CN106300553A - A kind of mobile power management system of robot and method - Google Patents
A kind of mobile power management system of robot and method Download PDFInfo
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- CN106300553A CN106300553A CN201610866830.1A CN201610866830A CN106300553A CN 106300553 A CN106300553 A CN 106300553A CN 201610866830 A CN201610866830 A CN 201610866830A CN 106300553 A CN106300553 A CN 106300553A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000004891 communication Methods 0.000 claims abstract description 21
- 230000005611 electricity Effects 0.000 claims abstract description 19
- 238000007599 discharging Methods 0.000 claims abstract 2
- 238000007726 management method Methods 0.000 claims description 45
- 238000001514 detection method Methods 0.000 claims description 23
- 230000007246 mechanism Effects 0.000 claims description 2
- 238000000465 moulding Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 2
- 208000032953 Device battery issue Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
-
- H02J7/0091—
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
- H02J9/061—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems for DC powered loads
-
- H02J2007/0067—
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/00304—Overcurrent protection
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
- H02J9/068—Electronic means for switching from one power supply to another power supply, e.g. to avoid parallel connection
Abstract
The invention discloses a kind of mobile power management system of robot and method, described system includes main control module, charge control module, control of discharge module, temperature detecting module, RS422 bus communication module, wireless communication module and microswitch module.The present invention is by arranging charge control module between the power supply of charging station and mobile robot; control of discharge module is set between power supply and control system and the actuating unit of mobile robot, it is possible to the power supply of robot, control system and actuating unit are moved in protection effectively during the charging and discharging of mobile robot power supply.In addition, the present invention is controlled mobile robot main battery and the output switch of reserve battery by control of discharge module, the control system that reserve battery is mobile robot can be switched in time power when main battery breaks down or electricity is too low, it is ensured that the power supply to control system is uninterrupted.
Description
Technical field
The invention belongs to mobile robot technology field, be specifically related to a kind of mobile power management system of robot and method
Design.
Background technology
Growing along with robotics, the application of robot is more and more extensive, almost penetrates into all spectra.Move
Mobile robot is an important branch in robotics, divides by structure, generally can be divided into wheeled, the sufficient formula of lower limb, crawler type, sucker
Formula and compound machine people.Wherein, wheeled mobile robot controls simple due to it, and motion stabilization and energy utilization rate are high
Feature application is relatively broad.
In existing mobile robot, lack the power management plate of a system.When charge mode, mobile robot
Power supply is directly connected charging with charging station, it is likely that owing to crossing stream, overvoltage, temperature is too high or the reasons such as time-out of charging are to power supply
Cause damage；When discharge mode, the power supply of mobile robot is directly connected power supply with remaining part, does not has in power supply process
Corresponding administrative protection measure, was likely to be due to stream or temperature was crossed high reason and the remaining part of robot is caused damage.
Additionally, the existing mobile robot actuating unit that typically uses single power supply to be whole robot and control system
System power supply, when power failure or electricity deficiency, the actuating unit not only resulting in robot quits work, robot
Stop motion, the control system also resulting in robot quits work, and then causes whole robot thoroughly to be paralysed, it is impossible to response
The various instructions that user sends, control and management to mobile robot cause great inconvenience.
Summary of the invention
The invention aims to solve the problem that existing mobile robot lacks power-supply management system, it is proposed that one
Plant mobile power management system of robot and method.
The technical scheme is that a kind of mobile power management system of robot, control mould including main control module, charging
Block, control of discharge module, temperature detecting module, RS422 bus communication module, wireless communication module and microswitch module；
Main control module respectively with charge control module, control of discharge module, temperature detecting module, RS422 bus communication module, channel radio
Letter module, the communication connection of microswitch module, charge control module the most respectively with charging station, the main battery of mobile robot and standby
Electrically connect with battery, control of discharge module the most respectively with the mobile main battery of robot, reserve battery, control system, engine
Structure electrically connects.
