CN110329077B - Robot and battery power-off control method applied to robot - Google Patents
Robot and battery power-off control method applied to robot Download PDFInfo
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- CN110329077B CN110329077B CN201910750423.8A CN201910750423A CN110329077B CN 110329077 B CN110329077 B CN 110329077B CN 201910750423 A CN201910750423 A CN 201910750423A CN 110329077 B CN110329077 B CN 110329077B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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Abstract
The embodiment of the invention discloses a robot and a battery power-off control method applied to the robot. The robot is provided with a battery, the battery comprises a power supply control unit, a switch and a power supply loop electrically connected with the robot, the switch is connected in series with the power supply loop, and the control unit can control the switch to be switched on or switched off; the power supply control unit is used for responding to a switching signal triggered by a user and sending a communication instruction to the robot; when a power-off trigger signal is received, a first instruction is sent to the robot, and the switch is controlled to be turned off after a preset time; the first instruction is used for instructing the robot to perform task processing before shutdown within preset time. In the embodiment of the invention, when the power supply control unit receives a power-off trigger signal, the power supply control unit controls the switch in the battery to be turned off after the preset time, and simultaneously sends a first instruction to the robot to indicate the robot to complete task processing before shutdown within the preset time; thereby ensuring that the data of the robot is safely stored and effectively updated.
Description
Technical Field
The embodiment of the invention relates to the technical field of robots, in particular to a robot and a battery power-off control method applied to the robot.
Background
At present, automatic handling equipment such as an Automatic Guided Vehicle (AGV) is widely used in the fields of warehousing, logistics and the like for realizing automatic transportation of goods.
Generally, power can be supplied to the carrying equipment through a battery (such as a lithium battery), and when the carrying equipment is shut down, the battery is powered down directly. At the moment of power failure, the main control of the carrying equipment cannot timely store the key data, so that the data are damaged.
Disclosure of Invention
The embodiment of the invention provides a robot and a battery power-off control method applied to the robot, which are used for realizing that the main control of electric equipment can store key data before a lithium battery is powered off, so that the robot can smoothly run according to the latest state when being started subsequently.
In a first aspect, an embodiment of the present invention provides a robot, where the robot is equipped with a battery, the battery includes a power control unit, a controllable switch, and a power supply loop, the controllable switch is connected in series in the power supply loop, and the power control unit can control the controllable switch to be turned on or off;
the power supply control unit is used for sending a first instruction to a main control unit of the robot when detecting a power-off trigger signal and controlling the controllable switch to be switched off when a preset condition is met; the first instruction carries a switch state flag bit, and the switch state flag bit is used for indicating the switch state of the emergency stop switch.
Optionally, the power supply loop is a main power supply loop, and the controllable switch is a first controllable switch; the battery further comprises a secondary power supply loop and a second controllable switch; the second controllable switch is connected in series into the secondary power supply loop; the power supply control unit can also control the second controllable switch to be switched on or switched off;
the power supply control unit is further used for sending a first instruction to the main control unit of the robot if a power-off trigger signal is received, controlling the first controllable switch to be turned off, and controlling the second controllable switch to be turned off after timing preset time.
Optionally, the power supply loop is a main power supply loop, and the controllable switch is a first controllable switch; the battery further comprises a secondary power supply loop and a second controllable switch; the second controllable switch is connected in series into the secondary power supply loop; the power supply control unit can also control the second controllable switch to be switched on or switched off;
the power supply control unit is further used for sending a first instruction to the main control unit of the robot and controlling the first controllable switch to be turned off if a power-off trigger signal is received, and controlling the second controllable switch to be turned off after a second instruction sent by the main control unit of the robot is received, wherein the second instruction indicates that the main control unit of the robot has executed task processing before shutdown.
Optionally, the preset condition includes a preset time and/or a confirmation instruction that the power control unit receives the main control unit of the robot.
