CN104052130A - Iron phosphate lithium battery power supply management system used for service robots and working method - Google Patents

Iron phosphate lithium battery power supply management system used for service robots and working method Download PDF

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Publication number
CN104052130A
CN104052130A CN201410316920.4A CN201410316920A CN104052130A CN 104052130 A CN104052130 A CN 104052130A CN 201410316920 A CN201410316920 A CN 201410316920A CN 104052130 A CN104052130 A CN 104052130A
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circuit
power
battery
chip
capacitor
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CN104052130B (en
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周风余
王小龙
袁宪锋
刘汝华
周晨磊
袁通
陈宏兴
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SHANDONG ZHENGCHEN POLYTRON TECHNOLOGIES Co.,Ltd.
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Shandong University
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10Energy storage using batteries

Abstract

The invention discloses an iron phosphate lithium battery power supply management system used for service robots and a working method. The system comprises a iron phosphate lithium battery set, and the iron phosphate lithium battery set is connected with a lithium battery hardware protection circuit. The input end of the lithium battery hardware protection circuit is connected with a charging interface, and the output end of the lithium battery hardware protection circuit is connected with a power supply input interface. The power supply input interface is connected with a power loop and a control loop respectively through a main switch. The output end of the lithium battery hardware protection circuit is connected with a power supplying power supply of an electric quantity measurement and display circuit, and the power supplying power supply of the electric quantity measurement and display circuit supplies power for the electric quantity measurement and display circuit. The electric quantity measurement and display circuit comprises an STM32 chip, wherein the STM32 chip conducts battery remaining power percentage SOC estimation in a mode of combining an ampere-hour integral method and an open circuit voltage method. By means of the system, the power supplies of the service robots can be managed, stable work of an iron lithium battery set is guaranteed, the battery set information is obtained in real time, and the system has the function of power supply expansion.

Description

For ferric phosphate lithium cell power-supply management system and the method for work of service robot
Technical field
The present invention relates to a kind of ferric phosphate lithium cell power-supply management system and method for work for service robot.
Background technology
Along with the quickening of China's aging speed, service robot will have broad application prospects in China, and service robot technology has also obtained swift and violent development.General service robot organizes work based on mobile platform, is different from industrial robot, and service robot is to rely on battery to carry out the robot of independent mobile working.Because the job site of service robot is the movable intensive place of the people such as family, hospital, therefore the reliability of robot has been proposed to stricter requirement simultaneously.
Be limited to volume, weight, mode of operation of robot etc., service-delivery machine man-hour nearly all adopts rechargeable battery pack that the energy is provided, and battery pack volume is also restricted.After robot must complete certain workload, just can return to charging station and charge.Because operational environment is the environment that has close contact with people, for the reliability that discharges and recharges of battery, very high requirement is proposed.In this case, service robot need to have the power-supply management system of a set of mature and reliable, for the work that ensures that robot power supply can be reliable and stable.
Summary of the invention
Object of the present invention is exactly in order to address the above problem; the invention provides a kind of ferric phosphate lithium cell power-supply management system and method for work for service robot; it can effectively protect battery pack; improve the reliability of battery pack; and dump energy that can Measurement accuracy battery; facilitate robot to carry out mission planning according to electricity consumption situation, finally ensure that robot is reliable, the work of safety and efficiently rate.
To achieve these goals, the present invention adopts following technical scheme:
For the ferric phosphate lithium cell power-supply management system of service robot, comprising:
Ferric phosphate lithium cell group; described ferric phosphate lithium cell group is connected with lithium battery hardware protection circuit; the input of described lithium battery hardware protection circuit is connected with charging inlet; the output of described lithium battery hardware protection circuit is connected with power input interface; described power input interface is connected with power loop and control loop respectively by master switch
The output of described lithium battery hardware protection circuit is connected with electrical measurement display circuit power supply, and described electrical measurement display circuit power supply is powered to electrical measurement display circuit;
Described electrical measurement display circuit comprises that the mode that adopts ampere-hour integration method and open circuit voltage method to combine carries out the processor that battery dump energy percentage SOC estimates, the input of described processor is connected with voltage detecting circuit, current detection circuit and temperature sensing circuit respectively, the output of described processor is connected with buzzer warning cue circuit, isolated form CAN transmission circuit and display screen respectively, and described processor is by the relay in control relay circuit control power loop;
The output of described master switch is connected with voltage detecting circuit, current detection circuit and temperature sensing circuit respectively;
The large electric current major loop of the common formation of described power input interface, master switch and power major loop relay.
Described power loop comprises power major loop relay, and the input of described power major loop relay is connected with master switch, and the output of described power major loop relay is connected with some large electric current ancillary equipment.
Described control loop comprises some low-voltage equipment power supplys for expanding.
Described large electric current major loop comprises cell input terminal+VB, described cell input terminal+VB connects battery output-VB by four parallel circuitss, Article 1, parallel circuits is provided with the anti-reverse diode D4 of MBR3035CT, Article 2 parallel circuits is provided with SMCJ30 Transient Suppression Diode D5, Article 3 parallel circuits is provided with 4007 diode D3, Article 4 parallel circuits is provided with the light-emitting diode of series connection, resistance R 4 and motor power VCL, one end of described Article 1 parallel circuits is connected by master switch S1 and the current detection circuit of series connection with one end of Article 2 parallel circuits, the end of described Article 2 parallel circuits connects voltage detecting circuit, circuit between the end of the end of described Article 2 parallel circuits and Article 3 parallel circuits is provided with two contact KK1 and the KK2 of power major loop relay, on the circuit that described cell input terminal+VB is connected with Article 1 parallel circuits, be also provided with 30A safety plate F1.
Described current detection circuit comprises Hall element ACS712, two IP+ ends of described Hall element ACS712 are connected with the node of master switch, and two IP-ends of described Hall element ACS712 are connected with the negative pole of the SMCJ30 Transient Suppression Diode D5 of Article 2 parallel circuits; The VCC of VCC termination+5V of described Hall element ACS712; The VCC end of described Hall element ACS712 also meets GND by 0.1 μ F capacitor C 1; The VIOUT of described Hall element ACS712 holds connect between GND end 5k resistance R 1 and 10k resistance R 2, described 10k resistance R 2 is also in parallel with the circuit that is in series with diode D1 and 1nF capacitor C 3, the output that tie point between described diode D1 and 1nF capacitor C 3 is current detection circuit, the FITER end of described Hall element ACS712 is by 1nF capacitor C 2 ground connection.
Described voltage detecting circuit comprises 20K resistance R 9 and the 120K resistance R 10 of series connection, one end ground connection not being connected with resistance R 10 of described resistance R 9, one end not being connected with resistance R 9 of described resistance R 10 is connected with the negative pole of the SMCJ30 Transient Suppression Diode D5 of the Article 2 parallel circuits of described large electric current major loop; The circuit parallel connection of described resistance R 9 and the capacitor C 4 of connecting and resistance R 8, the output that the tie point between described capacitor C 4 and resistance R 8 is voltage detecting circuit.
Described temperature sensing circuit comprises temperature sensor 18B20, one end of described temperature sensor 18B20 is connected with other one end of temperature sensor 18B20 with resistance R 7 by the VCC of the 5V of series connection, the output that other one end of described temperature sensor is temperature sensing circuit.
Described isolated form CAN transmission circuit comprises digital isolator ADUM1201, the VDD1 end of described digital isolator ADUM1201 connects the VCC of 3V, the VOA end of described digital isolator ADUM1201 is connected with the input pin CANRX of the STM32 chip of processor, and the VIB end of described digital isolator ADUM1201 is connected with the output pin CANTX of the STM32 chip of processor; The VCC of the VDD2 termination 5V of described digital isolator ADUM1201, the VDD2 end of described digital isolator ADUM1201 also meets GND by capacitor C 69, the RXD end of the VIA termination transceiver PCA82C250 of described digital isolator ADUM1201, the TXD end of the VOB termination transceiver PCA82C250 of described digital isolator ADUM1201, the GND2 termination GND of described digital isolator ADUM1201;
The GND termination GND of described transceiver PCA82C250, the VCC of the VCC termination 5V of described transceiver PCA82C250, the VCC end of described transceiver PCA82C250 also meets GND by capacitor C 74, the Rs end of described transceiver PCA82C250 is by resistance R 42 ground connection, the CANH end of described transceiver PCA82C250 connects one end of connector Header4, the CANL end of described transceiver PCA82C250 connects other one end of connector Header4, the CANH end of described transceiver PCA82C250 is connected by resistance R 44 with CANL end, the CANH end of described transceiver PCA82C250 is also connected with 22pF capacitor C 71 by the 22pF capacitor C 70 of series connection with CANL end, the intermediate connection point ground connection of described 22pF capacitor C 70 and 22pF capacitor C 71.
