CN106647349A - Power supply security control system for wheeled robot - Google Patents
Power supply security control system for wheeled robot Download PDFInfo
- Publication number
- CN106647349A CN106647349A CN201610903374.3A CN201610903374A CN106647349A CN 106647349 A CN106647349 A CN 106647349A CN 201610903374 A CN201610903374 A CN 201610903374A CN 106647349 A CN106647349 A CN 106647349A
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- cpu
- module
- power supply
- power
- control system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention discloses a power supply security control system for a wheeled robot, which comprises a power supply regulation and control module, a CPU, an LED screen and a temperature sensor. In addition, a main emergency switch, a main MOS transistor and a main current meter are sequentially installed on a circuit between a power supply module and a power supply regulation and control module, a branch MOS transistor, a branch current meter and a branch emergency switch are sequentially installed on a circuit between the power supply regulation and control module and a power utilization module; the main MOS transistor, the branch MOS transistor, the main current meter and the branch current meter are connected with the CPU, the power supply regulation and control module is provided with an independent a normally-supply power supply which provides power for the CPU; the LCD screen is connected to the CPU through an SPI (Serial Peripheral Interface), the temperature sensor is connected with the CPU through an I2C bus, and the CPU is connected with the power utilization module through a CAN bus; and the CPU is further provided with an I2C bus so as to be connected with the power supply module and is used for reading the real-time power quantity of the power supply module.
Description
Technical field
The invention belongs to power safety control system and application, it is related to the monitoring to power-supply system and electricity consumption module
Security control, specifically a kind of power safety control system for wheeled robot.
Background technology
At present robot power supply system is powered using modular power supply to subsystems, intermediate tie T
Type connecting line and emergency switch for the disparate modules of same voltage powering and control being switched on and off for whole power-supply system.
The topological diagram of existing power supply system is referring to Fig. 1.
The robot power supply system for commonly using at present cannot accomplish the power-on and power-off sequential to each electricity consumption module and electricity consumption
The real-time detection of electric current, cannot also carry out abnormity of power supply (including excessively stream, short circuit etc.) and system exception monitoring and process, less
Can realize carrying out monitor in real time to each system mode of electricity consumption module, once system malfunctions cannot respond rapidly to it is abnormal and
Make corresponding protection to process, and effectively positioning directly perceived cannot be carried out, fault location and the maintenance very inconvenience in later stage.
Based on real world applications demand, existing power supply system has following three aspect to need to improve：
1. productibility：In view of product production in enormous quantities production capacity in the future, need for each power module to be integrated in one
The power-supply system as whole robot is played, interacting between power-supply system and others electronic system need to adopt standard interface
It is attached with standard cable, while the structure and mould of robot and convenient production and assembling in the future should be adapted to.
2. power and monitor：Power-supply system is the sole energy source of robot system, and core design thought mainly has two
Aspect：Power supply and monitoring.Power supply aspect：In addition to needing to provide necessary energy output, because robot is one large-scale
Integrated automation system, is integrated with several subsystems, and the startup between subsystems has successively requirement, it is therefore desirable to
Order of the control power supply to electric on subsystems and lower electricity, i.e. electrifying timing sequence.Monitoring aspect：The subsystem of robot is more,
The characteristics of power supply of each subsystem has high voltage, high current.Once power supply occurs abnormal, then may produce after destructiveness
Really, therefore, power-supply system has to the electricity consumption situation and system mode of monitor in real time subsystems, once certain subsystem goes out
Now abnormal, then real-time response is abnormal and its power supply is processed.
3. visual interactive：The product of one maturation will not only consider high-performance and function-stable, in addition it is also necessary to consider that user makes
Convenience and comfortableness.For robot, man-machine interaction is then an important step.Have one in robot
Individual screen display operation interface and laucher.For a user, another piece of screen is needed to allow user intuitively to see machine
Electricity consumption situation, dump energy of people etc., meanwhile, need a simple interface for users to select display content on screen.For
After sale for engineer, when robot breaks down, intuitively fault point and fault type are needed, therefore, on screen
Abnormality code should be also shown in addition to display system state.
Present power-supply system uses the power module of separate type to build what is formed by system cascade system, therefore
Above-mentioned requirement does not also meet.
The content of the invention
For the deficiencies in the prior art part, the present invention proposes a kind of power safety control system for wheeled robot
System.The design core concept of the system is that high input voltage is converted to into voltage output required for subsystems, while
With voltage management and the security monitoring system that the feedback network being made up of galvanometer, sensor and CAN etc. constitutes a closed loop
System.