In a second aspect, an embodiment of the present invention further provides a power-off control method for a robot, where the robot is equipped with a battery, the battery includes a power control unit, a controllable switch, and a power supply loop, the controllable switch is connected in series to the power supply loop, and the power control unit can control the controllable switch to be turned on or off; the method comprises the following steps:
when the power supply control unit detects a power-off trigger signal, a first instruction is sent to a main control unit of the robot, and the controllable switch is controlled to be turned off when a preset condition is met; the first instruction carries a switch state flag bit, and the switch state flag bit is used for indicating the switch state of the emergency stop switch.
Optionally, the first instruction is used to instruct a main control unit of the robot to perform task processing before shutdown.
Optionally, the preset condition includes a preset time and/or a confirmation instruction that the power control unit receives the main control unit of the robot.
And after the main control unit of the robot processes the tasks before shutdown, sending a second instruction to the power supply control unit to instruct the power supply control unit to disconnect the power supply loop.
Optionally, the preset time is set according to the time required by the robot to process the key data.
Optionally, the power supply loop is a main power supply loop, and the controllable switch is a first controllable switch; the battery further comprises a secondary power supply loop and a second controllable switch; the second controllable switch is connected in series into the secondary power supply loop; the power supply control unit can also control the second controllable switch to be switched on or switched off;
when the power control unit detects outage trigger signal, send first instruction to the main control unit of robot to when satisfying preset condition control controllable switch shuts off, include:
when the power supply control unit detects a power-off trigger signal, a first instruction is sent to the main control unit of the robot, the first controllable switch is controlled to be turned off, and the second controllable switch is controlled to be turned off after timing preset time.
Optionally, the power supply loop is a main power supply loop, and the controllable switch is a first controllable switch; the battery further comprises a secondary power supply loop and a second controllable switch; the second controllable switch is connected in series into the secondary power supply loop; the power supply control unit can also control the second controllable switch to be switched on or switched off;
when the power control unit detects outage trigger signal, send first instruction to the main control unit of robot to when satisfying preset condition control controllable switch shuts off, include:
when the power supply control unit detects a power-off trigger signal, a first instruction is sent to the main control unit of the robot, the first controllable switch is controlled to be turned off, and the second controllable switch is controlled to be turned off after a second instruction sent by the main control unit of the robot is received, wherein the second instruction indicates that the main control unit of the robot has executed task processing before shutdown.
The embodiment of the invention provides a robot provided with a battery, and a power supply control unit is arranged in the battery, when the power supply control unit receives a power-off trigger signal, a switch in the battery is controlled to be turned off after preset time, and time for processing data before shutdown is provided for the robot; meanwhile, the power supply control unit sends a first instruction containing user switch state information to the robot so as to instruct the robot to complete task processing before shutdown within preset time; therefore, the situations that the robot cannot store key data and the data are damaged due to power failure during shutdown in the prior art are avoided, the data of the robot are safely stored and effectively updated, and the robot can smoothly run according to the latest state during subsequent startup.
Drawings
Fig. 1 is a schematic structural diagram of a battery configured in a robot according to a first embodiment of the present invention;
fig. 2 is a schematic circuit diagram of an alternative battery power supply circuit according to a first embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a power control unit according to a first embodiment of the invention;
fig. 4 is a schematic structural diagram of a main control unit in the robot according to the first embodiment of the present invention;
FIG. 5 is a flowchart of a battery power-off control method according to a second embodiment of the present invention;
fig. 6 is a flowchart of a battery power-off control method in the third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic circuit diagram of a battery configured in a robot according to an embodiment of the present invention, as shown in fig. 1, the battery includes a power control unit 110, a controllable switch 120, and a power supply loop 130 for providing power to the robot, the controllable switch 120 is connected in series to the power supply loop 130, and the power control unit 110 can control the controllable switch 120 to be turned on or off;
the power control unit 110 is configured to send a communication instruction to the robot in response to a user-triggered switch signal, where the communication instruction is used to feed back information of the battery, such as state information of the battery, identity information of the battery, and the like, to a main control unit of the robot; in addition, when detecting that the emergency stop switch (not shown in fig. 1) is turned off, the first command is sent to a main control unit (not shown in fig. 1) of the robot, and the controllable switch 120 is controlled to be turned off after a preset time or after receiving a confirmation command of the main control unit of the robot, and the power supply circuit 130 stops supplying power to the robot. The first instruction carries a switch state flag bit, and the flag bit can indicate the switch state of the emergency stop switch, for example, when the emergency stop switch is turned on, the flag bit is set to 0, and when the emergency stop switch is turned off, the flag bit is set to 1. Therefore, the power supply control unit 110 can indicate the switch state of the emergency stop switch by setting the flag to either 0 or 1.
