CN210807119U

CN210807119U - Underwater thruster circuit

Info

Publication number: CN210807119U
Application number: CN201921547957.2U
Authority: CN
Inventors: 余鸿鹏
Original assignee: Shenzhen Lianchang Electronics Co ltd
Current assignee: Shenzhen Lianchang Electronics Co ltd
Priority date: 2019-09-16
Filing date: 2019-09-16
Publication date: 2020-06-19
Anticipated expiration: 2029-09-16

Abstract

The utility model discloses an underwater thruster circuit, which comprises a main control circuit, a first driving circuit and a second driving circuit; the first driving circuit is respectively connected with the first motor and the main control circuit so as to drive the first motor to rotate through the first driving circuit; the second driving circuit is respectively connected with the second motor and the main control circuit so as to drive the second motor to rotate through the second motor driving circuit. After the two first propellers and the second propellers which are symmetrical to each other can be driven to rotate at the same time, the underwater propeller can keep balance better. Therefore, on the basis of keeping enough driving force, the paddle is relatively small, the overall stability is good, and the overall size is small.

Description

Underwater thruster circuit

Technical Field

The utility model relates to an electrical equipment technical field especially relates to an underwater pushing device circuit.

Background

The underwater vehicle is an electromechanical device for assisting people to move underwater, the propeller is driven to rotate through the motor, so that the underwater vehicle is driven to move integrally, and people can be driven to move together when holding the underwater vehicle to a handle of the underwater vehicle through two hands under water. The existing underwater propeller is mainly realized by adopting a rotating mode that a controller drives a single motor, and a single-motor propeller is adopted, so that blades are relatively large, the stability is poor, and the volume of the whole propeller is large.

SUMMERY OF THE UTILITY MODEL

The present invention aims at solving at least one of the technical problems in the related art to a certain extent. Therefore, an object of the present invention is to provide an underwater thruster circuit.

In order to achieve the above object, according to the utility model discloses an underwater pushing ware circuit, underwater pushing ware circuit includes:

a master control circuit;

the first driving circuit is respectively connected with the first motor and the main control circuit so as to drive the first motor to rotate through the first driving circuit;

and the second driving circuit is respectively connected with the second motor and the main control circuit so as to drive the second motor to rotate through the second driving circuit.

Further, according to the utility model discloses an embodiment, the underwater vehicle circuit still includes on-off control circuit, on-off control circuit with master control circuit connects.

Further, according to the utility model discloses an embodiment, underwater vehicle circuit still includes the warning light circuit, the warning light circuit with master control circuit connects, and is right motor operating condition reminds.

Further, according to an embodiment of the present invention, the underwater vehicle circuit further includes: a battery;

and the power supply circuit is respectively connected with the battery, the master control circuit, the first drive circuit and the second drive circuit so as to supply power to the master control circuit, the first drive circuit and the second drive circuit after voltage conversion is carried out on a power supply output by the battery.

Further, according to an embodiment of the present invention, the power supply circuit includes a first voltage conversion circuit, a second voltage conversion circuit and a third voltage conversion circuit, the first voltage conversion circuit is connected to an output power terminal of the battery to convert an output power P + of the battery into a first voltage + 15V; the second voltage conversion circuit is connected to the first voltage transmission terminal to convert the first voltage into a second voltage +5V, and the third voltage conversion circuit is connected to the second voltage transmission terminal to convert the second voltage into a third voltage + 3.3V.

Further, according to an embodiment of the present invention, the underwater vehicle circuit further includes: and the electric quantity detection circuit is respectively connected with the main control circuit and the battery so as to detect the electric quantity of the battery.

Further, according to an embodiment of the present invention, the power detection circuit includes a transistor Q20 and a transistor Q19, a base of the transistor Q20 is connected to one end of a resistor R87 and a resistor R91, respectively, the other end of the resistor R87 is connected to +5V of the first power supply, the other end of the resistor R91 is connected to the reference ground, an emitter of the transistor Q20 is connected to the reference ground, a collector of the transistor Q20 is connected to one end of a resistor R30, the other end of the resistor R30 is connected to one end of a resistor R29, and the other end of the resistor R29 is connected to the battery power output terminal P +; the base of triode Q19 with resistance R30 the other end is connected, triode Q19's projecting pole with battery power output end P + is connected, triode Q19's collecting electrode is connected with resistance R88's one end, resistance R88's the other end is connected with resistance R89's one end, resistance R89's the other end and resistance R90 be connected with one end, resistance R90's the other end is connected with ground reference, resistance R90 the one end still with main control circuit connects.

