply sags, so at least partially overcomes the power supply voltage dip of the unmanned vehicle in the related art, which will affect the normal operation of the load. In turn, the technical problems that affect the operation safety of unmanned vehicles can effectively improve the safety of unmanned vehicles during operation by ensuring the working stability of the load. The voltage of the source and the voltage of the first drain satisfy the first voltage threshold condition, so the control module can control the first field effect transistor to be in an off state, so that the loop between the energy storage module and the power supply is in an open state, and the energy storage module The electric energy in the energy storage module will not flow to the power supply, thereby effectively suppressing the waste of electric energy in the energy storage module and improving the working stability of the load.

3A to 3B, 4 to 5 and 6A to 6C, the voltage holding device for an unmanned vehicle shown in FIG. 2 will be further described in conjunction with specific embodiments.

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

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

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 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 be connected to the third resistor 321 and the fourth resistor 322 , and the first output terminal may be configured to be connected to the first drain G1 through the fifth resistor 334 .

According to an embodiment of the present disclosure, the boosting unit 340 may be configured to supply power to the first integrated operational amplifier 330, wherein the power supply 110 is configured to supply power to the boosting unit 340 through the first diode 341, and the energy storage module 400 is It is configured to supply power to the boosting 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 may be a resistor group formed by connecting a plurality of resistors in series or in parallel. limited.

According to an embodiment 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 resistors, such as chip resistors, carbon film resistors, metal film resistors, wire winding resistors, etc.

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

According to an embodiment of the present disclosure, the boosting unit 340 may be any boosting circuit or boosting component, such as a BOOST circuit, a boosting charge pump, etc., which is not limited herein.

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 voltage division signal; V _S1 represents the voltage of the first source; R ₁ represents the resistance value of the first resistor 311 ; R ₂ represents the resistance value 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 voltage division signal; V _D1 represents the voltage of the first drain; R ₃ represents the resistance value of the third resistor 321 ; R ₄ represents the resistance value of the fourth resistor 322 .

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

According to an embodiment 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, the first integrated operational amplifier 330 outputs a first control signal represented as a low level at the first output terminal.

According to an embodiment of the present disclosure, the ratio of the first resistor 311 to the second resistor 312 may be equal to the ratio of the third resistor 321 to the fourth resistor 322, so that the first voltage division signal and the second voltage division signal are only respectively The voltage of a source S1 is related to the voltage of the first drain D1. When the power supply 110 is powered 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 to 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 voltage division signal is larger than the second voltage division signal, so that 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, the first integrated operational amplifier 330 can output a first control voltage higher than the voltage value of the power supply 110 when the power supply 110 is normally powered by the boosting unit 340 . signal, so that the first field effect transistor 200 satisfies the turn-on condition of the N-channel enhancement type 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 that of the first drain G1. The difference between the voltages 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 sharply, 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 state. For the first integrated operational amplifier 330, the voltage value of the first positive input terminal is smaller than that of 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 can be configured to control the first control signal. The field effect transistor 200 is in an 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 The voltage of a source S1 changes with the voltage of the first drain D1, so that the first field effect transistor 200 is controlled to switch states when the power supply 110 is powered normally or 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 suddenly.

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

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 first integrated operational amplifier 350 . Two FETs 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, 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 electrode S2, a second drain electrode D2, and a second gate electrode G2, the second source electrode S2 may be configured to be connected to the first source electrode S1, and the second source electrode S2 may be The two drains D2 may be configured to be connected to the first drain G1.

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

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

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 the first voltage dividing signal to the second negative input terminal, and the second voltage dividing unit 320 may be configured to provide the second voltage dividing signal to the second positive input terminal. pressure signal. The first voltage-divided signal and the second voltage-divided signal are respectively shown in formulas (1) and (2), which are not repeated 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 voltage-divided signal and the second voltage-divided signal.

According to an embodiment 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, the second integrated operational amplifier 350 outputs a second control signal represented as a high level at the second output terminal.

According to an embodiment of the present disclosure, when the power supply 110 is powered normally, the first voltage division signal is greater than the second voltage division signal, and 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 an off state.