In this embodiment, the first command is a command sent by the power control unit 110 when detecting that the emergency stop switch is turned off, and accordingly, the switch status flag bit in the first command is 1, which indicates that the user has triggered shutdown and the battery is in a state of waiting for power off. When the main control unit of the robot receives the first instruction, after determining that the emergency stop switch is turned off according to the switch state flag bit in the first instruction, the main control unit of the robot starts to perform task processing before turning off, for example, storing the position information, register information, sensor information, and the like of the current editor.
The power control unit 110 is used to manage and monitor the battery, and communicate with the main control unit of the robot.
Optionally, in this embodiment, the power control unit 110 is electrically connected to the MOS switch tube through the driving circuit 114 to control the on and off of the controllable switch 120.
The controllable switch 120 is a switch provided in the power supply circuit 130 and controlled by the power control unit 110.
The power control unit and the main control unit of the robot are communicated through an agreed communication protocol, and the main control unit of the robot can acquire the current switch state of the emergency stop switch by analyzing a first instruction sent by the power control unit according to the agreed communication protocol. Optionally, when the scram switch state flag bit is 1, it indicates that the scram switch is currently in a disconnected state, and accordingly, the battery is in a standby power-off state; when the scram switch state flag bit is 0, the scram switch is in a conducting state at present, and accordingly the battery is in a normal power supply state. The power control unit sends a communication instruction to the main control unit of the robot to instruct the main control unit of the robot to perform related task processing according to the current state of the battery (waiting for power failure or normal power supply).
The emergency stop switch can be a physical switch arranged on the robot body, and one or more emergency stop switches can be arranged on the robot to facilitate related operation tasks to perform shutdown operation on the robot in time; alternatively, the emergency stop switch can be an electronic switch controlled wirelessly, and the remote control unit controls the emergency stop switch to be turned on or off by sending a remote control command to the emergency stop switch.
The preset time is the preset time left for the main control unit of the robot to process tasks before shutdown. Optionally, the duration of the predetermined time is related to the time for the main control unit of the robot to complete the task before the robot is turned off, and after the predetermined time is expired, the power control unit 110 controls the controllable switch 120 to be turned off.
The confirmation instruction of the main control unit of the robot means that the main control unit of the robot sends an OK instruction to the power supply control unit after completing the task processing before shutdown so as to instruct the power supply control unit to disconnect the power supply loop.
Considering that the robot has high power devices such as a motor and low power devices such as a main controller, if one power supply loop is used to supply power to all the devices, the high power devices such as the motor will continuously consume the power of the battery during the power supply control unit 110 delays the power off process, resulting in unnecessary power waste. And in the case of one power supply loop, it is not conducive to independent control of the motor.