Described electrical measurement display circuit power supply comprises circuit measuring display panel 5V power supply and circuit measuring display panel 3.3V power supply;
Described circuit measuring display panel 5V power supply comprises chip LM2596D2T-5, the VIN end of described chip LM2596D2T-5 connects VB, the ON/OFF end of described chip LM2596D2T-5 is all connected VB by 680 μ F capacitor C 10 with GND end, the OUT end of described chip LM2596D2T-5 and the GND end of chip LM2596D2T-5 are connected diode D7, described diode D7 is in parallel with the circuit of series inductance L and capacitor C 11, described capacitor C 11 is in parallel with capacitor C 12, the OUT end of described chip LM2596D2T-5 passes through inductance L with the B end of chip BNX002-01, the VCC of chip G075V16 and 5V is connected, the GND end of described chip LM2596D2T-5 is connected with the PSG end of chip BNX002-01, the CG end ground connection of described chip BNX002-01, the VCC of the CB termination 5V of described chip BNX002-01, the CB end of described chip BNX002-01 is by resistance R 15 and the light-emitting diode DS1 ground connection of series connection,
Described circuit measuring display panel 3.3V power supply comprises circuit measuring display panel 3.3V digital power and circuit measuring display panel 3.3V analog power;
Described circuit measuring display panel 3.3V digital power, comprise chip REG1117-3.3, the VCC of the IN termination 5V of described chip REG1117-3.3, the GND end ground connection of described chip REG1117-3.3, the IN end of described chip REG1117-3.3 is by capacitor C 17 ground connection, the VCC of described 5V is by capacitor C 18 ground connection, and an OUT end of described chip REG1117-3.3 connects the VCC of 3V by Fuse1, and the 2nd OUT of described chip REG1117-3.3 holds by capacitor C in parallel 19 and capacitor C 20 ground connection;
Described circuit measuring display panel 3.3V analog power, comprise chip REG1117-3.3, the VCC of the IN termination 5V of described chip REG1117-3.3, the GND end ground connection of described chip REG1117-3.3, the IN end of described chip REG1117-3.3 is by capacitor C 21 ground connection, the VCC of described 5V is by capacitor C 22 ground connection, and an OUT end of described chip REG1117-3.3 connects the VCC of 3V by Fuse1, and the 2nd OUT of described chip REG1117-3.3 holds by capacitor C in parallel 23 and capacitor C 24 ground connection;
The GND end of described circuit measuring display panel 3.3V digital power is connected by R21 with the GND end of circuit measuring display panel 3.3V analog power.
Described control relay circuit comprises photoelectrical coupler TLP521, the Anode end of described photoelectrical coupler TLP521 is connected with the VCC of 5V by resistance R 5, the Cathode end of described photoelectrical coupler TLP521 is connected with the JDQC end of chip STM32, the Emitter end of described photoelectrical coupler TLP521 is connected with the emitter of 8050 triode Q1, the Collector end of described photoelectrical coupler TLP521 is connected with the base stage of 8050 triode Q1, the Collector end of described photoelectrical coupler TLP521 is connected with the VCC end of 5V by resistance R 3, the base stage of described 8050 triode Q1 is connected with the emitter of 8050 triode Q1 by resistance R 6, the collector electrode of described 8050 triode Q1 is connected with VBA by 4007 diode D2, the two ends 24V relay in parallel of described 4007 diode D2.
Described processor is chip STM32, and described chip STM32 is also connected with buzzer warning cue circuit, reset circuit, crystal oscillating circuit and dual-colored LED circuit respectively;
Described buzzer warning cue circuit comprises 9013 triode Q2, the base stage of described 9013 triode Q2 connects the PA7 pin of STM32 by resistance R 14, the grounded emitter of described 9013 triode Q2, the collector electrode of described 9013 triode Q2 is connected with a pin of Buzzer, and the another one pin of described Buzzer connects the VCC of 5V.
Described reset circuit comprises reset switch SW-PB, one end ground connection of described reset switch, other one end of described reset switch connects the NRST pin of chip STM32, the NRST pin of described chip STM32 also connects the VCC of 3V by resistance R 18, described reset switch SW-PB is also in parallel with capacitor C 14.
Described crystal oscillating circuit is that the passive crystal oscillator of 8M is connected with OSC_IN pin and the OSC_OUT pin of STM32, OSC_IN pin and OSC_OUT pin 1M resistance R 19 in parallel, and two pins of crystal oscillator are respectively by 22pf capacity earth.
Described dual-colored LED circuit comprises red light emitting diodes and green LED, the positive pole of described red light emitting diodes and green LED is all connected with VCC, described red light emitting diodes is connected with the PB0 pin of chip STM32 by resistance R 12, and described green LED is connected with the PB1 pin of chip STM32 by resistance R 13.
For the ferric phosphate lithium cell method for managing power supply of service robot, comprise the following steps:
Step (1): lithium battery hardware protection circuit judges ferric phosphate lithium cell group state, if ferric phosphate lithium cell group is in allowing discharge condition, battery power circuit is normally worked; If ferric phosphate lithium cell group is in over-discharge state, battery power circuit cannot normally work on power, and now needs charging;
Step (2): electrical measurement display circuit power supply is respectively electrical measurement display circuit 5V and 3.3V power supply are provided, and processor is in running order;
Step (3): the master switch of closed large electric current major loop,
Voltage detecting circuit detects the voltage signal of large electric current major loop, and the voltage signal detecting is transferred to processor, the information of voltage in estimating as electric quantity of lithium battery;
Current detection circuit detects the current signal of large electric current major loop, and by the current signal transfer detecting to processor, as electric quantity of lithium battery estimate in current information;
Temperature sensing circuit detects the temperature of large electric current major loop, and the temperature detecting is transferred to processor, the temperature-compensating in estimating as electric quantity of lithium battery;
Step (4): after system power supply is normal, processor is started working, and obtains the dump energy of battery;
Step (5): processor is presented at the remaining capacity SOC value in the pond obtaining on display screen, obtains carrying out the judgement of current battery status after SOC estimated value each time; Carry out alarm according to current battery status;
Step (6): connect after lithium iron battery charger, carry out battery charging, when electric weight recovers after 15%, remove warning message, the normal work of device, after battery is full of, battery terminal voltage remains unchanged and exceedes 30min, according to terminal voltage-electric quantity curve replacement electric weight initial value, whole device is normally worked.
Said method also comprises step (7):
Step (7): SOC estimates that core is also by the total line traffic control of CAN, turn-off major loop relay, power loop malfunction: break down when control loop detects large electric current peripheral hardware, now control loop disconnects major loop relay by CAN communication notifications processor, and processor sends control signal and disconnects major loop relay; After fault is got rid of, engage relay again.
Described large electric current peripheral hardware breaks down and refers to the situations such as motor rotation blockage, motor be out of control.
Described step (4) comprises the steps:
Step (4-1): system initialization; After initialization finishes, read up-to-date battery dump energy SOC value;
Step (4-2): measuring circuit is started working; Voltage signal is carried out to timing;
If voltage signal does not change in 30 minutes, for the terminal voltage-electric quantity curve of prior acquisition, adopt open circuit voltage method to realize replacement electric weight SOC initial value SOC (t 0); Then enter step (4-3);
If voltage signal changes in 30 minutes, adopt battery dump energy SOC that step (4-1) obtains as initial value SOC (t 0) enter step (4-3);
Step (4-3): obtain SOC initial value SOC (t 0) after, adopt ampere-hour integration method to calculate accumulative total consumes power simultaneously, obtain, after accumulative total consumes power, finally calculating the dump energy of battery: dump energy=electric weight initial value SOC (t of described battery 0)-accumulative total consumes power.