Further, according to an embodiment of the present invention, the first driving circuit includes:

the first transistor driving circuit is connected with the main control circuit;

the first motor driving circuit is respectively connected with the first transistor driving circuit and the first motor so as to output a first motor driving signal to drive the first motor to rotate under the action of the first transistor driving circuit;

the second drive circuit includes:

the second transistor driving circuit is connected with the main control circuit;

and the second motor driving circuit is respectively connected with the second transistor driving circuit and the second motor so as to output a second motor driving signal to drive the second motor to rotate under the action of the second transistor driving circuit.

Further, according to an embodiment of the present invention, the first transistor driving circuit includes a transistor driver U2 and a first peripheral circuit, an input terminal of the transistor driver U2 is connected to the main control circuit through a resistor R1 and a resistor R2, respectively, and an upper transistor output terminal L _ HA and a lower transistor output terminal L _ LA of the transistor driver U2 are connected to the first motor driving circuit, respectively;

the first motor driving circuit comprises a MOS transistor Q1 and a MOS transistor Q3, wherein the gate of the MOS transistor Q1 is connected with the lower transistor output end L _ LA of the transistor driver U2, the source of the MOS transistor Q1 is connected with the reference ground, the drain of the MOS transistor Q1 is connected with the source of the MOS transistor Q3, the drain of the MOS transistor Q3 is connected with the output power P + of the battery, the gate of the MOS transistor Q3 is connected with the upper transistor output end L _ HA of the transistor driver U2, and the drain of the MOS transistor Q1 is further connected with the first motor.

Further, according to an embodiment of the present invention, the second transistor driving circuit includes a transistor driver U1 and a second peripheral circuit, the input terminal of the transistor driver U1 is respectively connected to the main control circuit of the resistor R5 and the resistor R6, and the upper transistor output terminal R _ HA and the lower transistor output terminal R _ LA of the transistor driver U1 are respectively connected to the second motor driving circuit;

the second motor driving circuit comprises a MOS transistor Q2 and a MOS transistor Q4, the gate of the MOS transistor Q2 is connected with the lower transistor output terminal R _ LA of the transistor driver U1, the source of the MOS transistor Q2 is connected with the reference ground, the drain of the MOS transistor Q2 is connected with the source of the MOS transistor Q4, the drain of the MOS transistor Q4 is connected with the output power source P + of the battery, the gate of the MOS transistor Q4 is connected with the upper transistor output terminal R _ HA of the transistor driver U1, and the drain of the MOS transistor Q2 is further connected with the second motor.

The embodiment of the utility model provides an underwater walking device circuit is connected with first motor and master control circuit respectively through first drive circuit to drive first motor rotation through first drive circuit; the second driving circuit is respectively connected with the second motor and the main control circuit, so that the second motor is driven to rotate by the second motor driving circuit, the two first propellers and the second propellers which are symmetrical to each other can be driven to rotate at the same time, and the underwater propeller can be kept balanced better. Therefore, on the basis of keeping enough driving force, the paddle is relatively small, the overall stability is good, and the overall size is small.

Drawings

Fig. 1 is a circuit structure block diagram of an underwater thruster provided by the utility model;

fig. 2 is a first driving circuit diagram provided in the present invention;

fig. 3 is a second driving circuit diagram provided in the present invention;

fig. 4 is a main control circuit diagram provided by the present invention;

FIG. 5 is a circuit diagram of a switch control circuit according to the present invention;

FIG. 6 is a circuit diagram of a warning light provided by the present invention;

FIG. 7 is a power supply circuit diagram provided in the present invention;

fig. 8 is a circuit diagram for detecting power according to the present invention.

Reference numerals:

a main control circuit 10;

a first drive circuit 20;

a first motor drive circuit 201;

a first transistor drive circuit 202;

a second drive circuit 30;

a second motor drive circuit 301;

a second transistor drive circuit 302;

a switch control circuit 40;

a speed adjustment 401;

a power-on control circuit 402;

a brake adjustment control circuit 403;

a warning light circuit 50;

the electric quantity detection circuit 60;

a power supply circuit 70;

a first voltage conversion circuit 701;

a second voltage conversion circuit 702;

a third voltage conversion circuit 703;

a battery 80;

a first motor 90;

a second electric machine 11.

