CN103197248A - Method and device for detecting electric quantity of robot storage battery - Google Patents
Method and device for detecting electric quantity of robot storage battery Download PDFInfo
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- CN103197248A CN103197248A CN2012100037331A CN201210003733A CN103197248A CN 103197248 A CN103197248 A CN 103197248A CN 2012100037331 A CN2012100037331 A CN 2012100037331A CN 201210003733 A CN201210003733 A CN 201210003733A CN 103197248 A CN103197248 A CN 103197248A
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Abstract
The invention discloses a method and a device for detecting an electric quantity of a robot storage battery. The device comprises a main control module, a voltage sensor module, a current sensor module, a temperature sensor and a display module, wherein a voltage sensor is connected with the storage battery in parallel, and the voltage sensor is used for collecting voltage information of the storage battery and transmitting the voltage information to the main control module to be processed and displayed on the display module. The current sensor module is connected with the storage battery in series, and the current sensor module is used for collecting current information of the storage battery and transmitting the current information to the main control module to be processed and displayed. The temperature sensor is used for collecting temperature information near the storage battery and transmitting the temperature information to the main control module to be processed. The main control module is connected with the storage battery in series. The storage battery electric quantity detection device is simple in structure, small and exquisite in design, wide in application, and capable of being widely applied to the storage battery which is used for supplying power for a robot and preventing the electric quantity from being excessively low or powering off suddenly so as not to bring danger to the robot. At the same time, the detecting method is fast and accurate and has pertinence.
Description
Technical field
The invention belongs to the detection technique field, relate generally to a kind of accumulator electric-quantity pick-up unit and method for robot.
Background technology
Accumulator be 1859 by Pulan spy (Plante) invention, the history in existing more than 100 year so far.Lead-acid accumulator has overwhelming superiority in electrochmical power source after invention always.This is because it is cheap, starting material are easy to obtain, and sufficient reliability is arranged in the use, is applicable to heavy-current discharge and advantage such as ambient temperature range widely.As stable compact power, accumulator also is widely used in the robot.
Battery temp (electrolyte temperature) raises, and then the active substance on the cathode-anode plate namely can deterioration, and corrosion anode grid, and the shortening battery life is relative, when battery temperature is too low, the battery capacitance of storage is reduced, easy over-discharge can, and then make shorter battery life.This kind relation also can be because of the battery pattern, pole plate material and changing.So should observe following service condition:
Usually the electrolyte temperature of accumulator should maintain 15～55 ℃ and is desirable use state, under the unavoidable situation, also can not surpass discharge time-15～55 ℃, 0～60 ℃ scope during charging.During actual the use, temperature can rise during owing to charging, and therefore, discharge electrolyte temperature at the end is to maintain below 40 ℃ to the most desirable.
Internal driving can strengthen because of discharge capacity, when especially discharging terminal point, poor conductor-lead sulfate that impedance maximum, main cause produce electric current in the pole plate for making of discharge and the decline of electrolyte density, all cause internal driving to strengthen, so after the discharge, must charge at once, if let alone the continuous discharge state, after then lead sulfate forms stable white crystals, even charging, the active goods and materials of pole plate also can't restore to the original state, and will shorten the tenure of use of storage battery.
Therefore, detect particularly importantly for the temperature of accumulator and electric weight, prevent accumulator because state of temperature undesirable serviceable life that influences accumulator with overdischarge also for the robot electric power system a good stable duty is arranged.This shows, very important to the electric weight detection of accumulator, and need a kind of device protect accumulator.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of accumulator pick-up unit and method for robot, and it is used for detecting the remaining electric weight of accumulator, avoids accumulator electric-quantity to cross low or unexpected outage and brings harm to robot.
For achieving the above object, the present invention adopts following technical scheme:
A kind of accumulator pick-up unit for robot, it comprises: main control module, voltage sensor module, current sensor module, temperature sensor, display module, described voltage sensor is in parallel with accumulator, and it is gathered the information of voltage of accumulator and be transferred to described main control module and handles and show at described display module; Described current sensor module is connected with accumulator, gather the current information of described accumulator and be transferred to described main control module and carry out processes and displays, described temperature sensor is gathered near the temperature information the described accumulator and is transferred to described main control module and handles; Described main control module is in parallel with accumulator.