The formula of described ampere-hour integration method is:
SOC ( t ) = SOC ( t 0 ) + ∫ t 0 t k T k R η × idt Q 0 ,
In formula, Q 0be the Standard clectrical quantity that at 25 DEG C, battery is emitted, unit is coulomb (C) or an ampere-hour (Ah),
K tfor the corrected parameter of temperature to battery standard capacity, obtain by searching cubage correction table in conjunction with the temperature of temperature sensor feedback;
K rfor the correction value of electric discharge to battery capacity under different electric currents, obtain by searching cubage correction table under different multiplying according to the electric current of current sensor feedback;
η is a coulomb efficiency, is defaulted as 1.
Described terminal voltage-electric quantity curve is in advance lithium iron battery group in the situation of different temperatures to be measured the storage of a series of terminal voltage discrete point, and abscissa is electric weight, and ordinate is terminal voltage.
In the time judging SOC initial value, first temperature signal is judged, select a terminal voltage-electric quantity curve that temperature is close, then go out electric weight SOC value now according to constant magnitude of voltage correspondence, if there is no suitable terminal voltage-electric quantity curve, adopt interpolation arithmetic, obtain terminal voltage electric quantity curve.
In described step (5), be divided into following three states according to the residual state of electric weight:
Regular picture state: in the time that battery electric quantity is estimated between 15%-100%, power major loop relay closes, large electric current peripheral hardware and all regular picture work of control loop peripheral hardware; Processor normally adds up electric weight, and buzzer does not send low electric weight alarm;
Low state of charge: in the time detecting that battery electric quantity is between 15%-10%, processor control buzzer sends low electric weight alarm sound, and pass through CAN bus communication interface by delivering low battery electric quantity, prompting battery should charge;
Extremely low state of charge: when detecting that battery electric quantity is lower than 10% time, processor disconnects major loop relay, only maintains control circuit some work, until battery power consumption totally, and carries out during this period alarm always.
Beneficial effect of the present invention:
1. the present invention is integrated into lithium iron battery protection, battery electric quantity estimation, electric weight demonstration and power distribution on one block power supply management system plate, has the integration of height.Because this invention Service Robots, can only change as required lithium iron battery monomer after therefore integrated like this, reduce cost.
2. the present invention is directed to operational environment demand; adopt highly reliable battery management chip, ensure the safe and reliable work of lithium iron battery from hardware, possess overcurrent, overvoltage, overcharge, deep-discharge protection; and possess battery balanced function, can extend to greatest extent service time of battery.
3. the present invention adopts the STM32 microprocessor of ARM Cortex kernel, discharging current and voltage is adopted, and carry out battery electric quantity estimation in conjunction with temperature sensor data.STM32 is presented at battery information on display screen in real time, and can data be spread out of by isolated form CAN communication interface.
4. the present invention separates large current circuit and control loop by a relay; isolated form DC/DC power module for control loop power acquisition; STM32 can cut off large electric current peripheral hardware by relay, both can increase battery life, also can be used as circuit protection effect.
To ferric phosphate lithium cell manage, protection and energy distribution, meet the reliability requirement of service robot to power supply.
Patent of the present invention is for requiring high to power safety, need in the real-time equipment of estimating dump energy, be particularly useful for serving in the service robot of the environment such as family, hospital, and this invention possesses good autgmentability, can expand according to demand lithium iron battery capacity, insulating power supply way etc.
Brief description of the drawings
Fig. 1 is structured flowchart of the present invention;
Fig. 2 is the circuit diagram of lithium iron battery hardware protection plate;
Fig. 3 .1 is the circuit diagram of large electric current major loop and current sample;
Fig. 3 .2 voltage sampling circuit figure;
Fig. 3 .3 temperature sampling circuit figure;
Fig. 4 is the hardware circuit schematic diagram of isolated form CAN communication;
Fig. 5 .1 is electrical measurement display panel 5V power supply;
Fig. 5 .2 is electrical measurement display panel 3.3V power supply;
Fig. 6 is control relay circuit;
Fig. 7 is STM32 minimum system core circuit;
Fig. 8 is 3510LCD liquid crystal interface circuit;
Fig. 9 is the discharge curve of 3.2V20Ah lithium iron battery monomer under different temperatures;
Figure 10 is that SOC estimates kernel software workflow diagram;
Wherein, 1, ferric phosphate lithium cell group; 2, lithium battery hardware protection circuit; 3, power input interface, 4, master switch, 5, power loop; 6, large electric current ancillary equipment; 7, low-voltage equipment power supply, 8, electrical measurement display circuit power supply, 9, electrical measurement display circuit; 10, voltage detecting circuit; 11, current detection circuit, 12, temperature sensing circuit, 13, processor; 14, buzzer warning cue circuit; 15, isolated form CAN transmission circuit, 16, display screen, 17, control relay circuit.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
As shown in Figure 1, for the ferric phosphate lithium cell power-supply management system of service robot, comprising:
Ferric phosphate lithium cell group 1; described ferric phosphate lithium cell group is connected with lithium battery hardware protection circuit 2; the input of described lithium battery hardware protection circuit is connected with charging inlet; the output of described lithium battery hardware protection circuit is connected with power input interface 3; described power input interface is connected with power loop 5 and control loop respectively by master switch 4
The output of described lithium battery hardware protection circuit is connected with electrical measurement display circuit power supply 8, and described electrical measurement display circuit power supply is powered to electrical measurement display circuit 9;
Described electrical measurement display circuit comprises that the mode that adopts ampere-hour integration method and open circuit voltage method to combine carries out the processor 13 that battery dump energy percentage SOC estimates, the input of described processor is connected with voltage detecting circuit 10, current detection circuit 11 and temperature sensing circuit 12 respectively, the output of described processor is connected with buzzer warning cue circuit 14, isolated form CAN transmission circuit 15 and display screen 16 respectively, and described processor is also controlled the relay in power loop by control relay circuit 17;
The output of described master switch is connected with voltage detecting circuit 10, current detection circuit and temperature sensing circuit respectively;
The large electric current major loop of the common formation of described power input interface, master switch and power major loop relay.
Described power loop comprises power major loop relay, and the input of described power major loop relay is connected with master switch, and the output of described power major loop relay is connected with some large electric current ancillary equipment 6.
Described control loop comprises some low-voltage equipment power supplys 7 for expanding.
As shown in Fig. 3 .1, described large electric current major loop comprises cell input terminal+VB, described cell input terminal+VB connects battery output-VB by four parallel circuitss, Article 1, parallel circuits is provided with the anti-reverse diode D4 of MBR3035CT, Article 2 parallel circuits is provided with SMCJ30 Transient Suppression Diode D5, Article 3 parallel circuits is provided with 4007 diode D3, Article 4 parallel circuits is provided with the light-emitting diode of series connection, resistance R 4 and motor power VCL, one end of described Article 1 parallel circuits is connected by master switch S1 and the current detection circuit of series connection with one end of Article 2 parallel circuits, the end of described Article 2 parallel circuits connects voltage detecting circuit, circuit between the end of the end of described Article 2 parallel circuits and Article 3 parallel circuits is provided with two contact KK1 and the KK2 of power major loop relay, on the circuit that described cell input terminal+VB is connected with Article 1 parallel circuits, be also provided with 30A safety plate F1.
Described current detection circuit comprises Hall element ACS712, two IP+ ends of described Hall element ACS712 are connected with the node of master switch, and two IP-ends of described Hall element ACS712 are connected with the negative pole of the SMCJ30 Transient Suppression Diode D5 of Article 2 parallel circuits; The VCC of VCC termination+5V of described Hall element ACS712; The VCC end of described Hall element ACS712 also meets GND by 0.1 μ F capacitor C 1; The VIOUT of described Hall element ACS712 holds connect between GND end 5k resistance R 1 and 10k resistance R 2, described 10k resistance R 2 is also in parallel with the circuit that is in series with diode D1 and 1nF capacitor C 3, the output that tie point between described diode D1 and 1nF capacitor C 3 is current detection circuit, the FITER end of described Hall element ACS712 is by 1nF capacitor C 2 ground connection.
