CN104052130B - For ferric phosphate lithium cell power-supply management system and the method for work of service robot - Google Patents

For ferric phosphate lithium cell power-supply management system and the method for work of service robot Download PDF

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CN104052130B
CN104052130B CN201410316920.4A CN201410316920A CN104052130B CN 104052130 B CN104052130 B CN 104052130B CN 201410316920 A CN201410316920 A CN 201410316920A CN 104052130 B CN104052130 B CN 104052130B
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circuit
power
battery
chip
resistance
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CN104052130A (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 the ferric phosphate lithium cell power-supply management system for service robot and method of work, it comprises 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, described electrical measurement display circuit power supply is powered to electrical measurement display circuit, described electrical measurement display circuit comprises the STM32 chip that the mode adopting ampere-hour integration method and open circuit voltage method to combine carries out battery dump energy percentage SOC estimation.The present invention can manage service robot power supply, ensures lithium iron battery group steady operation, and Real-time Obtaining battery pack information, possess power extension function.

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 for service robot and method of work.
Background technology
Along with the quickening of China's aging speed, service robot will have broad application prospects in China, and service robot technology have also been obtained swift and violent development.General service robot organizes work based on mobile platform, is different from industrial robot, and service robot is the robot relying on battery to carry out independent mobile working.Simultaneously because the job site of service robot is the movable intensive place of the people such as family, hospital, therefore stricter requirement is proposed to machine human reriability.
Be limited to the volume of robot, weight, mode of operation etc., service-delivery machine man-hour nearly all adopts rechargeable battery pack to provide the energy, and battery pack volume is also restricted.After robot must complete certain workload, just can return charging station and charge.Because operational environment is the environment having close contact with people, the discharge and recharge reliability for battery proposes very high requirement.In this case, service robot needs the power-supply management system of a set of mature and reliable, for the work ensureing that robot power supply can be reliable and stable.
Summary of the invention
Object of the present invention is exactly to solve the problem; the invention provides a kind of ferric phosphate lithium cell power-supply management system for service robot and method of work; it effectively can protect battery pack; improve the reliability of battery pack; and can the dump energy of 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 the processor that the mode adopting ampere-hour integration method and open circuit voltage method to combine carries out battery dump energy percentage SOC estimation, 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 controls the relay in power loop by control relay circuit;
The output of described master switch is connected with voltage detecting circuit, current detection circuit and temperature sensing circuit respectively;
Described power input interface, master switch and power major loop relay form big current major loop jointly.
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 big current ancillary equipment.
Described control loop comprises some low-voltage equipment power supplys for expanding.
Described big 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 R4 and motor power VCL, one end of described Article 1 parallel circuits and one end of Article 2 parallel circuits are connected by the master switch S1 that connects and current detection circuit, the end of described Article 2 parallel circuits connects voltage detecting circuit, circuit between the end of described Article 2 parallel circuits and the end of Article 3 parallel circuits is provided with two contact KK1 and KK2 of power major loop relay, the circuit that described cell input terminal+VB is connected with Article 1 parallel circuits is also provided with 30A safety plate F1.
Described current detection circuit comprises Hall element ACS712, described Hall element ACS712 two IP+ ends 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 the VCC termination+5V of described Hall element ACS712; The VCC end of described Hall element ACS712 also meets GND by 0.1 μ F electric capacity C1; Connect between the VIOUT end of described Hall element ACS712 and GND end 5k resistance R1 and 10k resistance R2, described 10k resistance R2 also with the circuit in parallel being in series with diode D1 and 1nF electric capacity C3, tie point between described diode D1 and 1nF electric capacity C3 is the output of current detection circuit, and the FITER end of described Hall element ACS712 is by 1nF electric capacity C2 ground connection.
Described voltage detecting circuit comprises 20K resistance R9 and the 120K resistance R10 of series connection, one end ground connection be not connected with resistance R10 of described resistance R9, one end be not connected with resistance R9 of described resistance R10 is connected with the negative pole of the SMCJ30 Transient Suppression Diode D5 of the Article 2 parallel circuits of described big current major loop; The circuit in parallel of described resistance R9 and the electric capacity C4 connected and resistance R8, the tie point between described electric capacity C4 and resistance R8 is the output of 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 R7 by the VCC of the 5V of series connection, and other one end of described temperature sensor is the output of 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 electric capacity C69, 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 electric capacity C74, the Rs end of described transceiver PCA82C250 is by resistance R42 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 R44 with CANL end, the CANH end of described transceiver PCA82C250 is also connected with 22pF electric capacity C71 by the 22pF electric capacity C70 of series connection with CANL end, the intermediate connection point ground connection of described 22pF electric capacity C70 and 22pF electric capacity C71.