According to an embodiment of the present disclosure, when the voltage of the power supply 110 dips, the first voltage division signal is smaller than the second voltage division signal, and the second integrated operational amplifier 350 outputs a second voltage represented as a high level at the second output terminal The control signal, at this time, the second control signal is configured to control the second field effect transistor 360 to be in a conducting state. Since 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 short-circuited, the first field effect transistor 200 is configured to respond to the second field effect transistor 360 being in The on state is switched 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, its turn-on and turn-off, that is, switching between the on state and the off state, requires a large gate current, while the first integrated operational amplifier The gate current provided by the 330 to the first drain G1 is relatively low, so that the turn-off speed of the first field effect transistor 200 is relatively slow, so that the energy storage module 400 releases more power to the power supply 110 . Through the setting 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 improved by controlling the conduction of the second field effect transistor 360, thereby effectively reducing the energy storage. The module 400 releases the power in the direction of the power source 110 .

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

As shown in FIG. 4 , the voltage holding device for an unmanned vehicle 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 to the sixth resistor 511 in parallel.

According to an embodiment of the present disclosure, the third field effect transistor 520 may include a third source electrode S3, a third drain electrode D3 and a third gate electrode G3, the third source electrode S3 may be configured to be connected to the first drain electrode D1, the third The three drains D3 may be configured to be connected to the energy storage module 400 , and the third gate G3 may be configured to be connected to 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 an 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 being lower than the turn-on voltage of the third field effect transistor 520 .

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

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

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

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

According to an embodiment of the present disclosure, there may be one or more discharge modules 600 in the voltage maintaining device for an unmanned vehicle, which is not limited herein.

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

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

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

According to an embodiment of the present disclosure, the triode 620 may be an NPN type triode.

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, and the fourth field effect transistor 632 may include a fourth drain electrode D4, a fourth source electrode S4 and a fourth gate electrode G4, the fourth drain D4 may be configured to be connected to the tenth resistor 631, the fourth source S4 may be configured to be grounded, and the fourth gate G4 may be configured to be connected to 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 electrode B under the condition that the supply voltage of the energy storage module 400 satisfies the third voltage threshold condition, wherein, 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 an on state in response to the triode 620 being in an off state, so that the energy storage module 400 is discharged through the discharge unit 630 .

According to an embodiment of the present disclosure, the third voltage threshold condition may refer to that the power supply voltage of the energy storage module 400 is lower 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 setting 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, so that the electric energy in the energy storage module 400 is completely discharged, so that after the power supply 110 is restored, the energy storage module 400 generates a small surge current, thereby effectively improving the reliability of the circuit.

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

As shown in FIG. 6A , the voltage maintaining device for an unmanned vehicle 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 an embodiment of the present disclosure, the energy storage module 400 may include a plurality of capacitors or capacitor groups connected in parallel, and the capacitor group may include a plurality of 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 that form the energy storage module 400 in parallel. 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 value of the energy storage module 400 The capacitance value can be configured to be between 15000uF and 20000uF.

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

As shown in FIG. 6B , the power supply 110 starts to supply 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 to supply 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 settings of the first resistor 311 , the second resistor 312 , the third resistor 321 and the fourth resistor 322 , the first voltage division signal is greater than the second voltage division signal, so that the first positive input of the first integrated operational amplifier 330 The voltage of the terminal is greater than the voltage of the first negative input terminal, and the first integrated operational amplifier 330 outputs a first control signal represented as a high level at the first output terminal, so that the first field effect transistor 200 is turned on; correspondingly, the second integrated operational amplifier 330 The voltage of the second positive input terminal of the amplifier 350 is lower than the voltage of the second negative input terminal, and the second integrated operational amplifier 350 outputs a second control signal characterized by a low level at the second output terminal, so that the second field effect transistor 360 is turned 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 value of the seventh resistor 512 ; C represents the capacitance value 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 completely turned on at time t4, that is, time t1+t.

When the third field effect transistor 520 is gradually turned on, the power supply 110 starts 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, so that the fourth gate G4 is grounded, and the fourth field effect transistor 632 is in an off state.