As shown in Figure 3 .2, described voltage detecting circuit comprises 20K resistance R 9 and the 120K resistance R 10 of series connection, one end ground connection not being connected with resistance R 10 of described resistance R 9, one end not being connected with resistance R 9 of described resistance R 10 is connected with the negative pole of the SMCJ30 Transient Suppression Diode D5 of the Article 2 parallel circuits of described large electric current major loop; The circuit parallel connection of described resistance R 9 and the capacitor C 4 of connecting and resistance R 8, the output that the tie point between described capacitor C 4 and resistance R 8 is voltage detecting circuit.
As shown in Fig. 3 .3, described temperature sensing circuit comprises temperature sensor 18B20, one end of described temperature sensor 18B20 is connected with other one end of temperature sensor 18B20 with resistance R 7 by the VCC of the 5V of series connection, the output that other one end of described temperature sensor is temperature sensing circuit.
As shown in Figure 4, described isolated form CAN transmission circuit comprises digital isolator ADUM1201, the VDD1 end of described digital isolator ADUM1201 connects the VCC of 3V, the VOA end of described digital isolator ADUM1201 is connected with the input pin CANRX of the STM32 chip of processor, and the VIB end of described digital isolator ADUM1201 is connected with the output pin CANTX of the STM32 chip of processor; The VCC of the VDD2 termination 5V of described digital isolator ADUM1201, the VDD2 end of described digital isolator ADUM1201 also meets GND by capacitor C 69, the RXD end of the VIA termination transceiver PCA82C250 of described digital isolator ADUM1201, the TXD end of the VOB termination transceiver PCA82C250 of described digital isolator ADUM1201, the GND2 termination GND of described digital isolator ADUM1201;
The GND termination GND of described transceiver PCA82C250, the VCC of the VCC termination 5V of described transceiver PCA82C250, the VCC end of described transceiver PCA82C250 also meets GND by capacitor C 74, the Rs end of described transceiver PCA82C250 is by resistance R 42 ground connection, the CANH end of described transceiver PCA82C250 connects one end of connector Header4, the CANL end of described transceiver PCA82C250 connects other one end of connector Header4, the CANH end of described transceiver PCA82C250 is connected by resistance R 44 with CANL end, the CANH end of described transceiver PCA82C250 is also connected with 22pF capacitor C 71 by the 22pF capacitor C 70 of series connection with CANL end, the intermediate connection point ground connection of described 22pF capacitor C 70 and 22pF capacitor C 71.
Described electrical measurement display circuit power supply comprises circuit measuring display panel 5V power supply and circuit measuring display panel 3.3V power supply;
As shown in Fig. 5 .1, described circuit measuring display panel 5V power supply comprises chip LM2596D2T-5, the VIN end of described chip LM2596D2T-5 connects VB, the ON/OFF end of described chip LM2596D2T-5 is all connected VB by 680 μ F capacitor C 10 with GND end, the OUT end of described chip LM2596D2T-5 and the GND end of chip LM2596D2T-5 are connected diode D7, described diode D7 is in parallel with the circuit of series inductance L and capacitor C 11, described capacitor C 11 is in parallel with capacitor C 12, the OUT end of described chip LM2596D2T-5 passes through inductance L with the B end of chip BNX002-01, the VCC of chip G075V16 and 5V is connected, the GND end of described chip LM2596D2T-5 is connected with the PSG end of chip BNX002-01, the CG end ground connection of described chip BNX002-01, the VCC of the CB termination 5V of described chip BNX002-01, the CB end of described chip BNX002-01 is by resistance R 15 and the light-emitting diode DS1 ground connection of series connection,
As shown in Fig. 5 .2, described circuit measuring display panel 3.3V power supply comprises circuit measuring display panel 3.3V digital power and circuit measuring display panel 3.3V analog power;
Described circuit measuring display panel 3.3V digital power, comprise chip REG1117-3.3, the VCC of the IN termination 5V of described chip REG1117-3.3, the GND end ground connection of described chip REG1117-3.3, the IN end of described chip REG1117-3.3 is by capacitor C 17 ground connection, the VCC of described 5V is by capacitor C 18 ground connection, and an OUT end of described chip REG1117-3.3 connects the VCC of 3V by Fuse1, and the 2nd OUT of described chip REG1117-3.3 holds by capacitor C in parallel 19 and capacitor C 20 ground connection;
Described circuit measuring display panel 3.3V analog power, comprise chip REG1117-3.3, the VCC of the IN termination 5V of described chip REG1117-3.3, the GND end ground connection of described chip REG1117-3.3, the IN end of described chip REG1117-3.3 is by capacitor C 21 ground connection, the VCC of described 5V is by capacitor C 22 ground connection, and an OUT end of described chip REG1117-3.3 connects the VCC of 3V by Fuse1, and the 2nd OUT of described chip REG1117-3.3 holds by capacitor C in parallel 23 and capacitor C 24 ground connection;
The GND end of described circuit measuring display panel 3.3V digital power is connected by R21 with the GND end of circuit measuring display panel 3.3V analog power.
As shown in Figure 6, described control relay circuit comprises photoelectrical coupler TLP521, the Anode end of described photoelectrical coupler TLP521 is connected with the VCC of 5V by resistance R 5, the Cathode end of described photoelectrical coupler TLP521 is connected with the JDQC end of chip STM32, the Emitter end of described photoelectrical coupler TLP521 is connected with the emitter of 8050 triode Q1, the Collector end of described photoelectrical coupler TLP521 is connected with the base stage of 8050 triode Q1, the Collector end of described photoelectrical coupler TLP521 is connected with the VCC end of 5V by resistance R 3, the base stage of described 8050 triode Q1 is connected with the emitter of 8050 triode Q1 by resistance R 6, the collector electrode of described 8050 triode Q1 is connected with VBA by 4007 diode D2, the two ends 24V relay in parallel of described 4007 diode D2.
As shown in Figure 7, described processor is chip STM32, and described chip STM32 is also connected with buzzer warning cue circuit, reset circuit, crystal oscillating circuit and dual-colored LED circuit respectively;
Described buzzer warning cue circuit comprises 9013 triode Q2, the base stage of described 9013 triode Q2 connects the PA7 pin of STM32 by resistance R 14, the grounded emitter of described 9013 triode Q2, the collector electrode of described 9013 triode Q2 is connected with a pin of Buzzer, and the another one pin of described Buzzer connects the VCC of 5V.
Described reset circuit comprises reset switch SW-PB, one end ground connection of described reset switch, other one end of described reset switch connects the NRST pin of chip STM32, the NRST pin of described chip STM32 also connects the VCC of 3V by resistance R 18, described reset switch SW-PB is also in parallel with capacitor C 14.
Described crystal oscillating circuit is that the passive crystal oscillator of 8M is connected with OSC_IN pin and the OSC_OUT pin of STM32, OSC_IN pin and OSC_OUT pin 1M resistance R 19 in parallel, and two pins of crystal oscillator are respectively by 22pf capacity earth.
Described dual-colored LED circuit comprises red light emitting diodes and green LED, the positive pole of described red light emitting diodes and green LED is all connected with VCC, described red light emitting diodes is connected with the PB0 pin of chip STM32 by resistance R 12, and described green LED is connected with the PB1 pin of chip STM32 by resistance R 13.
As shown in Figure 8,3510LCD liquid crystal interface circuit.