Preferably, include voltage detection module and current detection module in the above-mentioned main control module, be respectively applied to the information of voltage and the current information that receive are detected.
The above-mentioned accumulator pick-up unit that is used for robot, it also further includes communication module, and described main control module is sent to the ROBOT CONTROL device by described communication module with result.
Preferably, also be provided with switch at accumulator and main control intermodule.
The above-mentioned accumulator pick-up unit that is used for robot, it also further includes button, and described button links to each other with the main control module, is used for accumulator is forced down.
A kind of accumulator electric-quantity detection method, it adopts above-mentioned pick-up unit, and it may further comprise the steps:
A. accumulator is started working, and powers on and initialization for described main control module;
B. gather the temperature of battery-operated environment by described temperature sensor, and send to described main control module and handle;
C. gather the current information of accumulator by described current sensor, and be transferred to described main control module and handle;
E. gather the information of voltage of accumulator by described voltage sensor module, and be transferred to described main control module and handle;
F. by temperature, electric current and voltage, determine the electric weight of the accumulator that this point is corresponding, show by described display module, and send to the ROBOT CONTROL device by communication module.
Preferably, in step b, if temperature surpasses specified scope, then described main control module is sent warning, shows by described display module; Simultaneously, send to robot controller by described communication module.
Preferably, in step c, if electric current surpasses specified scope, described main control module is sent warning, and shows by described display module, sends to robot controller by described communication module simultaneously.
Above-mentioned accumulator electric-quantity detection method, it is further comprising the steps of:
G. if electric weight is lower than 20%, described display module gives the alarm, and the prompting electric weight is low excessively;
If electric weight is lower than 10%, described main control module sends the power down protection signal by communication module to robot controller, and prompt system will descend electricity, cut off the electricity supply after 10 seconds, prevent unexpected power down.
After adopting technique scheme, during use, the main control module is handled the data that voltage sensor module, current sensor module and temperature sensor collect, and the result is presented on the display module, simultaneously the result is passed through communication module, send to robot controller.The present invention has designed a kind of accumulator electric-quantity pick-up unit for robot, this apparatus structure is simple, design small and exquisite, be widely used, can be applied to widely on the accumulator to the robot power supply, prevent that accumulator electric-quantity from crossing low or unexpected outage and bringing harm to robot, simultaneously also in order to prolong the serviceable life of accumulator.Simultaneously, detection method provided by the present invention is utilized temperature, electric current, and voltage method is determined the electric weight of accumulator, and is quicker, accurately, more targeted; The accumulator electric-quantity pick-up unit not only plays the electric weight detection effect; also be the switch of accumulator simultaneously; and accumulator is had protective effect, improved the security of robot control system, the accumulator electric-quantity detection of using for specific mass has practical meaning more.
Description of drawings
Fig. 1 is the structured flowchart of electric quantity detection apparatus of the present invention.
Fig. 2 is the circuit diagram of voltage detection module.
Fig. 3 is the circuit diagram of current detection module.
Fig. 4 is the process flow diagram of detection method of quantity of electricity of the present invention.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explaining the present invention, and be not used in restriction the present invention.
With reference to shown in Figure 1, the invention discloses a kind of accumulator pick-up unit for robot, it comprises: main control module 1, voltage sensor module 2, current sensor module 3, temperature sensor 4, display module 5, communication module 6, switch 8 and button 9, wherein:
Main control module 1 is in parallel with accumulator A, and main control module 1 is powered by accumulator A; Switch 8 is connected in the major loop as the gauge tap of accumulator A, and the power-on and power-off of control entire machine robot system comprise electric quantity detection apparatus;
Main control module 1 is handled voltage sensor module 2, current sensor module 3 with the data that temperature sensor 4 collects, and the result is presented on the display module 5, simultaneously the result is passed through communication module 6, sends to robot controller 7.
Comprise voltage detecting circuit, current detection circuit in the main control module 1, behind the information of voltage that voltage detecting circuit reception voltage sensor module 2 is gathered, this voltage is detected; The current information of the accumulator A that current detection circuit received current sensor assembly 3 is gathered, and detect.Voltage detecting circuit, current detection circuit with reference to figure 2, shown in, be the design of this area common circuit.