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

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

In the process of turning off the third field effect transistor 520 gradually, the voltage of the first drain electrode D1 is greater than the voltage of the first source electrode S1, so that the first voltage division signal is smaller than the second voltage division signal, so that the second integrated operational amplifier 350 A second control signal characterized by a high level is output, so that the second field effect transistor 360 is turned on. The conduction of the second field effect transistor 360 makes the first source S1 and the first drain G1 of the first field effect transistor 200 conduct, 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 the 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 .

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

As shown in FIG. 6C , the power supply 110 starts to supply 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, with the consumption of electric energy in the energy storage module 400, the voltage provided by the energy storage module 400 is lower than the breakdown voltage of the Zener diode 611 at time t6, the Zener diode 611 is in an off state, and the Zener diode 611 is in an 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 an off state, and the energy storage module 400 supplies power to the fourth grid G4, so that the fourth field effect transistor 632 is turned on. The remaining electrical 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.

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

As shown in FIG. 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 maintaining device is configured to connect the battery device 700 and the sensing device 900 , and the voltage maintaining 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 electrode S1, a first drain electrode D1 and a first drain electrode G1. The first source electrode S1 is connected to be configured as the positive electrode of the battery device 700, and the first The drain D1 is configured to be connected to the energy storage module 400 , and the first drain G1 is configured to be connected 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 an off state.

According to an embodiment of the present disclosure, the energy storage module 400 is configured 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 case of a voltage dip of the battery device 700, the control module 300 is configured to control the control module 300 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 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 the off state.

According to the embodiments of the present disclosure, when the battery device of the unmanned vehicle is working normally, the control module can control the first field effect transistor to be in a conducting state, and the battery device can charge the energy storage module; when the battery device of the unmanned vehicle drops sharply When the electric potential is different, the energy storage module can supply power to the sensing device to ensure that the sensing device can work normally during a period of time when the battery device slumps, so the voltage of the battery device of the unmanned vehicle in the related art is at least partially overcome. The sudden drop will affect the normal operation of the sensing device, and then affect the technical problem of the safe operation of the unmanned vehicle. By ensuring the working stability of the sensing device, the safety of the unmanned vehicle during operation is effectively improved; on the other hand, due to the The sudden drop of the battery device will cause the voltage of the first source electrode and the voltage of the first drain electrode 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 an off state, so that the energy storage is The circuit between the module and the battery device is in an open 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 supply power to the power device 800 and the sensing device 900 through the power management module.

According to an embodiment of the present disclosure, the sensing device 900 may include a sensor and core processing unit suite, the sensing device 900 is configured to connect to the powered device 800 , and the sensing device 900 is configured to send motion control signals to the powered device 800 .

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

According to the embodiments of the present disclosure, for the voltage sag of the unmanned vehicle due to a short circuit or other reasons, by configuring a voltage holding device between the battery device and the sensing device, the sensing device can be kept in the process of the voltage sag. It can operate normally in the middle of the road to avoid the reset and restart of the sensor device caused by the voltage dip, which will affect the operation safety of the unmanned vehicle.

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

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 the various embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present 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 (12)