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 electric capacity C10 with GND end, the OUT end of described chip LM2596D2T-5 is connected diode D7 with the GND end of chip LM2596D2T-5, the circuit in parallel of described diode D7 and series inductance L and electric capacity C11, described electric capacity C11 is in parallel with electric capacity C12, the OUT end of described chip LM2596D2T-5 is held with the B of chip BNX002-01 and is passed through inductance L, the VCC of chip G075V16 with 5V is connected, the GND end of described chip LM2596D2T-5 is held with the PSG of chip BNX002-01 and is connected, the CG of described chip BNX002-01 holds ground connection, the VCC of the CB termination 5V of described chip BNX002-01, described chip BNX002-01 CB end by series connection resistance R15 and light-emitting diode DS1 ground 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 of described chip REG1117-3.3 holds ground connection, the IN end of described chip REG1117-3.3 is by electric capacity C17 ground connection, the VCC of described 5V is by electric capacity C18 ground connection, and an OUT end of described chip REG1117-3.3 connects the VCC of 3V by Fuse1, and the 2nd OUT end of described chip REG1117-3.3 is by the electric capacity C19 of parallel connection and electric capacity C20 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 of described chip REG1117-3.3 holds ground connection, the IN end of described chip REG1117-3.3 is by electric capacity C21 ground connection, the VCC of described 5V is by electric capacity C22 ground connection, and an OUT end of described chip REG1117-3.3 connects the VCC of 3V by Fuse1, and the 2nd OUT end of described chip REG1117-3.3 is by the electric capacity C23 of parallel connection and electric capacity C24 ground connection;
The GND end of described circuit measuring display panel 3.3V digital power is held with the GND of circuit measuring display panel 3.3V analog power and is connected by R21.
Described control relay circuit comprises photoelectrical coupler TLP521, the Anode end of described photoelectrical coupler TLP521 is connected by the VCC of resistance R5 and 5V, the Cathode end of described photoelectrical coupler TLP521 is held with the JDQC of chip STM32 and is connected, 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 by the VCC end of resistance R3 and 5V, the base stage of described 8050 triode Q1 is connected with the emitter of 8050 triode Q1 by resistance R6, the collector electrode of described 8050 triode Q1 is connected by 4007 diode D2 and VBA, 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 R14, 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 R18, described reset switch SW-PB is also in parallel with electric capacity C14.
To be the passive crystal oscillator of 8M be connected with the OSC_IN pin of STM32 and OSC_OUT pin described crystal oscillating circuit, and OSC_IN pin and OSC_OUT pins in parallel 1M resistance R19, two pins of crystal oscillator are respectively by 22pf capacity earth.
Described dual-colored LED circuit comprises red light emitting diodes and green LED, described red light emitting diodes is all connected with VCC with the positive pole of green LED, described red light emitting diodes is connected with the PB0 pin of chip STM32 by resistance R12, and described green LED is connected with the PB1 pin of chip STM32 by resistance R13.
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 permission discharge condition, battery power circuit normally works; If ferric phosphate lithium cell group is in over-discharge state, then 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 and provides 5V and 3.3V power supply, and processor is in running order;
Step (3): the master switch of closed big current major loop,
Voltage detecting circuit detects the voltage signal of big current major loop, and the voltage signal detected is transferred to processor, the information of voltage in estimating as electric quantity of lithium battery;
Current detection circuit detects the current signal of big current major loop, and by the current signal transfer that detects to processor, as the current information in electric quantity of lithium battery estimation;
Temperature sensing circuit detects the temperature of big current major loop, and the temperature detected 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): the remaining capacity SOC value in the pond obtained shows on a display screen by processor, carries out the judgement of present battery status after obtaining SOC estimated value each time; Alarm is carried out according to present battery status;
Step (6): after connecting lithium iron battery charger, carry out battery charging, when electricity recovers after 15%, remove warning message, device normally works, and after battery is full of, battery terminal voltage remains unchanged more than 30min, reset electricity initial value according to terminal voltage-electric quantity curve, whole device normally works.
Said method also comprises step (7):
Step (7): SOC estimates that core is also controlled by CAN, turn off major loop relay, power loop malfunction: when control loop detects that big current peripheral hardware breaks down, now control loop disconnects major loop relay by CAN communication notification processor, and processor sends control signal and disconnects major loop relay; After failture evacuation, engage relay again.
Described big 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 terminates, read up-to-date battery dump energy SOC value;
Step (4-2): measuring circuit is started working; Timing is carried out to voltage signal;
If voltage signal does not change in 30 minutes, then for the terminal voltage-electric quantity curve obtained in advance, open circuit voltage method is adopted to realize resetting electricity SOC initial value SOC (t 0); Then step (4-3) is entered;
If voltage signal change in 30 minutes, then the battery dump energy SOC adopting step (4-1) to obtain is 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 consumes power simultaneously, after obtaining accumulative consumes power, finally calculate the dump energy of battery: the dump energy=electricity initial value SOC (t of described battery 0)-accumulative 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 released, unit is coulomb (C) or ampere-hour (Ah),
K tfor temperature is to the corrected parameter of battery standard capacity, the temperature in conjunction with temperature sensor feedback obtains by searching cubage correction table;
K rfor discharging to the correction value of battery capacity under different electric current, the electric current according to current sensor feedback is obtained by cubage correction table under searching different multiplying;
η is coulombic efficiency, is defaulted as 1.
Described terminal voltage-electric quantity curve measures a series of terminal voltage discrete point to store in advance, and abscissa is electricity, and ordinate is terminal voltage.