In view of the above, in an alternative, the power supply circuit 130 may comprise a primary power supply circuit and a secondary power supply circuit, and correspondingly, the controllable switch 120 may comprise a first controllable switch and a second controllable switch, wherein the first controllable switch is connected in series into the primary power supply circuit, and the second controllable switch is connected in series into the secondary power supply circuit. The power control unit 110 may control the first controllable switch to supply or cut off power to the main power supply loop, and control the second controllable switch to supply or cut off power to the sub power supply loop. Specifically, as shown in fig. 2, fig. 2 shows a schematic circuit diagram of an alternative battery power supply circuit, an input end of the power control unit 110 is connected to the emergency stop switch SW, an output end of the power control unit is connected to the main power supply circuit through a first controllable switch Q1, and an output end of the power control unit is connected to the auxiliary power supply circuit through a second controllable switch Q2, where P1 is a positive input end of the main power supply circuit, P2 is a positive input end of the auxiliary power supply circuit, and P-is a negative input end of the power supply circuit; when receiving a signal of turning off the emergency stop switch SW, the power control unit 110 controls the first controllable switch Q1 to be turned off on one hand to cut off the main power supply loop and stop supplying power to high-power-consumption devices such as a driving motor of the robot; meanwhile, the second controllable switch Q2 is controlled to continuously keep a conducting state, so that the secondary power supply loop continuously supplies power to low-power-consumption devices such as a main control unit of the robot, and the second controllable switch Q2 is controlled to disconnect the current connection after a preset time (the implementation manner of the preset time is referred to the above description); and on the other hand, a first instruction is sent to the main control unit of the robot to instruct the main control unit of the robot to perform task processing before shutdown.
By optimizing the power supply loop and adopting the two power supply loops to respectively supply power to the high-power device and the low-power device, the high-power device and the low-power device such as the motor can be respectively supplied with power, so that the control of the high-power device such as the motor is facilitated on one hand, and the troubleshooting of the fault is facilitated when the motor has a fault; on the other hand, in the process of delayed cut-off of the power supply controller, the main power supply loop where the motor is located can be powered off in advance, so that the power consumption of the battery is saved.
The power control unit 110 may be a micro-processing unit such as a single chip microcomputer 113 including a central processing unit, and an input port of the power control unit 110 is directly or indirectly connected to the emergency stop switch for receiving a command of a user to supply or cut off power to the battery. The output port of the power control unit 110 is connected to the controllable switch 120 of the power supply circuit 130, and is used for controlling the on/off of the power supply circuit 130.
Optionally, in this embodiment, the power control unit 110 includes: a battery communication module 111, a detection module 112 and a signaling encapsulation module 113, wherein,
the battery communication module 111 is used for communicating with a main control unit of the robot;
the detection module 112 is used for detecting the off state of the emergency stop switch;
the signaling encapsulation module 113 is configured to generate a first instruction and send a disconnection instruction to the controllable switch when a preset condition is met;
optionally, the preset condition in the signaling encapsulation module 113 includes a preset time for timing and/or a confirmation instruction that the power control unit receives the main control unit of the robot.
Optionally, the battery communication module 111 is specifically configured to:
and if the power-off trigger signal is received, sending a first instruction to a main control unit of the robot.
Optionally, the battery communication module 111 is further configured to:
and receiving a second instruction sent by the main control unit of the robot, wherein the second instruction indicates that the main control unit of the robot has executed task processing before shutdown.
Optionally, in this embodiment, the main control unit of the robot includes: a second communication module 410, a signaling parsing module 420, and a task processing module 430, wherein,
the second communication module 410 is used for communicating with the first communication module of the power control unit to receive the signaling sent by the first communication module;
the signaling analysis module 420 is configured to analyze the first instruction according to a preset communication protocol to obtain a state of the switch state flag bit;
a task processing module 430 for processing tasks before shutdown
Optionally, the signaling parsing module 420 is specifically configured to:
analyzing the communication instruction according to a preset communication protocol, and acquiring a switch state zone bit from the analyzed instruction; and if the switch state flag bit is 1, determining that the current state of the battery is a standby power-off state.
Optionally, the task processing module 430 is specifically configured to:
and processing and storing the current data.
According to the technical scheme, the robot with the battery is provided, the power supply control unit is arranged in the battery, and when the power supply control unit receives a power-off trigger signal, the controllable switch in the battery is controlled to be turned off after preset time, so that time for processing data before shutdown is provided for the robot; meanwhile, the power supply control unit sends a first instruction to the robot to indicate the robot to complete task processing before shutdown within preset time; therefore, the situations that the robot cannot store key data and the data are damaged due to power failure during shutdown in the prior art are avoided, the data of the robot are safely stored and effectively updated, and the robot can smoothly run according to the latest state during subsequent startup.