The present invention solves the technical scheme of the technical problem, designs a kind of power safety control for wheeled robot
System processed, it is characterised in that including power supply regulation and control module, CPU, LCD display, temperature sensor, also, supply module with
Total road emergency button, total road metal-oxide-semiconductor, total road galvanometer are sequentially installed with circuit between power supply regulation and control module, are adjusted in power supply
Branch metal-oxide-semiconductor, branch current meter and branch emergency button are sequentially installed with circuit between control module and electricity consumption module；Total road
Metal-oxide-semiconductor, branch metal-oxide-semiconductor, total road galvanometer, branch current meter are connected with CPU, have in power supply regulation and control module and individually often supply all the way
Power supply, powers to CPU；LCD display is linked on CPU by SPI interface, and temperature sensor is connected by I2C buses with CPU
Connect, CPU is connected by CAN with electricity consumption module；CPU is additionally provided with an I2C buses, is connected with supply module.
Compared with prior art, its advantage is the present invention：Power safety control system of the present invention passes through galvanometer
The electric current of real-time monitoring electricity consumption module and the situation of voltage, and the closing and conducting of branch circuit are controlled by metal-oxide-semiconductor；In addition,
The system is provided with temperature sensor and the CAN that is directly connected to electricity consumption module is connected with CPU, by supervisory-controlled robot
The situation of portion's temperature and electricity consumption module performs feedback control strategy.On the one hand the power safety control system of present invention design can be with
On the other hand realize that power-supply system is managed, network monitored by temperature sensor, CAN and CPU control realizations closed loop,
Safeguard measure can be automatically carried out when system occurs abnormal, while the real-time status and abnormal information of system are intuitively opened up
In face of present user and maintenance personal；More GPIO and various communication interfaces are reserved, is provided extensively for Function Extension in the future
Wealthy space.
Description of the drawings
Fig. 1 is the topological diagram of existing power supply system.
Fig. 2 be a kind of a kind of frame structure of embodiment of power safety control system for wheeled robot of the present invention and
Operation principle schematic diagram.
Specific embodiment
Below with reference to accompanying drawing, the present invention is described further, but the protection model of the present invention should not be limited with this
Enclose.
For convenience of explanation and understand technical scheme, below illustrate the used noun of locality with accompanying drawing institute
The orientation of displaying is defined.
A kind of power safety control system (abbreviation power safety control system, referring to Fig. 1-2) for wheeled robot,
Characterized in that, including power supply regulation and control module, CPU, LCD display, temperature sensor, in supply module and power supply module is regulated and controled
Between circuit on be sequentially installed with total road emergency button, total road metal-oxide-semiconductor, total road galvanometer, regulate and control module and electricity consumption in power supply
Branch metal-oxide-semiconductor, branch current meter and branch emergency button are sequentially installed with circuit between module；Total road metal-oxide-semiconductor, branch
Metal-oxide-semiconductor, total road galvanometer, branch current meter are connected with CPU, have independent power supply normal all the way in power supply regulation and control module, give
CPU powers；LCD display is linked on CPU by SPI interface, and temperature sensor is connected by I2C buses with CPU, and CPU leads to
Cross CAN to be connected with electricity consumption module；CPU is additionally provided with an I2C buses, is connected with supply module, for reading supply module
Real time electrical quantity.
The input voltage that supply module is provided is converted into the power supply regulation and control module input electricity required for electricity consumption module
Pressure value；The power supply regulation and control module has multiple voltage output ends, when electricity consumption module includes multiple subsystems, by supply module
Input voltage be converted into subsystems and CPU required for input voltage value, the power output capacity with more than 400W.
On circuit between multiple voltage output ends and the subsystem of electricity consumption module of the power supply regulation and control module respectively
One branch metal-oxide-semiconductor, a branch current meter are installed, branch emergency button is arranged on the subsystem required voltage of electricity consumption module
On maximum circuit.
The CPU control by control total road metal-oxide-semiconductor, branch metal-oxide-semiconductor be switched on and off carry out electricity consumption module each
The power-on and power-off SECO of subsystem.Current signal is converted into analog voltage signal output by galvanometer, and CPU is by the signals collecting
And current value is calculated, realize carrying out monitor in real time to the electric current of each circuit.When current value exceedes threshold value, then it is assumed that the route
Road exception, CPU can turn off this route road, and realization is protected to system.