When judging SOC initial value, first temperature signal being judged, selecting the terminal voltage-electric quantity curve of a temperature close, then according to constant magnitude of voltage corresponding go out electricity SOC value now, if there is no suitable terminal voltage-electric quantity curve, adopt interpolation arithmetic, obtain terminal voltage electric quantity curve.
Following three states are divided into according to the residual state of electricity in described step (5):
Regular picture state: when battery electric quantity is estimated between 15%-100%, power major loop relay closes, big current peripheral hardware and all regular picture work of control loop peripheral hardware; Processor is accumulative electricity normally, and buzzer does not send low electricity alarm;
Low state of charge: when detecting that battery electric quantity is between 15%-10%, processor controls buzzer and sends low electricity alarm sound, and by CAN communication interface by delivering low for battery electric quantity, prompting battery should charge;
Extremely low state of charge: when detect battery electric quantity lower than 10% time, processor disconnects major loop relay, and a maintenance control circuit some work, until battery power consumption is totally, and carries out alarm during this period always.
Beneficial effect of the present invention:
1. lithium iron battery is protected by the present invention, battery electric quantity is estimated, electricity shows and power distribution is integrated on a block power supply management system plate, has the integration of height.Because this invention Service Robots, only can change lithium iron battery monomer as required 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, service time of battery can be extended to greatest extent.
3. the present invention adopts the STM32 microprocessor of ARMCortex kernel, adopts, and carry out battery electric quantity estimation in conjunction with temperature sensor data to discharging current and voltage.Battery information shows on a display screen by STM32 in real time, and data can be spread out of by isolated form CAN communication interface.
4. big current loop and control loop are separated by a relay by the present invention; control loop power acquisition isolated form DC/DC power module; STM32 can cut off big current peripheral hardware by relay, both can increase battery life, also can be used as circuit protection effect.
Ferric phosphate lithium cell is managed, protects and energy distribution, meet the reliability requirement of service robot to power supply.
Patent of the present invention is used for requiring high to power safety, need to estimate in the equipment of dump energy in real time, be particularly useful for serving in the service robot of the environment such as family, hospital, and this invention possesses good autgmentability, lithium iron battery capacity, insulating power supply way etc. can be expanded according to demand.
Accompanying drawing explanation
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 big 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 3.2V20Ah lithium iron battery monomer discharge curve at 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, big 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 the processor 13 that the mode adopting ampere-hour integration method and open circuit voltage method to combine carries out battery dump energy percentage SOC estimation, 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 also controls 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;
Described power input interface, master switch and power major loop relay form big current major loop jointly.
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 big current ancillary equipment 6.
Described control loop comprises some low-voltage equipment power supplys 7 for expanding.
As shown in Fig. 3 .1, described big 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 R4 and motor power VCL, one end of described Article 1 parallel circuits and one end of Article 2 parallel circuits are connected by the master switch S1 that connects and current detection circuit, the end of described Article 2 parallel circuits connects voltage detecting circuit, circuit between the end of described Article 2 parallel circuits and the end of Article 3 parallel circuits is provided with two contact KK1 and KK2 of power major loop relay, the circuit that described cell input terminal+VB is connected with Article 1 parallel circuits is also provided with 30A safety plate F1.
Described current detection circuit comprises Hall element ACS712, described Hall element ACS712 two IP+ ends 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 the VCC termination+5V of described Hall element ACS712; The VCC end of described Hall element ACS712 also meets GND by 0.1 μ F electric capacity C1; Connect between the VIOUT end of described Hall element ACS712 and GND end 5k resistance R1 and 10k resistance R2, described 10k resistance R2 also with the circuit in parallel being in series with diode D1 and 1nF electric capacity C3, tie point between described diode D1 and 1nF electric capacity C3 is the output of current detection circuit, and the FITER end of described Hall element ACS712 is by 1nF electric capacity C2 ground connection.
As shown in Figure 3 .2, described voltage detecting circuit comprises 20K resistance R9 and the 120K resistance R10 of series connection, one end ground connection be not connected with resistance R10 of described resistance R9, one end be not connected with resistance R9 of described resistance R10 is connected with the negative pole of the SMCJ30 Transient Suppression Diode D5 of the Article 2 parallel circuits of described big current major loop; The circuit in parallel of described resistance R9 and the electric capacity C4 connected and resistance R8, the tie point between described electric capacity C4 and resistance R8 is the output of 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 R7 by the VCC of the 5V of series connection, and other one end of described temperature sensor is the output of 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 electric capacity C69, 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 electric capacity C74, the Rs end of described transceiver PCA82C250 is by resistance R42 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 R44 with CANL end, the CANH end of described transceiver PCA82C250 is also connected with 22pF electric capacity C71 by the 22pF electric capacity C70 of series connection with CANL end, the intermediate connection point ground connection of described 22pF electric capacity C70 and 22pF electric capacity C71.