Example two
Fig. 5 is a flowchart of a battery power-off control method according to a second embodiment of the present invention, where this embodiment is applicable to a handling device powered by a battery, and controls a situation that the battery is powered off in a delayed manner when a user turns off a machine, for example, in a robot, the user controls the battery to cut off power supply to a main control unit of the robot in a delayed manner after turning off the machine, so that the main control unit of the robot has time to process a task before turning off the machine, and the method may be executed by a power control unit of the robot, for example, by a battery management system of the battery configured in the robot cooperating with the main control unit of the robot, where the method specifically includes the following steps:
and S510, receiving switch information triggered by a user, and generating a communication instruction according to the switch information, wherein the communication instruction comprises state information of an emergency stop switch of the robot, and the switch signal comprises a power-off trigger signal or a power-on control signal.
The battery is used for supplying power to each electric appliance of the robot. In order to facilitate on-off management and state monitoring of the battery, a power supply control unit, a controllable switch and a power supply loop electrically connected with the robot are arranged in the battery in the embodiment, wherein the controllable switch is connected in series in the power supply loop, and the power supply control unit controls on or off of the power supply loop by controlling on or off of the controllable switch.
In view of the fact that power consumption of each device of the robot is different, for example, power consumption of the driving motor is relatively large, and power consumption of the parameter acquisition device and the control device is relatively low, in this embodiment, a power supply loop of the robot is refined, specifically, the power supply loop includes a main power supply loop and an auxiliary power supply loop, where the main power supply loop is used to supply power to a high-power device, for example, to supply power to the motor; the auxiliary power supply loop is used for supplying power to low-power consumption devices, such as a main control unit of the robot, various sensors of the robot and the like. Correspondingly, the controllable switches comprise a first controllable switch and a second controllable switch, wherein the first controllable switch is connected in series with the primary power supply loop, the second controllable switch is connected in series with the secondary power supply loop, and the power supply control unit is capable of controlling the first controllable switch and the second controllable switch, including controlling the on or off thereof, respectively.
S520, if the controllable switch signal is a power-off trigger signal, judging whether a preset condition is met.
Optionally, the preset condition may be preset time or a confirmation instruction of the power control unit receiving the main control unit of the robot.
When the preset condition is a preset time, the duration of the preset time is related to the time of the main control unit of the robot for completing the task before shutdown, so that the preset time can be timed in the power supply control unit through the timing circuit according to the time of the main control unit of the robot for processing the task before shutdown;
the preset condition is that the power supply control unit receives a confirmation instruction of the main control unit of the robot, and the confirmation instruction means that the main control unit of the robot sends an OK instruction to the power supply control unit after completing task processing before shutdown so as to instruct the power supply control unit to disconnect a power supply loop.
Correspondingly, in this embodiment, if the controllable switch signal is a power-off trigger signal, the first instruction is sent to the main control unit of the robot, and the controllable switch is controlled to be turned off after a preset time, which may be optimized as:
s521, if the controllable switch signal is a power-off trigger signal, sending a first instruction to a main control unit of the robot to control the first controllable switch to be turned off, and after the preset time is timed, controlling the second controllable switch to be turned off;
and S522, if the switch signal is a power-off trigger signal, controlling the first switch to be turned off, sending the first instruction to a main control unit of the robot, and controlling the second switch to be turned off after receiving a second instruction, wherein the second instruction instructs the battery to turn off the auxiliary power supply loop.