Preferably, charge control module includes two BUCK circuit, is used for gathering mobile robot main battery and standby electricity
The voltage in pond and current information, and control charging current.
Preferably, control of discharge module is used for detecting discharge current, and controls mobile robot main battery and reserve battery
Output switch.
Preferably, temperature detecting module use TMP432 chip, for detection two BUCK circuit in inductor temperature with
And move robot main battery and reserve battery temperature.
Preferably, RS422 bus communication module is communicated to connect with host computer by RS422 bus, for sending out to host computer
Send the state of current power management system, and accept the instruction that host computer sends to power-supply management system.
Preferably, wireless communication module is for communicating with other robot or charging station.
Preferably, microswitch module includes three microswitch, for detecting the right of power-supply management system and charging station
Connect situation.
The invention also discloses a kind of mobile robot method for managing power supply, including charge mode management method and electric discharge mould
Formula management method；
Charge mode management method comprises the following steps:
The mobile robot main battery of S1, charge control module detection and the electricity of reserve battery, it is judged that whether it is less than low
Power threshold, if then entering step S2, otherwise moving robot and normally working；
S2, mobile robot arrive near charging station, and power-supply management system docks with charging station, and report host computer also starts
Charging；
S3, charge control module judge whether to reach to charge to protect index parallel, if then stopping charging and carrying out corresponding
Process, otherwise enter step S4；
S4, charge control module judge whether the electricity of mobile robot main battery and reserve battery reaches Full Charge Capacity threshold
Value, if then entering step S5, otherwise continuing charging, returning step S3；
S5, complete charge, and report that host computer charging terminates, mobile robot sails out of charging station；
Discharge mode management method comprises the following steps:
T1, power-supply management system receive the electric discharge instruction that host computer sends, and start electric discharge；
T2, control of discharge module judge whether to reach to discharge to protect index parallel, if then stopping electric discharge and carrying out corresponding
Process, otherwise enter step T3；
T3, control of discharge module judge whether main battery electricity is less than low power threshold, if then entering step T5, otherwise
Enter step T4；
T4, control of discharge module open main battery output switch, close reserve battery output switch, main battery are mobile
Control system and the actuating unit of robot are powered；
T5, control of discharge module open reserve battery output switch, close main battery output switch, reserve battery are shifting
The control system of mobile robot is powered.
Further, the charging in step S3 protects index to include parallel:
(1) overcurrent protection index: whether the electric current of the mobile robot main battery of detection and reserve battery exceedes charging current
Threshold value, if exceeding, stopping charging and carrying out stream process；
(2) overvoltage protection index: whether the voltage of the mobile robot main battery of detection and reserve battery exceedes charging voltage
Threshold value, if exceeding, stopping charging and carrying out overpressure treatment；
(3) overtime protection index: the charging interval of the mobile robot main battery of detection and reserve battery whether overtime
Threshold value, if exceeding, stopping charging and carrying out the charging interval and transfinite process；
(4) temperature protection index: whether the temperature of the mobile robot main battery of detection and reserve battery exceedes temperature threshold,
If exceeding, stopping charging trip temperature of going forward side by side transfinites process.
Further, the electric discharge in step T2 protects index to include parallel:
(1) overcurrent protection index: whether the electric current of the mobile robot main battery of detection and reserve battery exceedes discharge current
Threshold value, if exceeding, stopping electric discharge and carrying out stream process；
(2) temperature protection index: whether the temperature of the mobile robot main battery of detection and reserve battery exceedes temperature threshold,
If exceeding, stopping electric discharge trip temperature of going forward side by side transfinites process.
The invention has the beneficial effects as follows:
(1) present invention is provided with charge control module between the power supply of charging station and mobile robot, adds that temperature is examined
Survey the auxiliary of module, it is possible to during the power source charges of mobile robot, formed stream, overvoltage, time-out and temperature four also
The protected mode of row, thus it is effectively protected the power supply of mobile robot.