For the ferric phosphate lithium cell method for managing power supply of service robot, comprise the following steps:
Step (1): lithium battery hardware protection circuit judges ferric phosphate lithium cell group state, if ferric phosphate lithium cell group is in allowing discharge condition, battery power circuit is normally worked; If ferric phosphate lithium cell group is in over-discharge state, battery power circuit cannot normally work on power, and now needs charging;
Step (2): electrical measurement display circuit power supply is respectively electrical measurement display circuit 5V and 3.3V power supply are provided, and processor is in running order;
Step (3): the master switch of closed large electric current major loop,
Voltage detecting circuit detects the voltage signal of large electric current major loop, and the voltage signal detecting is transferred to processor, the information of voltage in estimating as electric quantity of lithium battery;
Current detection circuit detects the current signal of large electric current major loop, and by the current signal transfer detecting to processor, as electric quantity of lithium battery estimate in current information;
Temperature sensing circuit detects the temperature of large electric current major loop, and the temperature detecting is transferred to processor, the temperature-compensating in estimating as electric quantity of lithium battery;
Step (4): after system power supply is normal, processor is started working, and obtains the dump energy of battery;
Step (5): processor is presented at the remaining capacity SOC value in the pond obtaining on display screen, obtains carrying out the judgement of current battery status after SOC estimated value each time; Carry out alarm according to current battery status;
Step (6): connect after lithium iron battery charger, carry out battery charging, when electric weight recovers after 15%, remove warning message, the normal work of device, after battery is full of, battery terminal voltage remains unchanged and exceedes 30min, according to terminal voltage-electric quantity curve replacement electric weight initial value, whole device is normally worked.
Said method also comprises step (7):
Step (7): SOC estimates that core is also by the total line traffic control of CAN, turn-off major loop relay, power loop malfunction: break down when control loop detects large electric current peripheral hardware, now control loop disconnects major loop relay by CAN communication notifications processor, and processor sends control signal and disconnects major loop relay; After fault is got rid of, engage relay again.
Described large electric current peripheral hardware breaks down and refers to the situations such as motor rotation blockage, motor be out of control.
As shown in figure 10, described step (4) comprises the steps:
Step (4-1): system initialization; After initialization finishes, read up-to-date battery dump energy SOC value;
Step (4-2): measuring circuit is started working; Voltage signal is carried out to timing;
If voltage signal does not change in 30 minutes, for the terminal voltage-electric quantity curve of prior acquisition, adopt open circuit voltage method to realize replacement electric weight SOC initial value SOC (t 0); Then enter step (4-3);
If voltage signal changes in 30 minutes, adopt battery dump energy SOC that step (4-1) obtains as initial value SOC (t 0) enter step (4-3);
Step (4-3): obtain SOC initial value SOC (t 0) after, adopt ampere-hour integration method to calculate accumulative total consumes power simultaneously, obtain, after accumulative total consumes power, finally calculating the dump energy of battery: dump energy=electric weight initial value SOC (t of described battery 0)-accumulative total consumes power.
The formula of described ampere-hour integration method is:
SOC ( t ) = SOC ( t 0 ) + ∫ t 0 t k T k R η × idt Q 0 ,
In formula, Q 0be the Standard clectrical quantity that at 25 DEG C, battery is emitted, unit is coulomb (C) or an ampere-hour (Ah),
K tfor the corrected parameter of temperature to battery standard capacity, obtain by searching cubage correction table in conjunction with the temperature of temperature sensor feedback;
K rfor the correction value of electric discharge to battery capacity under different electric currents, obtain by searching cubage correction table under different multiplying according to the electric current of current sensor feedback;
η is a coulomb efficiency, is defaulted as 1;
SOC (t 0) be t 0the electric weight in moment, SOC (t) is the electric weight in t moment.
Described terminal voltage-electric quantity curve is in advance lithium iron battery group in the situation of different temperatures to be measured the storage of a series of terminal voltage discrete point, and abscissa is electric weight, and ordinate is terminal voltage.
In the time judging SOC initial value, first temperature signal is judged, select a terminal voltage-electric quantity curve that temperature is close, then go out electric weight SOC value now according to constant magnitude of voltage correspondence, if there is no suitable terminal voltage-electric quantity curve, adopt interpolation arithmetic, obtain terminal voltage electric quantity curve.
In described step (5), be divided into following three states according to the residual state of electric weight:
Regular picture state: in the time that battery electric quantity is estimated between 15%-100%, power major loop relay closes, large electric current peripheral hardware and all regular picture work of control loop peripheral hardware; Processor normally adds up electric weight, and buzzer does not send low electric weight alarm;
Low state of charge: in the time detecting that battery electric quantity is between 15%-10%, processor control buzzer sends low electric weight alarm sound, and pass through CAN bus communication interface by delivering low battery electric quantity, prompting battery should charge;
Extremely low state of charge: when detecting that battery electric quantity is lower than 10% time, processor disconnects major loop relay, only maintains control circuit some work, until battery power consumption totally, and carries out during this period alarm always.
It mainly comprises: lithium battery hardware protection circuit, electrical measurement display circuit, power management distributor circuit and ferric phosphate lithium cell group are connected;
Lithium battery protection circuit: for the protection of ferric phosphate lithium cell; possess overcharge protection, deep-discharge protection, battery charging and discharging equalization function, excess current protective function and overheat protective function; this baffle is accepted the control of power distribution management board; can directly close the Voltage-output of lithium iron battery monomer; while breaking down again, really accomplish the current supply circuit of safe and reliable cut-out lithium iron battery.
Electrical measurement display circuit: taking STM32 single-chip microcomputer as processing controls core, voltage and current to the major loop from power supply input carries out signals collecting, in conjunction with the available dump energy of ampere-hour integral algorithm and open circuit voltage method estimation battery, show by LCD screen, and by this information the formal output with isolated form CAN signal.Be responsible for receiving the control signal from CAN simultaneously, be used for controlling lithium battery protection board and close lithium battery output.
Power management distributor circuit: battery protecting plate is exported after master switch, and power supply is divided into power loop and control loop two parts.Power loop is used for expanding high-current equipment interface, and control loop adopts isolated form DC/DC module to be extended to multiple power supplies according to demand, in order to give the control circuit part power supply of other equipment.
Ferric phosphate lithium cell group: adopt the monomer ferric phosphate lithium cell of 3.2V20Ah to be composed in series, 8 monomers altogether, make ferric phosphate lithium cell group operating voltage reach operating voltage and capacity requirement is the power supply of power management distributor circuit part.
Described lithium battery protection circuit adopts the battery protection chip S-8209A of carried charge equilibrium function, and S-8209A chip is connected CTLC, CTLD terminal with CO, the DO terminal of other S-8209A, form multiple battery protecting circuits that are connected in series.S-8209A chip internal possesses the detection transducer that overcharges, electric quantity balancing detects transducer and overdischarge detects transducer, in the time that chip detection, to battery, above-mentioned state occurs, can start corresponding control logic.Chip CTLC, CTLD terminal are connected with CO, DO, the state of a batteries wherein can be affected to other power supply chip states by the terminal connecting, and finally correctly provide the logic of whole protection chip.In the time detecting that wherein a batteries is overcharged, control logic disconnects CFET, battery pack disconnects charging, open corresponding FET simultaneously, the monomer overcharging is discharged, by the time this monomer drop to overcharge remove voltage once after, control logic is opened CFET, charge normal, this process is charge balancing process.Equalization discharge process and charge balancing process are similar, but detect that in battery, a certain monomer discharges into after overdischarge detection voltage, and control logic disconnects DFET, after balance electric discharge, then opens DFET.S-8239 chip is overcurrent detection chip, and in the time that S-8239 chip detection is greater than overcurrent detection voltage to the pressure drop on RSENSE, the DO end output low level of chip, closes DFET, turn-offs lithium battery output.
Described electrical measurement display circuit adopts Hall current sensor ACS712 to carry out main circuit current detection, detect main circuit voltage by the mode of precision resistance dividing potential drop, adopt integrated temperature sensor 18B20 to carry out temperature detection, the information of transducer is delivered in master control core STM32.The mode that adopts ampere-hour integration method and open circuit voltage method to combine in STM32 is carried out the estimation of battery dump energy, because lithium iron battery is under different temperatures, battery activity has a great difference, therefore the battery operated ambient temperature that this algorithm records in conjunction with 18B20 is revised, and makes remaining capacity estimation more accurate.On electric quantity display plate, be furnished with a small-sized LCD screen, for showing the information such as parameter information, dump energy of battery, this master control core can also be passed through isolation CAN telecommunication circuit simultaneously, and battery information is uploaded.