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 electric capacity C10 with GND end, the OUT end of described chip LM2596D2T-5 is connected diode D7 with the GND end of chip LM2596D2T-5, the circuit in parallel of described diode D7 and series inductance L and electric capacity C11, described electric capacity C11 is in parallel with electric capacity C12, the OUT end of described chip LM2596D2T-5 is held with the B of chip BNX002-01 and is passed through inductance L, the VCC of chip G075V16 with 5V is connected, the GND end of described chip LM2596D2T-5 is held with the PSG of chip BNX002-01 and is connected, the CG of described chip BNX002-01 holds ground connection, the VCC of the CB termination 5V of described chip BNX002-01, described chip BNX002-01 CB end by series connection resistance R15 and light-emitting diode DS1 ground 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 of described chip REG1117-3.3 holds ground connection, the IN end of described chip REG1117-3.3 is by electric capacity C17 ground connection, the VCC of described 5V is by electric capacity C18 ground connection, and an OUT end of described chip REG1117-3.3 connects the VCC of 3V by Fuse1, and the 2nd OUT end of described chip REG1117-3.3 is by the electric capacity C19 of parallel connection and electric capacity C20 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 of described chip REG1117-3.3 holds ground connection, the IN end of described chip REG1117-3.3 is by electric capacity C21 ground connection, the VCC of described 5V is by electric capacity C22 ground connection, and an OUT end of described chip REG1117-3.3 connects the VCC of 3V by Fuse1, and the 2nd OUT end of described chip REG1117-3.3 is by the electric capacity C23 of parallel connection and electric capacity C24 ground connection;
The GND end of described circuit measuring display panel 3.3V digital power is held with the GND of circuit measuring display panel 3.3V analog power and is connected by R21.
As shown in Figure 6, described control relay circuit comprises photoelectrical coupler TLP521, the Anode end of described photoelectrical coupler TLP521 is connected by the VCC of resistance R5 and 5V, the Cathode end of described photoelectrical coupler TLP521 is held with the JDQC of chip STM32 and is connected, 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 by the VCC end of resistance R3 and 5V, the base stage of described 8050 triode Q1 is connected with the emitter of 8050 triode Q1 by resistance R6, the collector electrode of described 8050 triode Q1 is connected by 4007 diode D2 and VBA, 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 R14, 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 R18, described reset switch SW-PB is also in parallel with electric capacity C14.
To be the passive crystal oscillator of 8M be connected with the OSC_IN pin of STM32 and OSC_OUT pin described crystal oscillating circuit, and OSC_IN pin and OSC_OUT pins in parallel 1M resistance R19, two pins of crystal oscillator are respectively by 22pf capacity earth.
Described dual-colored LED circuit comprises red light emitting diodes and green LED, described red light emitting diodes is all connected with VCC with the positive pole of green LED, described red light emitting diodes is connected with the PB0 pin of chip STM32 by resistance R12, and described green LED is connected with the PB1 pin of chip STM32 by resistance R13.
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 permission discharge condition, battery power circuit normally works; If ferric phosphate lithium cell group is in over-discharge state, then 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 and provides 5V and 3.3V power supply, and processor is in running order;
Step (3): the master switch of closed big current major loop,
Voltage detecting circuit detects the voltage signal of big current major loop, and the voltage signal detected is transferred to processor, the information of voltage in estimating as electric quantity of lithium battery;
Current detection circuit detects the current signal of big current major loop, and by the current signal transfer that detects to processor, as the current information in electric quantity of lithium battery estimation;
Temperature sensing circuit detects the temperature of big current major loop, and the temperature detected 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): the remaining capacity SOC value in the pond obtained shows on a display screen by processor, carries out the judgement of present battery status after obtaining SOC estimated value each time; Alarm is carried out according to present battery status;
Step (6): after connecting lithium iron battery charger, carry out battery charging, when electricity recovers after 15%, remove warning message, device normally works, and after battery is full of, battery terminal voltage remains unchanged more than 30min, reset electricity initial value according to terminal voltage-electric quantity curve, whole device normally works.
Said method also comprises step (7):
Step (7): SOC estimates that core is also controlled by CAN, turn off major loop relay, power loop malfunction: when control loop detects that big current peripheral hardware breaks down, now control loop disconnects major loop relay by CAN communication notification processor, and processor sends control signal and disconnects major loop relay; After failture evacuation, engage relay again.
Described big 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 terminates, read up-to-date battery dump energy SOC value;
Step (4-2): measuring circuit is started working; Timing is carried out to voltage signal;
If voltage signal does not change in 30 minutes, then for the terminal voltage-electric quantity curve obtained in advance, open circuit voltage method is adopted to realize resetting electricity SOC initial value SOC (t 0); Then step (4-3) is entered;
If voltage signal change in 30 minutes, then the battery dump energy SOC adopting step (4-1) to obtain is 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 consumes power simultaneously, after obtaining accumulative consumes power, finally calculate the dump energy of battery: the dump energy=electricity initial value SOC (t of described battery 0)-accumulative 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 released, unit is coulomb (C) or ampere-hour (Ah),
K tfor temperature is to the corrected parameter of battery standard capacity, the temperature in conjunction with temperature sensor feedback obtains by searching cubage correction table;
K rfor discharging to the correction value of battery capacity under different electric current, the electric current according to current sensor feedback is obtained by cubage correction table under searching different multiplying;
η is coulombic efficiency, is defaulted as 1;
SOC (t 0) be t 0the electricity in moment, the electricity that SOC (t) is t.
Described terminal voltage-electric quantity curve measures a series of terminal voltage discrete point to store in advance, and abscissa is electricity, and ordinate is terminal voltage.