Temperature sensor carries out monitor in real time to the air themperature of robot interior, and CPU reads temperature in real time by I2C interfaces
Angle value, and temperature is included on LCD display, when temperature exceedes threshold value all circuits to be turned off.
The CPU is monitored by CAN agreement to the real-time status of the subsystems of electricity consumption module, works as detection
During to certain subsystem exception, then respective handling is made.
The abnormal scene of each subsystem, can preset a corresponding abnormality code, when CPU monitors a certain subsystem
Abnormal scene when, corresponding abnormality code can be included on LCD display, being easy to maintenance personal's intuitively fault point
And fault type.
The CPU is read in real time by I2C interfaces to the electricity of supply module, when electricity is less than setting value, such as
When 20%, then low battery early warning is carried out, and alarm signal is included in LCD display.
The LCD display is the LCD display of dot matrix, and interface is SPI interface.CPU is by the electricity of supply module, each
The real-time current of individual circuit, the real time temperature of robot interior and abnormality code are displayed on LCD display.
As shown in Fig. 2 control system of the present invention is used as core control element by CPU carrying out at concentration to each event
Reason, realizes power supply, monitoring and shows three zones.
In Fig. 2, the output voltage of the supply module of selection is 42V, and the voltage output end of power supply regulation and control module is four, point
Not Wei two 24V voltage output end, the voltage output end of a 12V, and the voltage output end of a 3.3V；Wherein 3.3V
Voltage output end be linked on CPU, other three voltage output ends are linked in the three subsystems of electricity consumption module, this three
On wire between the three subsystems of individual voltage output end and electricity consumption module, a branch metal-oxide-semiconductor is sequentially installed with respectively
With a branch current meter, separately there is a branch emergency button to be arranged on the circuit of a 24V voltage output end.Supply module
Regulated and controled after the regulating and controlling voltage of module by power supply, can be converted into four tunnels can meet the power supply of different needs for electricity, and CPU passes through
Control and galvanometric monitoring to each metal-oxide-semiconductor, can monitor in real time to electricity consumption module three subsystems voltage and current
Situation, when the controller of the circuit that certain subsystem is located, then turns off the circuit.The CPU passes through CAN agreement
The real-time status of the subsystems of electricity consumption module is monitored, when detecting certain subsystem and being abnormal, then makes corresponding
Process.The abnormal scene of each subsystem, can preset a corresponding abnormality code, when CPU monitors a certain subsystem
During abnormal scene, corresponding abnormality code can be included on LCD display.The CPU is by I2C interfaces to supply module
Electricity is read in real time, when electricity is less than 20%, then carries out low battery early warning, and alarm signal is included to show in LCD
Screen.Temperature sensor carries out monitor in real time to the air themperature of robot interior, and CPU reads real-time temperature values by I2C interfaces,
And include temperature on LCD display, when temperature exceedes threshold value all circuits to be turned off.
The power safety control system of present invention design, is a highly integrated circuit system, and each road power supply is with mark
Fool-proof design is drawn and done to quasi- interface, and production and the time assembled are saved to greatest extent.Power safety control of the present invention
System processed controls branch circuit by the electric current of galvanometer real-time monitoring electricity consumption module and the situation of voltage by metal-oxide-semiconductor
Close and turn on；In addition, the system is provided with temperature sensor and the CAN that is directly connected to electricity consumption module is connected with CPU,
Feedback control strategy is performed by the situation of supervisory-controlled robot internal temperature and electricity consumption module.The power safety control of present invention design
On the one hand system processed can realize that power-supply system is managed, on the other hand, by temperature sensor, CAN and CPU control realizations
Closed loop monitoring network, when system occurs abnormal safeguard measure can be automatically carried out.In addition, the control system expansibility
It is relatively strong, by reserving more GPIO and various communication interfaces, for Function Extension in the future wide space is provided.
The announcement and teaching of book according to the above description, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula is changed and changed.Therefore, specific embodiment disclosed and described above is the invention is not limited in, to the present invention's
Some modifications and changes should also be as falling in the scope of the claims of the present invention.Although additionally, used in this specification
Some specific terms, but these terms are merely for convenience of description, do not constitute any restriction to the present invention.
The present invention does not address part and is applied to prior art.