(2) present invention is provided with control of discharge mould between power supply and control system and the actuating unit of mobile robot
Block, adds the auxiliary of temperature detecting module, it is possible to formed stream and temperature two during the corona discharge of mobile robot
Parallel protected mode, thus it is effectively protected the power supply of mobile robot, control system and actuating unit.
(3) present invention is controlled mobile robot main battery and the output switch of reserve battery by control of discharge module, works as master
The control system that reserve battery is mobile robot can be jumped to when battery failure or electricity are too low in time power, it is ensured that
It is uninterrupted to the power supply of control system, so that mobile robot instruction to user all the time can make and responding timely.
Accompanying drawing explanation
A kind of mobile power management system of robot structured flowchart that Fig. 1 provides for the present invention.
The charge mode management method flow chart of a kind of mobile robot method for managing power supply that Fig. 2 provides for the present invention.
The discharge mode management method flow chart of a kind of mobile robot method for managing power supply that Fig. 3 provides for the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings embodiments of the invention are further described.
The invention provides a kind of mobile power management system of robot, as it is shown in figure 1, include main control module, charging control
Molding block, control of discharge module, temperature detecting module, RS422 bus communication module, wireless communication module and microswitch mould
Block；Main control module respectively with charge control module, control of discharge module, temperature detecting module, RS422 bus communication module, nothing
Line communication module, microswitch module communicate to connect, charge control module the most respectively with charging station, the main battery of mobile robot
Electrically connect with reserve battery, control of discharge module the most respectively with the mobile main battery of robot, reserve battery, control system, dynamic
Force mechanisms electrically connects.
Wherein, main control module is made up of STM32F103 chip and peripheral circuit thereof, and its particular circuit configurations is this area
Common knowledge, does not repeats them here.
Charge control module includes two BUCK circuit, and one of them BUCK circuit is corresponding with the main battery of mobile robot
Connect, the electrical connection corresponding with the reserve battery of mobile robot of another BUCK circuit, thus form the main topological structure of BUCK.
The concrete structure of BUCK circuit is the common knowledge of this area, does not repeats them here.Charge control module is used for gathering moving machine
Device people's main battery and the voltage of reserve battery and current information, and control charging current.
Control of discharge module is used for detecting discharge current, and the output controlling mobile robot main battery and reserve battery is opened
Close, i.e. open main battery output switch when Main Battery status is normal, close reserve battery output switch, main battery be mobile
Control system and the actuating unit of robot are powered；Open reserve battery output to open when main battery breaks down or electricity is too low
Close, close main battery output switch, the control system that reserve battery is mobile robot power, so ensure that control
The power supply of system is uninterrupted.
Temperature detecting module is made up of TMP432 chip and peripheral circuit thereof, and its particular circuit configurations is the known of this area
General knowledge, does not repeats them here.Temperature detecting module is for the inductor temperature detected in charge control module in two BUCK circuit
And move robot main battery and reserve battery temperature.
RS422 bus communication module is communicated to connect with host computer by RS422 high-speed bus, works as sending to host computer
The state of front power-supply management system, and accept the instruction that host computer sends to power-supply management system.
Wireless communication module is low-speed communication module, for communicating with other robot or charging station.
Microswitch module includes three microswitch, docks situation for detect power-supply management system and charging station,
Whether such as power-supply management system is connected with charging station, and the most mobile robot aligns with charging station.
Present invention also offers a kind of mobile robot method for managing power supply, including charge mode management method and electric discharge mould
Formula management method.
As in figure 2 it is shown, charge mode management method comprises the following steps:
The mobile robot main battery of S1, charge control module detection and the electricity of reserve battery, it is judged that whether it is less than low
Power threshold, if then entering step S2, otherwise moving robot and normally working.
S2, mobile robot arrive near charging station, and power-supply management system docks with charging station, and report host computer also starts
Charging.