When judging SOC initial value, first temperature signal being judged, selecting the terminal voltage-electric quantity curve of a temperature close, then according to constant magnitude of voltage corresponding go out electricity SOC value now, if there is no suitable terminal voltage-electric quantity curve, adopt interpolation arithmetic, obtain terminal voltage electric quantity curve.
Following three states are divided into according to the residual state of electricity in described step (5):
Regular picture state: when battery electric quantity is estimated between 15%-100%, power major loop relay closes, big current peripheral hardware and all regular picture work of control loop peripheral hardware; Processor is accumulative electricity normally, and buzzer does not send low electricity alarm;
Low state of charge: when detecting that battery electric quantity is between 15%-10%, processor controls buzzer and sends low electricity alarm sound, and by CAN communication interface by delivering low for battery electric quantity, prompting battery should charge;
Extremely low state of charge: when detect battery electric quantity lower than 10% time, processor disconnects major loop relay, and a maintenance control circuit some work, until battery power consumption is totally, and carries out alarm during this period always.
It mainly comprises: lithium battery hardware protection circuit, electrical measurement display circuit, power management distributor circuit are connected with ferric phosphate lithium cell group;
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 accepts the control of power distribution management board; the voltage directly can closing lithium iron battery monomer exports; when breaking down again, really accomplish the current supply circuit of safe and reliable cut-out lithium iron battery.
Electrical measurement display circuit: with STM32 single-chip microcomputer for processing controls core, signals collecting is carried out to the voltage and current of the major loop inputted from power supply, the available dump energy of battery is estimated in conjunction with ampere-hour integral algorithm and open circuit voltage method, shown by LCD screen, and this information is exported with the form of 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 exports after master switch, 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 energize portions 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, are power management distributor circuit energize portions.
Described lithium battery protection circuit adopts the battery protection chip S-8209A of carried charge equilibrium function, and CTLC, CTLD terminal is connected with CO, DO terminal of other S-8209A by S-8209A chip, forms multiple battery protecting circuit be connected in series.S-8209A chip internal possesses overcharge and detects transducer, electric quantity balancing detection transducer and overdischarge detection transducer, when chip detection, to battery, above-mentioned state occurs, can start corresponding control logic.Chip CTLC, CTLD terminal is connected with CO, DO, the state of a wherein batteries can be affected other power supply chip states by the terminal connected, finally correctly provide the logic of whole protect IC.When a wherein batteries generation overcharge being detected, control logic disconnects CFET, battery pack disconnects charging, open corresponding FET simultaneously, the monomer of overcharge is discharged, by the time this monomer drop to overcharge remove voltage once after, control logic opens CFET, charge normal, this process is charge balancing process.Equalization discharge process and charge balancing process similar, but to detect in battery that a certain monomer discharges into after overdischarge detects voltage, control logic disconnects DFET, after equilibrium discharge, then opens DFET.S-8239 chip is overcurrent detection chip, and when S-8239 chip detection is greater than overcurrent detection voltage to the pressure drop on RSENSE, the DO of chip holds output low level, closes DFET, turns off lithium battery and exports.
Described electrical measurement display circuit adopts Hall current sensor ACS712 to carry out main circuit current detection, main circuit voltage is detected 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 adopting ampere-hour integration method and open circuit voltage method to combine in STM32 carries out the estimation of battery dump energy, due to lithium iron battery at different temperatures, battery-active has a great difference, therefore the cell operating conditions temperature that this algorithm records in conjunction with 18B20 is revised, and makes remaining capacity estimation more accurate.Electric quantity display plate is 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 pass through isolation CAN communication circuit simultaneously, is uploaded by battery information.
Described power distribution management circuit is divided into power major loop and the control loop circuit of big current according to robot demand.There is in power major loop the large equipment of the power consumptions such as motor, the equipment of interference can be caused to cell voltage, therefore in order to reduce interference, 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, substantially reduces interference.According to different demand, the DC/DC module of different voltage is selected to be easy to expand.Dynamic loop relay in power distribution board, when high-current equipment breaks down, can block system relay in time, control loop still can normally work.
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 are connected with ferric phosphate lithium cell group.
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 block lithium iron battery monomer corresponds to a S-8209A chip.S-8209A chip is the battery protection IC with electric quantity balancing function that Seiko is released.CTLC, CTLD terminal can be connected with CO, DO terminal by S8209A chip, as shown in Figure 2, forms the protective circuit of multiple series-connected cell.The cell hardware protective circuit be made up of S-8209A has four kinds of operating states: usually state, forbid charged state, forbid discharge condition, electric quantity balancing function.S-8209A possesses overcharge testing circuit, overdischarge testing circuit, electric quantity balancing testing circuit.Operating temperature range is-40 DEG C-+85 DEG C.
Usual state: as shown in Figure 2, S-8209A chip CTLC, CTLD and CO, CD join end to end, S-8209A chip CTLC bottom and CTLD terminal 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) detect voltage (V lower than overcharge cU) time, this S-8209A becomes usual state, and corresponding CO, DO are pulled to VSS current potential.So second from the bottom S-8209A starts working, if the battery cell voltage of correspondence detects voltage (V higher than overdischarge dL) detect voltage (V lower than overcharge cU) time, then corresponding CO, DO are pulled to again VSS current potential, the like, until CO, DO output low level of the top a slice S-8209A, drive corresponding FET conducting, then drive CFET and DFET conducting, now battery can carry out discharge and recharge operation, and this state is called usual state.