Claims (10)
1. a kind of power safety control system for wheeled robot, it is characterised in that including power supply regulation and control module, CPU,
Total road is sequentially installed with LCD display, temperature sensor, also, the circuit between supply module and power supply regulation and control module
Emergency button, total road metal-oxide-semiconductor, total road galvanometer, are sequentially installed with the circuit between power supply regulation and control module and electricity consumption module
Branch metal-oxide-semiconductor, branch current meter and branch emergency button；Total road metal-oxide-semiconductor, branch metal-oxide-semiconductor, total road galvanometer, branch current meter
It is connected with CPU, has independent power supply normal all the way in power supply regulation and control module, powers to CPU；LCD display passes through SPI interface
It is linked on CPU, temperature sensor is connected by I2C buses with CPU, CPU is connected by CAN with electricity consumption module；CPU is also
An I2C buses are provided with, are connected with supply module.
2. a kind of power safety control system for wheeled robot according to claim 1, it is characterised in that described
The input voltage that supply module is provided is converted into power supply regulation and control module the input voltage value required for electricity consumption module and CPU.
3. a kind of power safety control system for wheeled robot according to claim 1, it is characterised in that described
Power supply regulation and control module has multiple voltage output ends, when electricity consumption module includes multiple subsystems, by the input electricity of supply module
Press the input voltage value required for being converted into subsystems and CPU, the power output capacity with more than 400W.
4. a kind of power safety control system for wheeled robot according to claim 1, it is characterised in that described
One point is respectively provided with wire between multiple voltage output ends and the subsystem of electricity consumption module of power supply regulation and control module
Road metal-oxide-semiconductor, a branch current meter, branch emergency button is arranged on the circuit of the subsystem required voltage maximum of electricity consumption module
On.
5. a kind of power safety control system for wheeled robot according to claim 1, it is characterised in that described
CPU by control total road metal-oxide-semiconductor, branch metal-oxide-semiconductor be switched on and off to carry out electricity consumption module subsystems power-on and power-off when
Sequence is controlled.
6. a kind of power safety control system for wheeled robot according to claim 1, it is characterised in that electric current
Current signal is converted into analog voltage signal output by meter, and CPU is by the signals collecting and calculates current value, realizes to each line
The electric current on road carries out monitor in real time；When current value exceedes threshold value, then it is assumed that the route road exception, CPU can turn off this route road.
7. a kind of power safety control system for wheeled robot according to claim 1, it is characterised in that temperature
Sensor carries out monitor in real time to the air themperature of robot interior, and CPU reads real-time temperature values by I2C interfaces, and by temperature
Degree is displayed on LCD display, and when temperature exceedes threshold value all circuits are turned off.
8. a kind of power safety control system for wheeled robot according to claim 1, it is characterised in that described
CPU is monitored by CAN agreement to the real-time status of the subsystems of electricity consumption module, when detecting certain subsystem
When abnormal, then respective handling is made；The abnormal scene of each subsystem, can preset a corresponding abnormality code, when CPU prisons
When measuring the abnormal scene of a certain subsystem, corresponding abnormality code can be included on LCD display.
9. a kind of power safety control system for wheeled robot according to claim 1, it is characterised in that described
CPU is read in real time by I2C interfaces to the electricity of supply module, when electricity is less than setting value, then carries out low battery pre-
It is alert, and alarm signal is included in LCD display.
10. a kind of power safety control system for wheeled robot according to claim 1, it is characterised in that institute
The LCD display that LCD display is dot matrix is stated, interface is SPI interface；CPU is by the electricity of supply module, the reality of each circuit
When electric current, the real time temperature of robot interior and abnormality code be displayed on LCD display.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610903374.3A CN106647349B (en) | 2016-10-17 | 2016-10-17 | Power supply safety control system for wheeled robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610903374.3A CN106647349B (en) | 2016-10-17 | 2016-10-17 | Power supply safety control system for wheeled robot |
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| Publication Number | Publication Date |
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| CN106647349A true CN106647349A (en) | 2017-05-10 |
| CN106647349B CN106647349B (en) | 2023-08-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610903374.3A Active CN106647349B (en) | 2016-10-17 | 2016-10-17 | Power supply safety control system for wheeled robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114884021A (en) * | 2022-05-27 | 2022-08-09 | 苏州浪潮智能科技有限公司 | Power supply control method of power supply circuit and related components |
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2016
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| CN114884021A (en) * | 2022-05-27 | 2022-08-09 | 苏州浪潮智能科技有限公司 | Power supply control method of power supply circuit and related components |
| CN114884021B (en) * | 2022-05-27 | 2023-11-03 | 苏州浪潮智能科技有限公司 | Power supply control method of power supply circuit and related components |
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| Publication number | Publication date |
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| CN106647349B (en) | 2023-08-15 |
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