Described power distribution management circuit is divided into power major loop and the control loop circuit of large electric current according to robot demand.In power major loop, there is the equipment that the power consumptions such as motor are large, can cause to cell voltage the equipment of interference, therefore disturb in order to reduce, power distribution management circuit was divided into circuit the DC/DC power supply of multichannel isolation before power major loop relay, interference signal is isolated in outside control signal, has greatly reduced interference.According to different demands, select the DC/DC module of different voltages to be easy to expand.Dynamic loop relay on power distribution plate, in the time that high-current equipment breaks down, block system relay in time, control loop still can normally be worked.
System architecture diagram of the present invention as shown in Figure 1.System comprises four parts: lithium battery hardware protection circuit, electrical measurement display circuit, power management distributor circuit and ferric phosphate lithium cell group are connected.
1. lithium battery hardware protection circuit
Patent of the present invention adopts the ferric phosphate lithium cell composition battery pack of 3.2V20Ah, and as shown in Figure 2, each piece lithium iron battery monomer is corresponding to a S-8209A chip.S-8209A chip is the battery protection IC with electric quantity balancing function that Seiko is released.S8209A chip can be connected CTLC, CTLD terminal with CO, DO terminal, as shown in Figure 2, form the protective circuit of multiple series-connected cells.The cell hardware protective circuit being made up of S-8209A has four kinds of operating states: conventionally state, forbid charged state, forbid discharge condition, electric quantity balancing function.S-8209A possesses the testing circuit of overcharging, overdischarge testing circuit, electric quantity balancing testing circuit.Operating temperature range is-40 DEG C-+85 DEG C.
Conventionally state: as shown in Figure 2, S-8209A chip CTLC, CTLD and CO, CD join end to end, S-8209A chip CTLC and CTLD terminal bottom forget about it VSS current potential, and this chip is started working, and detect that corresponding battery cell detects voltage (V higher than overdischarge dL) lower than the detection voltage (V that overcharges cU) time, this S-8209A becomes common state, and corresponding CO, DO are pulled to VSS current potential.So second from the bottom S-8209A starts working, if corresponding battery cell voltage detects voltage (V higher than overdischarge dL) lower than the detection voltage (V that overcharges cU) time, corresponding CO, DO is pulled to again VSS current potential, the like, until CO, the DO output low level of the top a slice S-8209A drive corresponding FET conducting, then drive CFET and DFET conducting, now battery can discharge and recharge operation, and this state is called common state.
Forbid charged state: as shown in Figure 2, detect voltage (V higher than overcharging when nethermost S-8209A detects battery cell voltage cU) time, now the CO terminal of this chip becomes high-impedance state, therefore going up a slice CTLC is drawn on inside, the CTLC of above a slice become the current potential of its corresponding battery cell, its CO terminal also becomes high-impedance state, the like, the CO terminal output of the S-8209A of the top also becomes high-impedance state, so turn-off corresponding to the CFET in circuit, now forbid charging.
Forbid discharge condition: as shown in Figure 2, detect voltage (V when nethermost S-8209A detects corresponding monomer voltage lower than overdischarge dL), other S-8209A is in common state.The DO terminal of this chip block becomes high-impedance state, therefore go up a slice CTLD terminal owing to drawing on inside, also become the current potential of corresponding battery cell, its DO terminal becomes high-impedance state, the like the DO terminal of S-8209A of corresponding the top be high-impedance state, DFET in corresponding circuits turn-offs, and now forbids electric discharge.
Electric quantity balancing function: S-8209A possesses charging balance and electric discharge equilibrium function.Because charging detects voltage (V when monomer voltage is greater than electric quantity balancing bU) time, the CB terminal output high level of corresponding S-8209A, for controlling the FET conducting of equilibrium charging, carries out bypass to the charging current that flows into battery cell, and compared with the monomer charging with other, this monomer charging rate is steady, is called charging balance.In the time that nethermost monomer becomes overdischarge, other S-8209A also becomes over-discharge state, if now the voltage of battery cell detects voltage (V higher than overdischarge dL), corresponding FET conducting is discharged to battery, until corresponding monomer voltage detects voltage lower than overdischarge, corresponding FET closes, and this balance becomes electric discharge equilibrium function.
Hardware protection circuit has overcurrent detection chip S-8239A simultaneously; S-8239A chip is connected on the voltage on RSENSE in loop by detection; detect voltage with inner overcurrent and compare, in the time the situation that overcurrent occurs being detected, DO terminal output VSS, turn-offs DFET.This chip has undervoltage lookout function simultaneously, prevents from causing IC misoperation because cell voltage declines.
Adopt NTC thermistor to be connected on the S-8209A chip of below, in the time of excess Temperature, disconnect CTLC and CTLD, thereby cut off the charging and discharging circuit of battery.
2. electrical measurement testing circuit
The electric quantity detecting circuit core processor of patent of the present invention is STM32 microprocessor, and as shown in Figure 1, battery protecting circuit discharge port is connected to master switch, and large current circuit is divided into power major loop and controls electric power loop.Hall current sensor ACS712 connects in large electric current major loop after master switch, ACS712 is the current sensor that the employing hall principle of Allegro company carries out current sample, can arrive ± 30A of maximum range, the IP+ of ACS712 and IP-pin chip internal are the precision resistances of 1.2m Ω, there is isolation features, be a kind of current sensor of linearity, output error is 1.5%, is applicable to electric current to gather.Voltage acquisition adopts electric resistance partial pressure, and by the voltage after dividing potential drop, through linear optical coupling, isolation enters STM32 microprocessor, utilizes the ADC of STM32 microprocessor internal to carry out respectively voltage and current sample.
As shown in Figure 9, the discharge curve through experiment ferric phosphate lithium cell under different temperatures is different, when temperature is low, and battery poor activity, the electric weight that can emit is few.Because the present invention requires accurately to estimate the dump energy of battery, therefore, the situation of battery electric quantity temperature influence should take in, and therefore, has increased 18B20 temperature sensor carry out temperature detection at lithium iron battery place.
The inner mode that adopts ampere-hour integration method and open circuit voltage method to combine of STM32 is carried out SOC (battery dump energy percentage) and is estimated.The SOC of battery is a relative quantity, uses percentage as unit of measurement.Dump energy formula is as follows, and wherein establishing the electric weight that battery 1C multiplying power discharging emits is Q 0as normal capacity, k rfor the corrected parameter that multiplying power R discharges to battery standard capacity, can obtain this correction value by looking into the mode of cubage correction table under different multiplying.K tfor temperature corrected parameter, 25 DEG C is 1, and other temperature can be tabled look-up and be obtained by cubage correction table under different temperatures.η is a coulomb efficiency, because lithium iron battery efficiency for charge-discharge is high, for convenience of calculation is defaulted as 1.
SOC ( t ) = SOC ( t 0 ) + ∫ t 0 t k T k R η × idt Q 0
When detecting that battery is after charged state and running status sufficient standing are more than 30 minutes, STM32 is according to terminal voltage-SOC table inquiry battery initial quantity of electricity.Revise according to different discharging currents and ambient temperature, carry out primary current sampling every 50ms, and aggregate-value is deposited in FLASH piece, so just can obtain a relatively accurate SOC value.
Electric weight detecting unit has a small-sized TFT screen, some data messages can be presented on screen and conveniently check, adopt isolated form CAN telecommunication circuit as shown in Figure 4 simultaneously, facilitate other equipment and electric quantity acquisition STM32 microprocessor communication to obtain corresponding information.