Forbid charged state: as shown in Figure 2, when nethermost S-8209A detects that battery cell voltage detects voltage (V higher than overcharge cU) time, now the CO terminal of this chip becomes high-impedance state, therefore a slice CTLC is gone up by inner pull-up, 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 of the S-8209A of the top exports and also becomes high-impedance state, so the CFET corresponded in circuit turns off, now forbid charging.
Forbid discharge condition: as shown in Figure 2, when nethermost S-8209A detects that corresponding monomer voltage detects voltage (V lower than overdischarge dL), other S-8209A is in usual state.Then the DO terminal of this chip block becomes high-impedance state, therefore a slice CTLD terminal is gone up due to inner pull-up, also the current potential of corresponding battery cell is become, 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 turns off, 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 of corresponding S-8209A exports high level, for controlling the FET conducting of equilibrium charging, carries out bypass to the charging current flowing into battery cell, and compared with the monomer charged with other, this monomer charging rate is steady, is called charging balance.When 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), then 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 by detecting the voltage on the RSENSE in the loop of connecting; detect voltage with the overcurrent of inside to compare, when the situation that overcurrent occurs being detected, DO terminal exports VSS, turns off 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 bottom, when temperature is too high, disconnect CTLC and CTLD, thus 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 big current loop is divided into power major loop and controls electric power loop.Connect in big current major loop after master switch Hall current sensor ACS712, ACS712 is the current sensor that the employing hall principle of Allegro company carries out current sample, maximum range can arrive ± 30A, IP+ and the IP-pin chip internal of ACS712 is the precision resistance of 1.2m Ω, there is isolation features, be a kind of linear current sensor, output error is 1.5%, is applicable to gathering electric current.Voltage acquisition adopts electric resistance partial pressure, and the voltage after dividing potential drop is entered STM32 microprocessor through linear optical coupling isolation, utilizes the ADC of STM32 microprocessor internal to carry out voltage and current sample respectively.
As shown in Figure 9, be different through experiment ferric phosphate lithium cell discharge curve at different temperatures, time temperature is low, battery-active is poor, and the electricity that can release is few.Because application claims accurately estimates the dump energy of battery, therefore, the situation of battery electric quantity temperature influence should take in, and therefore, adds 18B20 temperature sensor carry out temperature detection at lithium iron battery place.
The mode that STM32 inside adopts ampere-hour integration method and open circuit voltage method to combine is carried out SOC (battery dump energy percentage) and is estimated.The SOC of battery is a relative quantity, with percentage as unit of measurement.Dump energy formula is as follows, and the electricity wherein setting battery 1C multiplying power discharging to release is as Q 0as normal capacity, k rfor the corrected parameter of multiplying power R electric discharge to battery standard capacity, this correction value can be obtained 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 by cubage correction table under different temperatures and be obtained.η is coulombic efficiency, because lithium iron battery efficiency for charge-discharge is high, in order to 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 not in charged state and running status sufficient standing after more than 30 minutes, STM32 shows inquiry battery initial quantity of electricity according to terminal voltage-SOC.Revise according to different discharging currents and ambient temperature, carry out primary current sampling every 50ms, and by aggregate-value stored in FLASH block, so just can obtain a relatively accurate SOC value.
Electric power detection unit has one piece of small-sized TFT screen, some data messages can be presented on screen and conveniently check, adopt isolated form CAN communication circuit as shown in Figure 4 simultaneously, facilitate other equipment to obtain corresponding information to electric quantity acquisition STM32 microprocessor communication.
3. power management distributor circuit
Patent of the present invention is equipped with power distribution management circuit; export from lithium battery protection circuit and receive master switch punishment for power major loop and control loop expansion; in order to avoid major loop breaks down situation out of control; major loop adds a high-current relay; same control is carried out to main circuit current, receives CAN signal by the STM32 single-chip microcomputer on plank and come enable and cut off major loop.In line with the principle that major loop and control loop are separated, control loop adopts multichannel DC/DC insulating power supply module to expand different electric pressures, to meet the demand of service robot control system.Prevailing operating state is as follows:
(1) regular picture state: when battery electric quantity is estimated between 15%-100%, power major loop relay closes, the big current peripheral hardware of power management management system and control loop peripheral hardware can regular picture work.SOC estimates control core STM32 normally accumulative electricity, and buzzer does not send low electricity alarm.
(2) low state of charge: when detecting that battery electric quantity is between 15%-10%, SOC estimates that control core STM32 controls buzzer and sends low electricity alarm sound, and can by CAN communication interface by delivering low for battery electric quantity, prompting battery should charge.
(3) extremely low state of charge: when detect battery electric quantity lower than 10% time, SOC estimates that control core STM32 disconnects major loop relay, and a maintenance control circuit some work, until battery power consumption is totally, and carries out alarm during this period always.