The purpose of the present invention is to provide a novel and improved method and apparatus for operating a computer.

Detailed Description

In order to make the technical field person understand the scheme of the present invention better, the following will combine the drawings in the embodiments of the present invention to clearly and completely describe the technical scheme in the embodiments of the present invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Referring to fig. 1 to 4, an embodiment of the present invention provides an underwater thruster circuit, including a main control circuit 10, a first driving circuit 20 and a second driving circuit 30, where the first driving circuit 20 is connected to a first motor 90 and the main control circuit 10 respectively, so as to drive the first motor 90 to rotate through the first driving circuit 20; as shown in fig. 1, the first driving circuit 20 is configured to generate a driving signal under the action of the main control circuit 10 to transmit the driving signal to the first motor 90, so as to drive the first motor 90.

The second driving circuit 30 is respectively connected to the second motor 11 and the main control circuit 10, so as to simultaneously drive the second motor 11 to rotate through the second driving circuit 30. Meanwhile, the second driving circuit 30 generates a second driving signal under the action of the main control circuit 10 and transmits the second driving signal to the second motor 11, thereby simultaneously driving the second motors 11. In order to increase the balance and stability of the underwater vehicle, in the embodiment of the present invention, the first motor 90 and the second motor 11 are symmetrically disposed respectively, so that the underwater vehicle can better keep balance after the first motor 90 and the second motor 11 respectively drive the first propeller and the second propeller to rotate.

The embodiment of the present invention is connected to the first motor 90 and the main control circuit 10 through the first driving circuit 20, respectively, so as to drive the first motor 90 to rotate through the first driving circuit 20; the second driving circuit 30 is respectively connected with the second motor 11 and the main control circuit 10, so that the second driving circuit 30 drives the second motor 11 to rotate, and after the two first propellers and the second propellers which are symmetrical to each other are driven to rotate at the same time, the underwater vehicle can be kept balanced better. Therefore, on the basis of keeping enough driving force, the paddle is relatively small, the overall stability is good, and the overall size is small.

Referring to fig. 2, the first driving circuit 20 includes: the first transistor driving circuit 202 and the first motor driving circuit 201, the first transistor driving circuit 202 is connected with the main control circuit 10; as shown in fig. 2, the first transistor driving circuit 202 is connected to the main control circuit 10 through a LAHO signal line and a LALO signal, respectively, to receive a motor driving control signal output by the main control motor, convert the motor driving control signal into a transistor driving signal, and output the transistor driving signal to the first motor driving circuit 201, so as to drive the transistors in the first motor driving circuit 201.

The first motor driving circuit 201 is respectively connected with the first transistor driving circuit 202 and the first motor 90, so as to output a driving signal of the first motor 90 to drive the first motor 90 to rotate under the action of the first transistor driving circuit 202; as shown in fig. 2, the first motor driving circuit 201 is connected to an output power source P + and a reference ground LPGND, respectively, to control the output of the power source P + by the first transistor driving circuit 202, thereby supplying a driving power source signal to the first motor 90.

The second drive circuit 30 includes: a second transistor driving circuit 302 and a second motor driving circuit 301, wherein the second transistor driving circuit 302 is connected with the main control circuit 10; similarly, as shown in fig. 2, the second transistor driving circuit 302 is connected to the main control circuit 10 through a RAHO signal line and a RALO signal, respectively, to receive the motor driving control signal output by the main control motor, convert the motor driving control signal into a transistor driving signal, and output the transistor driving signal to the second motor driving circuit 301, so as to drive the transistors on the second motor driving circuit 301.

The second motor driving circuit 301 is respectively connected to the second transistor driving circuit 302 and the second motor 11, so as to output a driving signal of the second motor 11 to drive the second motor 11 to rotate under the action of the second transistor driving circuit 302. Similarly, as shown in fig. 2, the second motor driving circuit 301 is connected to the output power source P + and the reference ground LPGND, respectively, to control the output of the power source P + by the second transistor driving circuit 302, so as to provide a driving power source signal for the second motor 11.