Voltage sensor module 2 is in parallel with accumulator A, and the data of gathering are sent to main control module 1;
If long button 9 continued for 4 seconds, can force down by 8 couples of accumulator A of switch.
The accumulator electric-quantity pick-up unit not only plays the electric weight detection effect, also is the switch of accumulator simultaneously, and accumulator is had protective effect, and load is connected serially in the circuit by this device, and this device is responsible for the break-make of this circuit.
The present invention, by designing a kind of accumulator electric-quantity pick-up unit for robot, this apparatus structure is simple, design small and exquisite, be widely used, can be applied to widely on the accumulator to robot power supply, prevent that accumulator electric-quantity from crossing low or unexpected outage and bringing harm to robot, simultaneously also in order to prolong the serviceable life of accumulator.
The cardinal principle of this accumulator pick-up unit is:
The temperature of the general and working environment of the electric weight of accumulator, discharge current has relation, and the size of electric weight can be judged according to battery open-circuit voltage.Generally speaking, the temperature of working environment, under the constant situation of discharge current, accumulator electric-quantity is more low, and open-circuit voltage is more low; Operating ambient temperature is constant, and discharge current is more big, and open-circuit voltage is more big with the accumulator electric-quantity downward trend, and discharge current is more little, and trend is more little; Under the constant situation of discharge current, the temperature of working environment is more low, and open-circuit voltage is more big with the accumulator electric-quantity downward trend, otherwise trend is more little.According to above conclusion, can be according to the temperature of working environment, discharge current and open-circuit voltage are set up the electric weight that three-dimensional system of coordinate is determined current accumulator.
This three-dimensional system of coordinate need be established basic framework by the instructions that production firm provides, and then in conjunction with practical application, according to operating ambient temperature and load different suitable coordinate is set.By the position of coordinate system mid point, judge the dump energy of current accumulator.
With reference to shown in Figure 4, the invention also discloses a kind of accumulator electric-quantity detection method, it may further comprise the steps:
A. accumulator A starts working, and powers on and initialization for main control module 1;
B. gather the temperature of battery-operated environment by temperature sensor 5, and send to main control module 1 and handle:
In this step, if temperature surpasses specified scope, then send warning, show by display module 5, and send to robot controller 7 by described communication module 6;
In this step, can also further judge the interval position of the temperature coordinate axis of this temperature in three-dimensional system of coordinate;
C. gather the current information of accumulator A by current sensor 3, and be transferred to main control module 1 and handle;
In this step, then send warning if electric current surpasses specified scope, and show by display module 5, and send to robot controller 7 by communication module 6 simultaneously; In addition, also can further judge the interval position of this electric current electric current coordinate axis in three-dimensional system of coordinate.
E. gather the information of voltage of accumulator A by voltage sensor module 2, and be transferred to main control module 1 and handle;
In this step, can also judge the interval position of this voltage voltage coordinate in three-dimensional coordinate system.
F. by temperature, electric current and voltage, determine the electric weight of the accumulator A that this point is corresponding, show by display module 5, and send to ROBOT CONTROL device 7 by communication module;
G. if electric weight is lower than 20%, display module 5 gives the alarm, and the prompting electric weight is low excessively;
If electric weight is lower than 10%, main control module 1 sends the power down protection signal by communication module 6 to robot controller 7, and prompt system will descend electricity, cut off the electricity supply after 10 seconds, prevent unexpected power down.
The invention provides a kind of accumulator electric-quantity detection method for robot, adopt temperature, electric current, voltage method is determined the electric weight of accumulator, and is quicker, accurately, more targeted; The accumulator electric-quantity pick-up unit not only plays the electric weight detection effect; also be the switch of accumulator simultaneously; and accumulator is had protective effect, improved the security of robot control system, the accumulator electric-quantity detection of using for specific mass has practical meaning more.