(4) power loop malfunction: when control loop detects that big current peripheral hardware breaks down, the situation such as such as motor rotation blockage, motor are out of control, now by CAN communication notice SOC, control loop estimates that 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 failture evacuation, can 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 amendment or distortion that creative work can make still within 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 the processor that the mode adopting ampere-hour integration method and open circuit voltage method to combine carries out battery dump energy percentage SOC estimation, 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 also controls the relay in power loop by control relay circuit;
The output of described master switch is connected with voltage detecting circuit, current detection circuit and temperature sensing circuit respectively;
Described power input interface, master switch and power major loop relay form big current major loop jointly;
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 big current ancillary equipment;
Described control loop comprises the low-voltage equipment power supply for expanding.
2., as claimed in claim 1 for the ferric phosphate lithium cell power-supply management system of service robot, it is characterized in that,
Described big 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 R4 and motor power VCL, one end of described Article 1 parallel circuits and one end of Article 2 parallel circuits are connected by the master switch S1 that connects and current detection circuit, the end of described Article 2 parallel circuits connects voltage detecting circuit, circuit between the end of described Article 2 parallel circuits and the end of Article 3 parallel circuits is provided with two contact KK1 and KK2 of power major loop relay, the circuit that described cell input terminal+VB is connected with Article 1 parallel circuits is also provided with 30A safety plate F1.
3., as claimed in claim 1 for the ferric phosphate lithium cell power-supply management system of service robot, it is characterized in that,
Described current detection circuit comprises Hall element ACS712, described Hall element ACS712 two IP+ ends 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 the VCC termination+5V of described Hall element ACS712; The VCC end of described Hall element ACS712 also meets GND by 0.1 μ F electric capacity C1; Connect between the VIOUT end of described Hall element ACS712 and GND end 5k resistance R1 and 10k resistance R2, described 10k resistance R2 also with the circuit in parallel being in series with diode D1 and 1nF electric capacity C3, tie point between described diode D1 and 1nF electric capacity C3 is the output of current detection circuit, and the FITER end of described Hall element ACS712 is by 1nF electric capacity C2 ground connection.
4., as claimed in claim 1 for the ferric phosphate lithium cell power-supply management system of service robot, it is characterized in that,
Described voltage detecting circuit comprises 20K resistance R9 and the 120K resistance R10 of series connection, one end ground connection be not connected with resistance R10 of described resistance R9, one end be not connected with resistance R9 of described resistance R10 is connected with the negative pole of the SMCJ30 Transient Suppression Diode D5 of the Article 2 parallel circuits of described big current major loop; The circuit in parallel of described resistance R9 and the electric capacity C4 connected and resistance R8, the tie point between described electric capacity C4 and resistance R8 is the output of voltage detecting circuit.
5., as claimed in claim 1 for the ferric phosphate lithium cell power-supply management system of service robot, it 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 R7 by the VCC of the 5V of series connection, and other one end of described temperature sensor is the output of temperature sensing circuit.
6., as claimed in claim 1 for the ferric phosphate lithium cell power-supply management system of service robot, it 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 electric capacity C69, 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 electric capacity C74, the Rs end of described transceiver PCA82C250 is by resistance R42 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 R44 with CANL end, the CANH end of described transceiver PCA82C250 is also connected with 22pF electric capacity C71 by the 22pF electric capacity C70 of series connection with CANL end, the intermediate connection point ground connection of described 22pF electric capacity C70 and 22pF electric capacity C71.
7., as claimed in claim 1 for the ferric phosphate lithium cell power-supply management system of service robot, it 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 power supply VB, the ON/OFF end of described chip LM2596D2T-5 is all connected VB by 680 μ F electric capacity C10 with GND end, the OUT end of described chip LM2596D2T-5 is connected diode D7 with the GND end of chip LM2596D2T-5, the circuit in parallel of described diode D7 and series inductance L and electric capacity C11, described electric capacity C11 is in parallel with electric capacity C12, the OUT end of described chip LM2596D2T-5 is held with the B of chip BNX002-01 and is passed through inductance L, the VCC of chip G075V16 with 5V is connected, the GND end of described chip LM2596D2T-5 is held with the PSG of chip BNX002-01 and is connected, the CG of described chip BNX002-01 holds ground connection, the VCC of the CB termination 5V of described chip BNX002-01, described chip BNX002-01 CB end by series connection resistance R15 and light-emitting diode DS1 ground 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 REG1117-3.3U5, the VCC of the IN termination 5V of described chip REG1117-3.3U5, the GND of described chip REG1117-3.3U5 holds ground connection, the IN end of described chip REG1117-3.3U5 is by electric capacity C17 ground connection, the VCC of described 5V is by electric capacity C18 ground connection, the one OUT end of described chip REG1117-3.3U5 connects the VCC of 3V by fuse Fuse1, and the 2nd OUT end of described chip REG1117-3.3U5 is by the electric capacity C19 of parallel connection and electric capacity C20 ground connection;
Described circuit measuring display panel 3.3V analog power, comprise chip REG1117-3.3U6, the VCC of the IN termination 5V of described chip REG1117-3.3U6, the GND of described chip REG1117-3.3U6 holds ground connection, the IN end of described chip REG1117-3.3U6 is by electric capacity C21 ground connection, the VCC of described 5V is by electric capacity C22 ground connection, the one OUT end of described chip REG1117-3.3U6 connects the VCC of 3V by fuse Fuse1, and the 2nd OUT end of described chip REG1117-3.3U6 is by the electric capacity C23 of parallel connection and electric capacity C24 ground connection;
The GND end of described circuit measuring display panel 3.3V digital power is held with the GND of circuit measuring display panel 3.3V analog power and is connected by R21.