Referring to fig. 2, the first transistor driving circuit 202 includes a transistor driver U2 and a first peripheral circuit, an input terminal of the transistor driver U2 is connected to the main control circuit 10 through a resistor R1 and a resistor R2, and an upper transistor output terminal L _ HA and a lower transistor output terminal L _ LA of the transistor driver U2 are connected to the first motor driving circuit 201; as shown in fig. 2, the driving control signal output from the main control circuit 10 may be converted into a driving signal of a MOS transistor by the transistor driver U2 to drive the MOS transistor on the first motor driving circuit 201.

Since the first motor driving circuit 201 includes the MOS transistor Q1 and the MOS transistor Q3, the gate of the MOS transistor Q1 is connected to the lower transistor output terminal L _ LA of the transistor driver U2, the source of the MOS transistor Q1 is connected to the ground, the drain of the MOS transistor Q1 is connected to the source of the MOS transistor Q3, the drain of the MOS transistor Q3 is connected to the output power source P + of the battery 80, the gate of the MOS transistor Q3 is connected to the upper transistor output terminal L _ HA of the transistor driver U2, and the drain of the MOS transistor Q1 is also connected to the first motor 90. Because the embodiment of the utility model provides an in, first motor drive circuit 201 adopts the half-bridge drive mode, and the half-bridge drive mode is through two MOS transistor output motor drive signal. The MOS transistor Q3 is connected to the power supply P +, so that it needs to be driven at a higher level to be turned on stably, and the MOS transistor Q1 is connected to the reference ground LPGND, so that the MOS transistor Q1 is turned on stably only at a lower level. The high voltage MOS transistor driving signal LHA and the low voltage MOS transistor driving signal LLA may be outputted through the transistor driver to drive the MOS transistors Q1 and Q3 to be turned on or off, and the MOS transistors Q1 and Q3 may be turned on or off to output a first motor 90 driving signal for the first motor 90, so as to drive the first motor 90 to rotate.

Referring to fig. 3, the second transistor driving circuit 302 includes a transistor driver U1 and a second peripheral circuit, an input terminal of the transistor driver U1 is connected to the main control circuit 10 through a resistor R5 and a resistor R6, and an upper transistor output terminal R _ HA and a lower transistor output terminal R _ LA of the transistor driver U1 are connected to the second motor driving circuit 301; the second motor driving circuit 301 includes a MOS transistor Q2 and a MOS transistor Q4, a gate of the MOS transistor Q2 is connected to the lower transistor output terminal R _ LA of the transistor driver U1, a source of the MOS transistor Q2 is connected to the ground, a drain of the MOS transistor Q2 is connected to the source of the MOS transistor Q4, a drain of the MOS transistor Q4 is connected to the output power supply P + of the battery 80, a gate of the MOS transistor Q4 is connected to the upper transistor output terminal R _ HA of the transistor driver U1, and a drain of the MOS transistor Q2 is further connected to the second motor 11. As shown in fig. 2 and fig. 3, the circuit structures and functions of the second transistor driving circuit 302 and the second motor driving circuit 301 are completely the same as those of the first transistor driving circuit 202 and the first motor driving circuit 201, and for brevity, no repeated description is provided herein, and the operating principle and process thereof may refer to the circuits of the first transistor driving circuit 202 and the first motor driving circuit 201.

Referring to fig. 1 and 5, the electric vehicle further includes a switch control circuit 40, and the switch control circuit 40 is connected to the main control circuit 10 for performing rotation adjustment and/or control on the first motor 90 or the second motor 11. As shown in fig. 5, in an embodiment of the present invention, the control switch circuit may include a speed adjustment 401 control circuit, a power-on control circuit 402 and a brake adjustment control circuit 403, and the speed adjustment 401 control circuit, the power-on control circuit 402 and the brake adjustment control circuit 403 are respectively connected to the main control circuit 10 to transmit the adjustment control signal to the main control circuit 10. The motor is regulated and controlled by the main control circuit 10.

Referring to fig. 1 and 6, a warning light circuit 50 is further included, and the warning light circuit 50 is connected to the main control circuit 10 to warn of the working state of the motor. As shown in fig. 6, the indicator light circuit includes a plurality of LED lights, anodes of the LED lights are respectively connected to a power supply 3V3 through a resistor, and cathodes of the LED lights are respectively connected to an active circuit, so as to perform lighting and extinguishing control of the LED lights under the action of the main control circuit 10. Thereby indicating the working state of the motor and the underwater vehicle.