3. power management distributor circuit
Patent of the present invention is equipped with power distribution management circuit; receive master switch punishment for power major loop and control loop expansion from lithium battery protection circuit output; for fear of the major loop situation out of control that breaks down; on major loop, add a high-current relay; main circuit current is carried out to same control, receive CAN signal by the STM32 single-chip microcomputer on plank and enable and cut off major loop.The principle being separated in line with major loop and control loop, control loop adopts multichannel DC/DC insulating power supply module to expand different electric pressures, to meet the demand of service robot control system.Groundwork state is as follows:
(1) regular picture state: in the time that battery electric quantity is estimated between 15%-100%, power major loop relay closes, large electric current peripheral hardware and the control loop peripheral hardware of power management management system can regular picture work.SOC estimates that control core STM32 normally adds up electric weight, and buzzer does not send low electric weight alarm.
(2) low state of charge: in the time detecting that battery electric quantity is between 15%-10%, SOC estimates that control core STM32 controls buzzer and sends low electric weight alarm sound, and can be by CAN bus communication interface by delivering low battery electric quantity, prompting battery should charge.
(3) extremely low state of charge: when detecting that battery electric quantity is lower than 10% time, SOC estimates that control core STM32 disconnects major loop relay, only maintains control circuit some work, until battery power consumption totally, and carries out during this period alarm always.
(4) power loop malfunction: break down when control loop detects large electric current peripheral hardware, such as the situation such as motor rotation blockage, motor be out of control, now control loop estimates that by CAN communication notifications SOC control core STM32 disconnects major loop relay, in order to ensure not occur that large accident does not appear in equipment, STM32 sends control signal and disconnects major loop relay.After fault is got rid of, engage relay again.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendments that creative work can make or distortion still in protection scope of the present invention.

Claims (13)

1. for the ferric phosphate lithium cell power-supply management system of service robot, it is characterized in that, comprising:
Ferric phosphate lithium cell group; described ferric phosphate lithium cell group is connected with lithium battery hardware protection circuit; the input of described lithium battery hardware protection circuit is connected with charging inlet; the output of described lithium battery hardware protection circuit is connected with power input interface; described power input interface is connected with power loop and control loop respectively by master switch
The output of described lithium battery hardware protection circuit is connected with electrical measurement display circuit power supply, and described electrical measurement display circuit power supply is powered to electrical measurement display circuit;
Described electrical measurement display circuit comprises that the mode that adopts ampere-hour integration method and open circuit voltage method to combine carries out the processor that battery dump energy percentage SOC estimates, the input of described processor is connected with voltage detecting circuit, current detection circuit and temperature sensing circuit respectively, the output of described processor is connected with isolated form CAN transmission circuit and display screen respectively, and described processor is also by the relay in control relay circuit control power loop;
The output of described master switch is connected with voltage detecting circuit, current detection circuit and temperature sensing circuit respectively;
The large electric current major loop of the common formation of described power input interface, master switch and power major loop relay;
Described power loop comprises power major loop relay, and the input of described power major loop relay is connected with master switch, and the output of described power major loop relay is connected with some large electric current ancillary equipment;
Described control loop comprises the low-voltage equipment power supply for expanding.
2. the ferric phosphate lithium cell power-supply management system for service robot as claimed in claim 1, is characterized in that,
Described large electric current major loop comprises cell input terminal+VB, described cell input terminal+VB connects battery output-VB by four parallel circuitss, Article 1, parallel circuits is provided with the anti-reverse diode D4 of MBR3035CT, Article 2 parallel circuits is provided with SMCJ30 Transient Suppression Diode D5, Article 3 parallel circuits is provided with 4007 diode D3, Article 4 parallel circuits is provided with the light-emitting diode of series connection, resistance R 4 and motor power VCL, one end of described Article 1 parallel circuits is connected by master switch S1 and the current detection circuit of series connection with one end of Article 2 parallel circuits, the end of described Article 2 parallel circuits connects voltage detecting circuit, circuit between the end of the end of described Article 2 parallel circuits and Article 3 parallel circuits is provided with two contact KK1 and the KK2 of power major loop relay, on the circuit that described cell input terminal+VB is connected with Article 1 parallel circuits, be also provided with 30A safety plate F1.
3. the ferric phosphate lithium cell power-supply management system for service robot as claimed in claim 1, is characterized in that,
Described current detection circuit comprises Hall element ACS712, two IP+ ends of described Hall element ACS712 are connected with the node of master switch, and two IP-ends of described Hall element ACS712 are connected with the negative pole of the SMCJ30 Transient Suppression Diode D5 of Article 2 parallel circuits; The VCC of VCC termination+5V of described Hall element ACS712; The VCC end of described Hall element ACS712 also meets GND by 0.1 μ F capacitor C 1; The VIOUT of described Hall element ACS712 holds connect between GND end 5k resistance R 1 and 10k resistance R 2, described 10k resistance R 2 is also in parallel with the circuit that is in series with diode D1 and 1nF capacitor C 3, the output that tie point between described diode D1 and 1nF capacitor C 3 is current detection circuit, the FITER end of described Hall element ACS712 is by 1nF capacitor C 2 ground connection.
4. the ferric phosphate lithium cell power-supply management system for service robot as claimed in claim 1, is characterized in that,
Described voltage detecting circuit comprises 20K resistance R 9 and the 120K resistance R 10 of series connection, one end ground connection not being connected with resistance R 10 of described resistance R 9, one end not being connected with resistance R 9 of described resistance R 10 is connected with the negative pole of the SMCJ30 Transient Suppression Diode D5 of the Article 2 parallel circuits of described large electric current major loop; The circuit parallel connection of described resistance R 9 and the capacitor C 4 of connecting and resistance R 8, the output that the tie point between described capacitor C 4 and resistance R 8 is voltage detecting circuit.
5. the ferric phosphate lithium cell power-supply management system for service robot as claimed in claim 1, is characterized in that,
Described temperature sensing circuit comprises temperature sensor 18B20, one end of described temperature sensor 18B20 is connected with other one end of temperature sensor 18B20 with resistance R 7 by the VCC of the 5V of series connection, the output that other one end of described temperature sensor is temperature sensing circuit.
6. the ferric phosphate lithium cell power-supply management system for service robot as claimed in claim 1, is characterized in that,
Described isolated form CAN transmission circuit comprises digital isolator ADUM1201, the VDD1 end of described digital isolator ADUM1201 connects the VCC of 3V, the VOA end of described digital isolator ADUM1201 is connected with the input pin CANRX of the STM32 chip of processor, and the VIB end of described digital isolator ADUM1201 is connected with the output pin CANTX of the STM32 chip of processor; The VCC of the VDD2 termination 5V of described digital isolator ADUM1201, the VDD2 end of described digital isolator ADUM1201 also meets GND by capacitor C 69, the RXD end of the VIA termination transceiver PCA82C250 of described digital isolator ADUM1201, the TXD end of the VOB termination transceiver PCA82C250 of described digital isolator ADUM1201, the GND2 termination GND of described digital isolator ADUM1201;
The GND termination GND of described transceiver PCA82C250, the VCC of the VCC termination 5V of described transceiver PCA82C250, the VCC end of described transceiver PCA82C250 also meets GND by capacitor C 74, the Rs end of described transceiver PCA82C250 is by resistance R 42 ground connection, the CANH end of described transceiver PCA82C250 connects one end of connector Header4, the CANL end of described transceiver PCA82C250 connects other one end of connector Header4, described transceiver
The CANH end of PCA82C250 is connected by resistance R 44 with CANL end, the CANH end of described transceiver PCA82C250 is also connected with 22pF capacitor C 71 by the 22pF capacitor C 70 of series connection with CANL end, the intermediate connection point ground connection of described 22pF capacitor C 70 and 22pF capacitor C 71.