1. A voltage holding device for an unmanned vehicle, comprising: A first field effect transistor includes a first source electrode, a first drain electrode and a first gate electrode, the first source electrode is configured to be connected to the positive electrode of the power supply of the unmanned vehicle, and the first drain electrode is configured to be connected to an energy storage module, the first grid is configured to be connected to a control module; the control module is configured to be connected in parallel with the first field effect transistor, the control module is configured to control the first field effect transistor to be in an on state or an off state; and the energy storage module configured to be connected in parallel with the load of the unmanned vehicle, the energy storage module configured to store electrical energy from the power source; Wherein, in the case of a voltage dip of the power supply, the control module is configured to control the voltage of the first source and the voltage of the first drain to satisfy a first voltage threshold condition, to control the The first field effect transistor is in the 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 the off state. 2. The apparatus of claim 1, wherein the control module comprises: a first voltage dividing unit, comprising a first resistor and a second resistor connected in series, the first voltage dividing unit is configured to be connected in parallel with the power supply; a second voltage dividing unit, comprising a third resistor and a fourth resistor connected in series, the second voltage dividing unit is 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, the first a negative input terminal configured to connect the third resistor and the fourth resistor, the first output terminal configured to connect the first gate through a fifth resistor; and a boost unit configured to supply power to the first integrated operational amplifier, wherein the power supply is configured to supply power to the boost unit through a first diode, and the energy storage module is configured to supply power through a second A diode supplies power to the boost unit. 3. The apparatus 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 based on the first divided voltage signal and the second divided voltage signal, wherein a voltage dip at 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 an off state. 4. The apparatus of claim 2, wherein the control module further comprises: 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 connect to the first positive input terminal, the second output terminal is configured to connect to the second gate of the second field effect transistor; and The second field effect transistor includes a second source, a second drain and the second gate, the second source is configured to be connected to the first source, and the second drain is configured to connect the first gate; Wherein, the boosting unit is configured to supply power to the second integrated operational amplifier. 5. The apparatus 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 a voltage dip at 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 conducting 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. 6. The apparatus of claim 1, further comprising: a soft-start module configured to connect the first FET 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 is configured to be connected in series with the seventh resistor, and the capacitor is configured to be connected in parallel with the sixth resistor; and A third field effect transistor includes a third source electrode, a third drain electrode and a third gate electrode, the third source electrode is configured to be connected to the first drain electrode, and the third drain electrode is configured to be connected to the In the energy storage module, the third grid is configured to connect the sixth resistor, the seventh resistor and the capacitor. 7. The apparatus 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 an off state, wherein the third field effect transistor is configured to respond The voltage at the third gate satisfies the second voltage threshold condition and switches to the off state. 8. The apparatus 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 regulator unit, comprising 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, and the cathode of the Zener diode is configured to be connected to the first drain connect; A triode includes a collector, a base and an emitter, the collector is configured to connect the cathode of the Zener diode through a ninth resistor, and the base is configured to connect the anode of the Zener diode and the Zener diode an eighth resistor, the emitter is configured to be grounded; and The discharge unit includes a tenth resistor connected in series and a fourth field effect transistor, the fourth field effect transistor includes a fourth drain electrode, a fourth source electrode and a fourth gate electrode, the fourth drain electrode is configured to connect the In the tenth resistor, the fourth source is configured to be grounded, and the fourth gate is configured to be connected to the collector. 9. The apparatus of claim 8, wherein, The voltage regulator unit is configured to provide an enable signal characterized as a low level to the base when the supply voltage of the energy storage module satisfies a third voltage threshold condition, wherein the enable signal is configured to control the triode in an off state; and The fourth field effect transistor is configured to switch to an on state in response to the triode being in an off state, so that the energy storage module is discharged through the discharge unit. 10. The device of 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 triode is an NPN type triode. 11. An unmanned vehicle, comprising: battery device; powerplant; sensing device; and a voltage holding device configured to connect the battery device and the sensing device, the voltage holding device comprising a first field effect transistor, a control module and an energy storage module; Wherein, the first field effect transistor includes a first source electrode, a first drain electrode and a first gate electrode, the first source electrode is connected to be configured as the positive electrode of the battery device, and the first drain electrode is connected to configured to connect to the energy storage module, the first grid is configured to connect to the control module; the control module is configured to be connected in parallel with the first field effect transistor, the control module is configured to control the first field effect transistor to be in an on state or an off state; and the energy storage module configured in parallel with the sensing device, the energy storage module configured to store electrical energy from the battery device; Wherein, in the case of a voltage dip of the battery device, the control module is configured to control the voltage of the first source and the voltage of the first drain to satisfy a first voltage threshold condition, The first field effect transistor is in an 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 the off state. 12. The unmanned vehicle of 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 including a sensor and core processing unit package, the sensing device being configured to connect to the powered device, the sensing device being configured to send motion control signals to the powered device; and The power plant is configured to control movement of the unmanned vehicle in response to the movement control signal.

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