S3, charge control module judge whether to reach to charge to protect index parallel, if then stopping charging and carrying out corresponding
Process, otherwise enter step S4.
Wherein charging parallel protection index includes:
(1) overcurrent protection index: whether the electric current of the mobile robot main battery of detection and reserve battery exceedes charging current
Threshold value, if exceeding, stopping charging and carrying out stream process；
(2) overvoltage protection index: whether the voltage of the mobile robot main battery of detection and reserve battery exceedes charging voltage
Threshold value, if exceeding, stopping charging and carrying out overpressure treatment；
(3) overtime protection index: the charging interval of the mobile robot main battery of detection and reserve battery whether overtime
Threshold value, if exceeding, stopping charging and carrying out the charging interval and transfinite process；
(4) temperature protection index: whether the temperature of the mobile robot main battery of detection and reserve battery exceedes temperature threshold,
If exceeding, stopping charging trip temperature of going forward side by side transfinites process.
Owing to four charge protection indexs are and row index therefore all to stop at once filling after any one index reaches
Electricity also carries out respective handling.
S4, charge control module judge whether the electricity of mobile robot main battery and reserve battery reaches Full Charge Capacity threshold
Value, if then entering step S5, otherwise continuing charging, returning step S3.
S5, complete charge, and report that host computer charging terminates, mobile robot sails out of charging station；
As it is shown on figure 3, discharge mode management method comprises the following steps:
T1, power-supply management system receive the electric discharge instruction that host computer sends, and start electric discharge.
T2, control of discharge module judge whether to reach to discharge to protect index parallel, if then stopping electric discharge and carrying out corresponding
Process, otherwise enter step T3.
Wherein electric discharge parallel protection index includes:
(1) overcurrent protection index: whether the electric current of the mobile robot main battery of detection and reserve battery exceedes discharge current
Threshold value, if exceeding, stopping electric discharge and carrying out stream process；
(2) temperature protection index: whether the temperature of the mobile robot main battery of detection and reserve battery exceedes temperature threshold,
If exceeding, stopping electric discharge trip temperature of going forward side by side transfinites process.
Owing to two discharge prevention indexs are and row index therefore all to stop at once putting after any one index reaches
Electricity also carries out respective handling.
T3, control of discharge module judge whether main battery electricity is less than low power threshold, if then entering step T5, otherwise
Enter step T4.
T4, control of discharge module open main battery output switch, close reserve battery output switch, main battery are mobile
Control system and the actuating unit of robot are powered.
T5, control of discharge module open reserve battery output switch, close main battery output switch, reserve battery are shifting
The control system of mobile robot is powered.
Those of ordinary skill in the art it will be appreciated that embodiment described here be to aid in reader understanding this
Bright principle, it should be understood that protection scope of the present invention is not limited to such special statement and embodiment.This area
It is each that those of ordinary skill can make various other without departing from essence of the present invention according to these technology disclosed by the invention enlightenment
Planting concrete deformation and combination, these deform and combine the most within the scope of the present invention.
Claims (10)
1. a mobile power management system of robot, it is characterised in that include main control module, charge control module, electric discharge control
Molding block, temperature detecting module, RS422 bus communication module, wireless communication module and microswitch module；Described master control mould
Block respectively with charge control module, control of discharge module, temperature detecting module, RS422 bus communication module, radio communication mold
Block, microswitch module communicate to connect；Described charge control module the most respectively with charging station, the main battery of mobile robot and standby
Electrically connect with battery；Described control of discharge module the most respectively with the mobile main battery of robot, reserve battery, control system, dynamic
Force mechanisms electrically connects.
Mobile power management system of robot the most according to claim 1, it is characterised in that described charge control module bag
Include two BUCK circuit, for gathering mobile robot main battery and the voltage of reserve battery and current information, and control charging
Electric current.
Mobile power management system of robot the most according to claim 1, it is characterised in that described control of discharge module is used
In detection discharge current, and control mobile robot main battery and the output switch of reserve battery.