7. the ferric phosphate lithium cell power-supply management system for service robot as claimed in claim 1, is characterized in that,
Described electrical measurement display circuit power supply comprises circuit measuring display panel 5V power supply and circuit measuring display panel 3.3V power supply;
Described circuit measuring display panel 5V power supply comprises chip LM2596D2T-5, the VIN end of described chip LM2596D2T-5 connects VB, the ON/OFF end of described chip LM2596D2T-5 is all connected VB by 680 μ F capacitor C 10 with GND end, the OUT end of described chip LM2596D2T-5 and the GND end of chip LM2596D2T-5 are connected diode D7, described diode D7 is in parallel with the circuit of series inductance L and capacitor C 11, described capacitor C 11 is in parallel with capacitor C 12, the OUT end of described chip LM2596D2T-5 passes through inductance L with the B end of chip BNX002-01, the VCC of chip G075V16 and 5V is connected, the GND end of described chip LM2596D2T-5 is connected with the PSG end of chip BNX002-01, the CG end ground connection of described chip BNX002-01, the VCC of the CB termination 5V of described chip BNX002-01, the CB end of described chip BNX002-01 is by resistance R 15 and the light-emitting diode DS1 ground connection of series connection,
Described circuit measuring display panel 3.3V power supply comprises circuit measuring display panel 3.3V digital power and circuit measuring display panel 3.3V analog power;
Described circuit measuring display panel 3.3V digital power, comprise chip REG1117-3.3, the VCC of the IN termination 5V of described chip REG1117-3.3, the GND end ground connection of described chip REG1117-3.3, the IN end of described chip REG1117-3.3 is by capacitor C 17 ground connection, the VCC of described 5V is by capacitor C 18 ground connection, and an OUT end of described chip REG1117-3.3 connects the VCC of 3V by Fuse1, and the 2nd OUT of described chip REG1117-3.3 holds by capacitor C in parallel 19 and capacitor C 20 ground connection;
Described circuit measuring display panel 3.3V analog power, comprise chip REG1117-3.3, the VCC of the IN termination 5V of described chip REG1117-3.3, the GND end ground connection of described chip REG1117-3.3, the IN end of described chip REG1117-3.3 is by capacitor C 21 ground connection, the VCC of described 5V is by capacitor C 22 ground connection, and an OUT end of described chip REG1117-3.3 connects the VCC of 3V by Fuse1, and the 2nd OUT of described chip REG1117-3.3 holds by capacitor C in parallel 23 and capacitor C 24 ground connection;
The GND end of described circuit measuring display panel 3.3V digital power is connected by R21 with the GND end of circuit measuring display panel 3.3V analog power.
8. the ferric phosphate lithium cell power-supply management system for service robot as claimed in claim 1, is characterized in that,
Described control relay circuit comprises photoelectrical coupler TLP521, the Anode end of described photoelectrical coupler TLP521 is connected with the VCC of 5V by resistance R 5, the Cathode end of described photoelectrical coupler TLP521 is connected with the JDQC end of chip STM32, the Emitter end of described photoelectrical coupler TLP521 is connected with the emitter of 8050 triode Q1, the Collector end of described photoelectrical coupler TLP521 is connected with the base stage of 8050 triode Q1, the Collector end of described photoelectrical coupler TLP521 is connected with the VCC end of 5V by resistance R 3, the base stage of described 8050 triode Q1 is connected with the emitter of 8050 triode Q1 by resistance R 6, the collector electrode of described 8050 triode Q1 is connected with VBA by 4007 diode D2, the two ends 24V relay in parallel of described 4007 diode D2.
9. the ferric phosphate lithium cell power-supply management system for service robot as claimed in claim 1, is characterized in that,
Described processor is also connected with buzzer warning cue circuit, reset circuit, crystal oscillating circuit and dual-colored LED circuit respectively;
Described buzzer warning cue circuit comprises 9013 triode Q2, the base stage of described 9013 triode Q2 connects the PA7 pin of STM32 by resistance R 14, the grounded emitter of described 9013 triode Q2, the collector electrode of described 9013 triode Q2 is connected with a pin of Buzzer, and the another one pin of described Buzzer connects the VCC of 5V;
Described reset circuit comprises reset switch SW-PB, one end ground connection of described reset switch, other one end of described reset switch connects the NRST pin of chip STM32, the NRST pin of described chip STM32 also connects the VCC of 3V by resistance R 18, described reset switch SW-PB is also in parallel with capacitor C 14;
Described crystal oscillating circuit is that the passive crystal oscillator of 8M is connected with OSC_IN pin and the OSC_OUT pin of STM32, OSC_IN pin and OSC_OUT pin 1M resistance R 19 in parallel, and two pins of crystal oscillator are respectively by 22pf capacity earth;
Described dual-colored LED circuit comprises red light emitting diodes and green LED, the positive pole of described red light emitting diodes and green LED is all connected with VCC, described red light emitting diodes is connected with the PB0 pin of chip STM32 by resistance R 12, and described green LED is connected with the PB1 pin of chip STM32 by resistance R 13.
10. the method for work of the management system as described in above-mentioned arbitrary claim, is characterized in that, comprises the following steps:
Step (1): lithium battery hardware protection circuit judges ferric phosphate lithium cell group state, if ferric phosphate lithium cell group is in allowing discharge condition, battery power circuit is normally worked; If ferric phosphate lithium cell group is in over-discharge state, battery power circuit cannot normally work on power, and now needs charging;
Step (2): electrical measurement display circuit power supply is respectively electrical measurement display circuit 5V and 3.3V power supply are provided, and processor is in running order;
Step (3): the master switch of closed large electric current major loop,
Voltage detecting circuit detects the voltage signal of large electric current major loop, and the voltage signal detecting is transferred to processor, the information of voltage in estimating as electric quantity of lithium battery;
Current detection circuit detects the current signal of large electric current major loop, and by the current signal transfer detecting to processor, as electric quantity of lithium battery estimate in current information;
Temperature sensing circuit detects the temperature of large electric current major loop, and the temperature detecting is transferred to processor, the temperature-compensating in estimating as electric quantity of lithium battery;
Step (4): after system power supply is normal, processor is started working, and obtains the dump energy of battery;
Step (5): processor is presented at the remaining capacity SOC value in the pond obtaining on display screen, obtains carrying out the judgement of current battery status after SOC estimated value each time; Carry out alarm according to current battery status;
Step (6): connect after lithium iron battery charger, carry out battery charging, when electric weight recovers after 15%, remove warning message, the normal work of device, after battery is full of, battery terminal voltage remains unchanged and exceedes 30min, according to terminal voltage-electric quantity curve replacement electric weight initial value, whole device is normally worked.
11. methods as claimed in claim 9, is characterized in that, also comprise step (7):
Step (7): SOC estimates that core is also by the total line traffic control of CAN, turn-off major loop relay, power loop malfunction: break down when control loop detects large electric current peripheral hardware, now control loop disconnects major loop relay by CAN communication notifications processor, and processor sends control signal and disconnects major loop relay; After fault is got rid of, engage relay again.
12. methods as claimed in claim 9, is characterized in that, described step (4) comprises the steps:
Step (4-1): system initialization; After initialization finishes, read up-to-date battery dump energy SOC value;
Step (4-2): measuring circuit is started working; Voltage signal is carried out to timing;
If voltage signal does not change in 30 minutes, for the terminal voltage-electric quantity curve of prior acquisition, adopt open circuit voltage method to realize replacement electric weight SOC initial value SOC (t 0); Then enter step (4-3);
If voltage signal changes in 30 minutes, adopt battery dump energy SOC that step (4-1) obtains as initial value SOC (t 0) enter step (4-3);
Step (4-3): obtain SOC initial value SOC (t 0) after, adopt ampere-hour integration method to calculate accumulative total consumes power simultaneously, obtain, after accumulative total consumes power, finally calculating the dump energy of battery: dump energy=electric weight initial value SOC (t of described battery 0)-accumulative total consumes power.
13. methods as claimed in claim 9, is characterized in that,
In described step (5), be divided into following three states according to the residual state of electric weight:
Regular picture state: in the time that battery electric quantity is estimated between 15%-100%, power major loop relay closes, large electric current peripheral hardware and all regular picture work of control loop peripheral hardware; Processor normally adds up electric weight, and buzzer does not send low electric weight alarm;
Low state of charge: in the time detecting that battery electric quantity is between 15%-10%, processor control buzzer sends low electric weight alarm sound, and pass through CAN bus communication interface by delivering low battery electric quantity, prompting battery should charge;
Extremely low state of charge: when detecting that battery electric quantity is lower than 10% time, processor disconnects major loop relay, only maintains control circuit some work, until battery power consumption totally, and carries out during this period alarm always.
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