S530, sending a first instruction to a main control unit of the robot and controlling the controllable switch to be turned off when a preset condition is met; the first instruction carries a switch state flag bit, and the switch state flag bit is used for indicating the switch state of the emergency stop switch
The power control unit and the main control unit of the robot are communicated through an agreed communication protocol, and the main control unit of the robot can acquire the on-off state of the emergency stop switch by analyzing a communication instruction sent by the power control unit according to the agreed communication protocol. Specifically, the communication protocol includes information of a mark bit of the emergency stop switch state of the robot, and the mark bit can indicate the switch state of the emergency stop switch, for example, when the emergency stop switch is turned on, the mark position is 0, and when the emergency stop switch is turned off, the mark position is 1. Therefore, the power supply control unit can indicate the switch state of the emergency stop switch by setting the flag to 0 or 1.
When the power supply control unit receives a controllable switch signal which is a power-off trigger signal, on one hand, the power supply control unit sends an indication signal for delaying power-off to the controllable switch, on the other hand, the power supply control unit sends a first instruction to the main control unit of the robot, and the main control unit of the robot is indicated to start task processing before shutdown by sending the first instruction to feed back that the emergency stop switch is in a disconnected state to the robot.
Because the power supply loop for supplying power to the robot by the battery is optimized, namely the main power supply loop supplies power to the high-power device, the auxiliary power supply loop supplies power to the low-power device, and the main control unit of the robot is positioned in the auxiliary power supply loop, the main power supply loop can be cut off at the moment so as to save the energy consumption of the battery. Specifically, when the preset condition is the preset time, the power control unit controls a first controllable switch connected with the main power supply loop to be turned off, controls a second controllable switch connected in the auxiliary power supply loop to keep the current connection state, and controls the second controllable switch to be turned off after the preset time is reached.
And when the preset condition is that a confirmation instruction of the main control unit of the robot is received, the power supply control unit controls the second switch to be switched off when receiving the second instruction, so that the auxiliary power supply loop is switched off.
In the technical scheme of the embodiment, a switch state flag bit is added in a communication instruction between a power supply control unit and a main control unit of a robot, the switch state of an emergency stop switch is indicated through the flag bit, and the power supply control unit in a battery is controlled, so that after the power supply control unit receives a power-off instruction, on one hand, a power supply loop is controlled to delay power-off according to preset timing time, and on the other hand, a first instruction is sent to the robot to indicate the main control unit of the robot to perform task processing before shutdown so as to prepare for shutdown; the time for processing data is reserved for the robot by controlling the power supply loop to delay power failure, the preset timing time is adjusted, the robot can process the task before shutdown in the preset timing time, the problem that the robot cannot process current critical data in time due to power failure in the prior art to cause data loss or damage is solved, the data of the robot is guaranteed to be safely stored and effectively updated, and the robot can smoothly run according to the latest state during subsequent startup.
EXAMPLE III
Fig. 6 is a flowchart of a battery power-off control method provided in the third embodiment of the present invention, where this embodiment is applicable to a handling device powered by a battery, and controls a situation that the battery is delayed to be powered off when a user turns off a machine, for example, in a robot, the battery is controlled to delay to cut off power supply to a main control unit of the robot after the user turns off the machine, and the method may be executed by the main control unit in the robot, and specifically includes the following steps:
s610, receiving a communication instruction sent by the battery, and analyzing the communication instruction to obtain the current state of the battery.
Wherein, the communication command comprises the on-off state of the emergency stop switch of the robot. After receiving the communication instruction, the robot needs to analyze the communication instruction to obtain the current state of the emergency stop switch, specifically, analyzing the communication instruction to obtain the current state of the battery includes:
analyzing the communication instruction according to a preset communication protocol, and acquiring a switch state zone bit from the analyzed instruction;
and if the switch state flag bit is 1, determining that the emergency stop switch is in an off state.
The state of the emergency stop switch is represented by a user switch state flag bit in a communication protocol. Optionally, when the flag bit of the user switch is 1, it indicates that the user switch is currently in an off state, and accordingly, the battery is in a standby power-off state; when the user switch state flag bit is 0, it indicates that the user switch is currently in a conducting state, and accordingly, indicates that the battery is in a normal power supply state. The robot analyzes the first instruction according to a preset protocol, and checks the switch state flag bit to determine the current state of the battery.