8., as claimed in claim 1 for the ferric phosphate lithium cell power-supply management system of service robot, it is characterized in that,
Described control relay circuit comprises photoelectrical coupler TLP521, the Anode end of described photoelectrical coupler TLP521 is connected by the VCC of resistance R5 and 5V, the Cathode end of described photoelectrical coupler TLP521 is held with the JDQC of chip STM32 and is connected, 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 by the VCC end of resistance R3 and 5V, the base stage of described 8050 triode Q1 is connected with the emitter of 8050 triode Q1 by resistance R6, the collector electrode of described 8050 triode Q1 is connected with electric connecting point VBA by 4007 diode D2, the two ends 24V relay in parallel of described 4007 diode D2.
9., as claimed in claim 1 for the ferric phosphate lithium cell power-supply management system of service robot, it 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 R14, 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 SW-PB connects the NRST pin of chip STM32, the NRST pin of described chip STM32 also connects the VCC of 3V by resistance R18, described reset switch SW-PB is also in parallel with electric capacity C14;
To be the passive crystal oscillator of 8M be connected with the OSC_IN pin of STM32 and OSC_OUT pin described crystal oscillating circuit, OSC_IN pin and OSC_OUT pins in parallel 1M resistance R19, and the OSC_IN pin of STM32 and OSC_OUT pin are respectively by 22pf capacity earth;
Described dual-colored LED circuit comprises red light emitting diodes and green LED, described red light emitting diodes is all connected with VCC with the positive pole of green LED, described red light emitting diodes is connected with the PB0 pin of chip STM32 by resistance R12, and described green LED is connected with the PB1 pin of chip STM32 by resistance R13.
10. the method for work of the management system as described in above-mentioned arbitrary claim, is characterized in that, 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 permission discharge condition, battery power circuit normally works; If ferric phosphate lithium cell group is in over-discharge state, then 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 and provides 5V and 3.3V power supply, and processor is in running order;
Step (3): the master switch of closed big current major loop,
Voltage detecting circuit detects the voltage signal of big current major loop, and the voltage signal detected is transferred to processor, the information of voltage in estimating as electric quantity of lithium battery;
Current detection circuit detects the current signal of big current major loop, and by the current signal transfer that detects to processor, as the current information in electric quantity of lithium battery estimation;
Temperature sensing circuit detects the temperature of big current major loop, and the temperature detected 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): the remaining capacity SOC value of the battery obtained shows on a display screen by processor, carries out the judgement of present battery status after obtaining SOC estimated value each time; Alarm is carried out according to present battery status;
Step (6): after connecting lithium iron battery charger, carry out battery charging, when electricity recovers after 15%, remove warning message, device normally works, and after battery is full of, battery terminal voltage remains unchanged more than 30min, reset electricity initial value according to terminal voltage-electric quantity curve, whole device normally works.
11. methods as claimed in claim 10, is characterized in that, also comprise step (7):
Step (7): SOC estimates that core is also controlled by CAN, turn off major loop relay, power loop malfunction: when control loop detects that big current peripheral hardware breaks down, now control loop disconnects major loop relay by CAN communication notification processor, and processor sends control signal and disconnects major loop relay; After failture evacuation, engage relay again.
12. methods as claimed in claim 10, it is characterized in that, described step (4) comprises the steps:
Step (4-1): system initialization; After initialization terminates, read up-to-date battery dump energy SOC value;
Step (4-2): measuring circuit is started working; Timing is carried out to voltage signal;
If voltage signal does not change in 30 minutes, then for the terminal voltage-electric quantity curve obtained in advance, open circuit voltage method is adopted to realize resetting electricity SOC initial value SOC (t 0); Then step (4-3) is entered;
If voltage signal change in 30 minutes, then the battery dump energy SOC adopting step (4-1) to obtain is 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 consumes power simultaneously, after obtaining accumulative consumes power, finally calculate the dump energy of battery: the dump energy=electricity initial value SOC (t of described battery 0)-accumulative consumes power.
13. methods as claimed in claim 10, is characterized in that,
Following three states are divided into according to the residual state of electricity in described step (5):
Regular picture state: when battery electric quantity is estimated between 15%-100%, power major loop relay closes, big current peripheral hardware and all regular picture work of control loop peripheral hardware; Processor is accumulative electricity normally, and buzzer does not send low electricity alarm;
Low state of charge: when detecting that battery electric quantity is between 15%-10%, processor controls buzzer and sends low electricity alarm sound, and by CAN communication interface by delivering low for battery electric quantity, prompting battery should charge;
Extremely low state of charge: when detect battery electric quantity lower than 10% time, processor disconnects major loop relay, and a maintenance control circuit some work, until battery power consumption is totally, and carries out alarm during this period always.
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