Referring to fig. 1, the underwater thruster circuit further includes: the power supply circuit 70 is respectively connected with the battery 80, the main control circuit 10, the first driving circuit 20 and the second driving circuit 30, so that power output by the battery 80 is converted into voltage to supply power to the main control circuit 10, the first driving circuit 20 and the second driving circuit 30. As shown in fig. 1, since the underwater vehicle circuit is provided with each circuit module, the power supply voltages of the circuit modules are different, and the power supply circuit 70 can convert the input power supply voltage of the battery 80 and output the converted input power supply voltage to the circuit modules such as the main control circuit 10, the first driving circuit 20, and the second driving circuit 30, so as to supply power to the circuit modules such as the main control circuit 10, the first driving circuit 20, and the second driving circuit 30.

More specifically, referring to fig. 1 and 7, the power supply circuit 70 includes a first voltage conversion circuit 701, a second voltage conversion circuit 702, and a third voltage conversion circuit 703, where the first voltage conversion circuit 701 is connected to an output power terminal of the battery 80 to convert an output power P + of the battery 80 into a first voltage + 15V; a second voltage conversion circuit 702 is connected to the first voltage transmission terminal to convert the first voltage into a second voltage +5V, and a third voltage conversion circuit 703 is connected to the second voltage transmission terminal to convert the second voltage into a third voltage + 3.3V. As shown in fig. 7, the first voltage conversion circuit 701 includes a power conversion ic U3 and its peripheral circuits, and the power conversion ic U3 is connected to the output power P + of the battery 80 to convert the output power P + of the battery 80 into a first voltage + 15V; the second voltage conversion circuit 702 comprises a power conversion integrated chip U1 and its peripheral circuits, the power conversion integrated chip U1 is connected to the first voltage conversion circuit 701 to convert the +15V output from the first voltage conversion circuit 701 into a second voltage + 5V; the third voltage conversion circuit 703 includes a power conversion integrated chip U5 and its peripheral circuits, the power conversion integrated chip U5 is connected to the second voltage conversion circuit 702 to convert the +5V of the output power of the second voltage conversion circuit 702 into +3.3V of the third voltage, the first voltage conversion circuit 701, the second voltage conversion circuit 702 and the third voltage conversion circuit 703 can realize the conversion of different power voltages, and the conversion of the power voltages is performed in a serial manner, so that the small-voltage power supply at the rear end is more stable, and the voltage instability caused by the parallel mode, especially the small-voltage instability, is reduced.

Referring to fig. 1 and 8, the underwater walker circuit further includes: the power detection circuit 60, the power detection circuit 60 are respectively connected with the main control circuit 10 and the battery 80 to detect the power of the battery 80. Through carrying out the measuring of electric quantity to battery 80, can acquire the electric quantity information of battery 80, when the battery 80 electric quantity is not enough, can indicate the user in time to charge.

More specifically, referring to fig. 8, the power detection circuit 60 includes a transistor Q20 and a transistor Q19, a base of the transistor Q20 is connected to one end of a resistor R87 and one end of a resistor R91, the other end of the resistor R87 is connected to +5V of the first power supply, the other end of the resistor R91 is connected to the reference ground, an emitter of the transistor Q20 is connected to the reference ground, a collector of the transistor Q20 is connected to one end of a resistor R30, the other end of the resistor R30 is connected to one end of a resistor R29, and the other end of the resistor R29 is connected to the power output terminal P + of the battery 80; the base electrode of the triode Q19 is connected with the other end of the resistor R30, the emitter electrode of the triode Q19 is connected with the power output end P + of the battery 80, the collector electrode of the triode Q19 is connected with one end of the resistor R88, the other end of the resistor R88 is connected with one end of the resistor R89, the other end of the resistor R89 is connected with one end of the resistor R90, the other end of the resistor R90 is connected with the reference ground, and one end of the resistor R90 is further connected with the main control circuit 10. When the underwater thruster circuit is powered on, the resistor R87 and the resistor R94 divide the voltage of +5V of a power supply and then act on the base electrode of the triode Q20, and the triode Q20 is conducted. At this time, the triode Q19 is also turned on, the battery 80 outputs power P + divided by the resistor R88 and the resistor R90 to the active circuit, and the active circuit outputs power voltage after divided by the collecting resistor R88 and the resistor R90, so as to obtain the voltage of the battery 80.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing detailed description, or equivalent replacements may be made for some of the technical features of the embodiments. All utilize the equivalent structure that the content of the utility model discloses a specification and attached drawing was done, direct or indirect application is in other relevant technical field, all is in the same way the utility model discloses within the patent protection scope.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the principles and spirit of the present invention.