The power-off waiting state refers to a state that the management system of the battery receives a shutdown instruction triggered by a user, and the management system of the battery delays the power-off of the battery through a software control method.
And S620, if the emergency stop switch is in an off state, performing task processing before shutdown.
Wherein, the task processing before shutdown comprises: the current data is processed and saved, for example, the location information, register information, sensor information, etc. of the current editor are saved. The current data may include data collected by a sensor of the robot, parameters required by a control unit of the robot to start the robot, data stored in a memory, and the like. Correspondingly, the current data processing can be to store the data acquired by the sensor, clean the memory, copy the data in the memory into Flash, store the startup parameters, and the like.
Optionally, in this embodiment, after the main control unit of the robot processes the current data, the method further includes:
s630, the main control unit of the robot sends a second instruction to the power supply control unit to indicate the power supply control unit to disconnect the power supply loop.
Specifically, the main control unit of the robot sends a second instruction to the power supply control unit, the second instruction includes information that the robot has finished processing current data, the power supply control unit analyzes the second instruction according to a preset communication protocol after receiving the second instruction, and then obtains information that the second control unit has finished processing a task before shutdown, and then disconnects a discharge loop for supplying power to the main control unit of the robot.
According to the technical scheme, information about a state bit of a user switch is added in a communication protocol of a main control unit of the robot and a control unit of a battery, a first instruction sent by the control unit of the instruction is analyzed through the main control unit of the robot, the current state of the battery is obtained, and when the battery is determined to be in a state waiting for shutdown, data processing is carried out to prepare for shutdown; the control unit in the battery cuts off power supply to the control unit of the robot when the robot is ensured to process the current data, so that the condition that the data of the robot is damaged or lost due to shutdown, namely power failure, of the robot is avoided, the data of the robot is ensured to be safely stored and effectively updated, and the robot can be ensured to smoothly run in the latest state during subsequent use.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (2)
1. A robot is characterized by being provided with a main power supply loop and an auxiliary power supply loop, wherein the main power supply loop is connected with a first controllable switch in series, the auxiliary power supply loop is connected with a second controllable switch in series, and the main power supply loop and the auxiliary power supply loop are powered by batteries;
the power supply control unit is connected with the main control unit;
the power supply control unit is configured to: when a power-off trigger signal is detected, a first instruction is sent to the main control unit to control the first controllable switch to be turned off, and the main control unit executes task processing before shutdown after receiving the first instruction;
receiving a second instruction generated after the main control unit executes the task processing before shutdown, and controlling a second controllable switch to be turned off;
the first instruction carries a switch state flag bit, the switch state flag bit is used for indicating the switch state of the emergency stop switch, and the power-off trigger signal is generated when the emergency stop switch is switched off.
2. A robot power-off control method is characterized by comprising the following steps:
when the power supply control unit detects a power-off trigger signal, a first instruction is sent to the main control unit to control the first controllable switch to be turned off, and the main control unit executes task processing before shutdown after receiving the first instruction;
the power supply control unit receives a second instruction generated after the main control unit executes the task processing before shutdown, and controls the second controllable switch to be turned off;
the first controllable switch is connected in series in a main power supply loop, the second controllable switch is connected in series in an auxiliary power supply loop, and the main power supply loop and the auxiliary power supply loop are powered by a battery;
the first instruction carries a switch state flag bit, the switch state flag bit is used for indicating the switch state of the emergency stop switch, and the power-off trigger signal is generated when the emergency stop switch is switched off.
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| CN111708287B (en) * | 2020-05-08 | 2023-07-18 | 深圳市优必选科技股份有限公司 | Power supply control circuit and robot |
| CN112865771A (en) * | 2020-12-31 | 2021-05-28 | 广州极飞科技股份有限公司 | Delayed power-off system, unmanned equipment and delayed power-off method |
| CN114527695A (en) * | 2022-02-10 | 2022-05-24 | 美的集团(上海)有限公司 | Startup and shutdown control method of robot system and robot system |
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