Mobile power management system of robot the most according to claim 2, it is characterised in that described temperature detecting module is adopted
Use TMP432 chip, for detecting the inductor temperature in two BUCK circuit and mobile robot main battery and reserve battery temperature
Degree.
Mobile power management system of robot the most according to claim 1, it is characterised in that described RS422 bus communication
Module is communicated to connect with host computer by RS422 bus, for sending the state of current power management system to host computer, and connects
The instruction sent to power-supply management system by host computer.
Mobile power management system of robot the most according to claim 1, it is characterised in that described wireless communication module is used
In communicating with other robot or charging station.
Mobile power management system of robot the most according to claim 1, it is characterised in that described microswitch module bag
Include three microswitch, dock situation for detect power-supply management system and charging station.
8. a mobile robot method for managing power supply, it is characterised in that include charge mode management method and discharge mode pipe
Reason method；
Described charge mode management method comprises the following steps:
The mobile robot main battery of S1, charge control module detection and the electricity of reserve battery, it is judged that whether it is less than low electricity
Threshold value, if then entering step S2, otherwise moving robot and normally working；
S2, mobile robot arrive near charging station, and power-supply management system docks with charging station, and report host computer also starts to fill
Electricity；
S3, charge control module judge whether to reach to charge to protect index parallel, if then stopping charging and carrying out respective handling,
Otherwise enter step S4；
S4, charge control module judge whether the electricity of mobile robot main battery and reserve battery reaches Full Charge Capacity threshold value, if
It is then to enter step S5, otherwise continues charging, return step S3；
S5, complete charge, and report that host computer charging terminates, mobile robot sails out of charging station；
Described discharge mode management method comprises the following steps:
T1, power-supply management system receive the electric discharge instruction that host computer sends, and start electric discharge；
T2, control of discharge module judge whether to reach to discharge to protect index parallel, if then stopping electric discharge and carrying out respective handling,
Otherwise enter step T3；
T3, control of discharge module judge that main battery electricity, whether less than low power threshold, if then entering step T5, otherwise enters
Step T4；
T4, control of discharge module open main battery output switch, close reserve battery output switch, main battery be mobile machine
Control system and the actuating unit of people are powered；
T5, control of discharge module open reserve battery output switch, close main battery output switch, reserve battery are moving machine
The control system of device people is powered.
Mobile robot the most according to claim 8 method for managing power supply, it is characterised in that the charging in described step S3
Parallel protection index includes:
(1) overcurrent protection index: whether the electric current of the mobile robot main battery of detection and reserve battery exceedes charging current threshold value,
If exceeding, stopping charging and carrying out stream process；
(2) overvoltage protection index: whether the voltage of the mobile robot main battery of detection and reserve battery exceedes charging voltage threshold value,
If exceeding, stopping charging and carrying out overpressure treatment；
(3) overtime protection index: the charging interval of the mobile robot main battery of detection and reserve battery whether overtime threshold value,
If exceeding, stopping charging and carrying out the charging interval and transfinite process；
(4) temperature protection index: whether the temperature of the mobile robot main battery of detection and reserve battery exceedes temperature threshold, if super
Crossing, stopping charging trip temperature of going forward side by side transfinites process.
Mobile robot the most according to claim 8 method for managing power supply, it is characterised in that putting in described step T2
Electricity parallel protection index includes:
(1) overcurrent protection index: whether the electric current of the mobile robot main battery of detection and reserve battery exceedes discharging current threshold,
If exceeding, stopping electric discharge and carrying out stream process；
(2) temperature protection index: whether the temperature of the mobile robot main battery of detection and reserve battery exceedes temperature threshold, if super
Crossing, stopping electric discharge trip temperature of going forward side by side transfinites process.
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| CN201610866830.1A CN106300553A (en) | 2016-09-30 | 2016-09-30 | A kind of mobile power management system of robot and method |
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Application publication date: 20170104 |