Claims

1. An underwater thruster circuit comprising:

a master control circuit;

2. The underwater thruster circuit of claim 1, further comprising a switch control circuit connected to the master control circuit.

3. The underwater walking device circuit of claim 1, further comprising a warning light circuit, wherein the warning light circuit is connected with the main control circuit to prompt the working state of the motor.

4. The underwater thruster circuit of claim 1, further comprising: a battery;

5. The underwater walker circuit as claimed in claim 4, wherein the power supply circuit includes a first voltage conversion circuit, a second voltage conversion circuit, and a third voltage conversion circuit, the first voltage conversion circuit being connected to an output power terminal of the battery to convert an output power of the battery to a first voltage; the second voltage conversion circuit is connected to the first voltage delivery terminal to convert the first voltage to a second voltage, and the third voltage conversion circuit is connected to the second voltage delivery terminal to convert the second voltage to a third voltage.

6. The underwater walker circuit of claim 4 further comprising: and the electric quantity detection circuit is respectively connected with the main control circuit and the battery so as to detect the electric quantity of the battery.

7. The underwater walking device circuit of claim 6, wherein the electric quantity detection circuit comprises a transistor Q20 and a transistor Q19, a base of the transistor Q20 is connected to one end of a resistor R87 and one end of a resistor R91 respectively, the other end of the resistor R87 is connected to a first power supply, the other end of the resistor R91 is connected to a reference ground, an emitter of the transistor Q20 is connected to the reference ground, a collector of the transistor Q20 is connected to one end of a resistor R30, the other end of the resistor R30 is connected to one end of a resistor R29, and the other end of the resistor R29 is connected to a battery power output terminal; the base of triode Q19 with resistance R30 the other end is connected, triode Q19's projecting pole with battery power output end connects, triode Q19's collecting electrode is connected with resistance R88's one end, resistance R88's the other end is connected with resistance R89's one end, resistance R89's the other end and resistance R90 with one end be connected, resistance R90's the other end is connected with ground reference, resistance R90 the one end still with master control circuit connects.

8. The underwater walker circuit of claim 4 wherein the first drive circuit comprises:

the second drive circuit includes:

9. The underwater thruster circuit of claim 8, wherein the first transistor driving circuit comprises a transistor driver U2 and a first peripheral circuit, an input terminal of the transistor driver U2 is connected with the main control circuit through a resistor R1 and a resistor R2, respectively, and an upper transistor output terminal and a lower transistor output terminal of the transistor driver U2 are connected with the first motor driving circuit, respectively;

the first motor driving circuit comprises a MOS transistor Q1 and a MOS transistor Q3, the grid electrode of the MOS transistor Q1 is connected with the lower crystal tube output end of the transistor driver U2, the source electrode of the MOS transistor Q1 is connected with the reference ground, the drain electrode of the MOS transistor Q1 is connected with the source electrode of the MOS transistor Q3, the drain electrode of the MOS transistor Q3 is connected with the output power supply of the battery, the grid electrode of the MOS transistor Q3 is connected with the upper crystal tube output end of the transistor driver U2, and the drain electrode of the MOS transistor Q1 is further connected with the first motor.

10. The underwater thruster circuit of claim 8, wherein the second transistor driving circuit comprises a transistor driver U1 and a second peripheral circuit, the input terminal of the transistor driver U1 is respectively connected with the master control circuit through a resistor R5 and a resistor R6, and the upper transistor output terminal and the lower transistor output terminal R _ LA of the transistor driver U1 are respectively connected with the second motor driving circuit;

the second motor driving circuit comprises a MOS transistor Q2 and a MOS transistor Q4, wherein the gate of the MOS transistor Q2 is connected with the lower transistor output end R _ LA of the transistor driver U1, the source of the MOS transistor Q2 is connected with the reference ground, the drain of the MOS transistor Q2 is connected with the source of the MOS transistor Q4, the drain of the MOS transistor Q4 is connected with the output power supply of the battery, the gate of the MOS transistor Q4 is connected with the upper transistor output end R _ HA of the transistor driver U1, and the drain of the MOS transistor Q2 is further connected with the second motor.