The above; only for the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (9)
1. accumulator pick-up unit that is used for robot, it is characterized in that: it comprises: main control module, voltage sensor module, current sensor module, temperature sensor, display module, described voltage sensor is in parallel with accumulator, and it is gathered the information of voltage of accumulator and be transferred to described main control module and handles and show at described display module; Described current sensor module is connected with accumulator, gather the current information of described accumulator and be transferred to described main control module and carry out processes and displays, described temperature sensor is gathered near the temperature information the described accumulator and is transferred to described main control module and handles; Described main control module is in parallel with accumulator.
2. the accumulator pick-up unit for robot according to claim 1 is characterized in that: include voltage detection module and current detection module in the described main control module, be respectively applied to the information of voltage and the current information that receive are detected.
3. the accumulator pick-up unit for robot according to claim 1, it is characterized in that: it also further includes communication module, and described main control module is sent to the ROBOT CONTROL device by described communication module with result.
4. according to claim 1,2 or 3 described accumulator pick-up units for robot, it is characterized in that: also be provided with switch at accumulator and main control intermodule.
5. the accumulator pick-up unit for robot according to claim 4, it is characterized in that: it also further includes button, and described button links to each other with the main control module, is used for accumulator is forced down.
6. accumulator electric-quantity detection method, it is characterized in that: it adopts the arbitrary described pick-up unit of claim 1～5, and it may further comprise the steps:
A. accumulator is started working, and powers on and initialization for described main control module;
B. gather the temperature of battery-operated environment by described temperature sensor, and send to described main control module and handle;
C. gather the current information of accumulator by described current sensor, and be transferred to described main control module and handle;
E. gather the information of voltage of accumulator by described voltage sensor module, and be transferred to described main control module and handle;
F. by temperature, electric current and voltage, determine the electric weight of the accumulator that this point is corresponding, show by described display module, and send to the ROBOT CONTROL device by communication module.
7. accumulator electric-quantity detection method according to claim 6 is characterized in that: in step b, if temperature surpasses specified scope, then described main control module is sent warning, shows by described display module; Simultaneously, send to robot controller by described communication module.
8. according to claim 6 or 7 described accumulator electric-quantity detection methods, it is characterized in that: in step c, if electric current surpasses specified scope, described main control module is sent warning, and show by described display module, send to robot controller by described communication module simultaneously.
9. accumulator electric-quantity detection method according to claim 6, it is characterized in that: it is further comprising the steps of:
G. if electric weight is lower than 20%, described display module gives the alarm, and the prompting electric weight is low excessively;
If electric weight is lower than 10%, described main control module sends the power down protection signal by communication module to robot controller, and prompt system will descend electricity, cut off the electricity supply after 10 seconds, prevent unexpected power down.
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Cited By (9)
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| CN103529392A (en) * | 2013-10-15 | 2014-01-22 | 江苏艾锐泰克无人飞行器科技有限公司 | High-precision battery electricity quantity tester |
| CN105548899A (en) * | 2016-01-04 | 2016-05-04 | 杭州亚美利嘉科技有限公司 | Battery management method and apparatus of robots |
| WO2016101661A1 (en) * | 2014-12-22 | 2016-06-30 | 深圳市中兴微电子技术有限公司 | Battery capacity calculation system and method |
| CN106707019A (en) * | 2017-01-15 | 2017-05-24 | 禾思凯尔智能科技（东莞）有限公司 | Service robot electric quantity monitoring device |
| CN106855695A (en) * | 2016-12-30 | 2017-06-16 | 上海新时达电气股份有限公司 | Robot security's control system and method |
| CN109848991A (en) * | 2019-02-14 | 2019-06-07 | 江门市国彬机器人有限公司 | A kind of biped walking articulated robot |
| CN110667380A (en) * | 2019-09-20 | 2020-01-10 | 中车青岛四方机车车辆股份有限公司 | Train power supply method and device and train |
| CN111983455A (en) * | 2019-05-23 | 2020-11-24 | 本田技研工业株式会社 | Battery state determination system, in-vehicle device, server, battery state determination method, and recording medium |
| CN109848991B (en) * | 2019-02-14 | 2024-04-19 | 江门市华彬科技有限公司 | Biped walking multi-joint robot |
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| CN110667380A (en) * | 2019-09-20 | 2020-01-10 | 中车青岛四方机车车辆股份有限公司 | Train power supply method and device and train |
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