CN107196380A - A kind of power management system of robot and robot - Google Patents
A kind of power management system of robot and robot Download PDFInfo
- Publication number
- CN107196380A CN107196380A CN201710586998.1A CN201710586998A CN107196380A CN 107196380 A CN107196380 A CN 107196380A CN 201710586998 A CN201710586998 A CN 201710586998A CN 107196380 A CN107196380 A CN 107196380A
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- circuit
- charging
- power
- switch
- chip
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0068—Battery or charger load switching, e.g. concurrent charging and load supply
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention provides a kind of power management system of robot, including power supply, DCDC circuits, power switch, power control circuit and process chip, wherein, the power cathode and the power switch are grounded respectively, the positive source is connected with the power control circuit, the DCDC circuits and the process chip, the ungrounded end of the power switch connects the power control circuit, and the power control circuit is additionally provided with for the voltage output interface to direct current generator output voltage.It can be seen that, the present invention utilizes power control circuit, and the voltage conversion that multiple batteries are connected is powered into control signal, process chip according to whistle control system, and the power management connected to multiple batteries is realized using existing process chip.The invention also discloses a kind of robot, including any of the above-described power management system of robot, and with constructed effect.
Description
Technical field
The present invention relates to embedded hardware technical field of power management, more particularly to a kind of power management system of robot and
Robot.
Background technology
The development of current Intelligent hardware product is very fast, and product category is very more such as mobile phone, flat board, VR, intelligence machine
People, intelligent sound box etc., among these some product due to system requirements (such as motor, high power loudspeaker) can be using many economize on electricitys
The form of pond series connection series connection is to ensure enough operating voltage and power, and the hardware platform of overwhelming majority products is all based at present
The process chip of ARM frameworks, and these process chips are all based on the voltage range of single battery, generally pressure-resistant only 0~
5.5V or so, and in the prior art, the voltage requirements of many products are 9V or 12V, the scheme connected according to multiple batteries,
Then, to the range of management of supply voltage, there is the risk of process chip overload burning beyond process chip in the prior art.
In summary, how to realize that the power management connected to multiple batteries is art technology using existing process chip
Personnel need the technical problem solved at present.
The content of the invention
In view of this, it is an object of the invention to provide a kind of power management system of robot and robot, it is possible to use
Existing process chip realizes the power management connected to multiple batteries.Its concrete scheme is as follows：
A kind of power management system of robot, including power supply, DCDC circuits, power switch, power control circuit and processing
Chip, wherein, the power cathode and the power switch are grounded respectively, the positive source and the power control circuit,
The DCDC circuits and process chip series connection, the ungrounded end of the power switch connects the power control circuit, institute
Power control circuit is stated to be additionally provided with for the voltage output interface to direct current generator output voltage.
It is preferred that, the ON-OFF control circuit includes first switch circuit and second switch circuit, the first switch electricity
Road is provided with the enabling signal receiving port being connected with the second switch circuit, and the first switch circuit is provided with and the place
The off signal receiving port of chip connection is managed, the ungrounded end of the power switch connects the second switch circuit.
It is preferred that, the power management system of robot also includes：
Under system closedown state, if triggering the power switch, the second switch circuit then connects to the enabling signal
Receiving end mouthful sends enabling signal, to control the first switch circuit to connect the power supply；
Under system boot state, if triggering the power switch, the process chip is then to the off signal receiving terminal
Mouth sends off signal, to control the first switch circuit to disconnect the power supply.
It is preferred that, the power management system of robot also includes charging circuit, and the charging circuit includes the 3rd switch
Circuit, charging adapter, charging chip and inductance, wherein, again with the described 3rd after the inductance and charging chip series connection
On-off circuit is parallel between the voltage input end of the voltage output end of the first switch circuit and the DCDC circuits, described
The charging voltage output port of charging adapter connects the charging voltage input port of charged chip, the 3rd on-off circuit
Provided with control signal receiving port, to receive the control signal that the charging chip is sent, the first switch circuit also includes
Charging adapter access interface, for receiving charging adapter access signal.
It is preferred that, the power management system of robot also includes：
Under system closedown state, if the charging adapter access interface receives the charging adapter access signal,
Then the first switch circuit connects the power supply, and the charging chip is by the inductance to the power source charges；
Under system boot state, if the charging adapter access interface receives the charging adapter access signal,
Then the first switch circuit connects the power supply, the control institute that the charging chip is sent to the control signal receiving port
The control signal of the 3rd on-off circuit disconnection is stated, the charging chip is to the DCDC circuit output voltages.
It is preferred that, under system boot state, the charging adapter is accessed, the charging chip is defeated to the DCDC circuits
Go out voltage, if system load is more than the charging adapter, the charging chip is sent to the control signal receiving port
Control the 3rd on-off circuit connection control signal, the charging chip and the power supply are powered simultaneously.
It is preferred that, the charging circuit is also quiet between the charging adapter device and the charging chip including being connected on
Any one or a few in electric protective device, the first filter circuit, overvoltage crowbar and current foldback circuit.
It is preferred that, the process chip also includes being used for sending charging current to the charging chip according to battery temperature
The charge control interface of Regulate signal, wherein, it is in series with the second filtering between the charge control interface and the charging chip
Circuit.
It is preferred that, the voltage output interface is provided with isolation discharge circuit, and the isolation discharge circuit includes the 4th switch
Circuit and transistor circuit, wherein, the voltage input end of the 4th on-off circuit connects the voltage of the second switch circuit
Output end, the voltage output end of the 4th on-off circuit exports direct current after connecting the base stage and emitter stage of the transistor circuit
Motor control signal, is provided with two poles between the voltage output end of the 3rd on-off circuit and the emitter stage of the transistor circuit
Pipe, is provided with the first divider resistance, institute between the voltage output end of the 3rd on-off circuit and the base stage of the transistor circuit
It is grounded after colelctor electrode the second divider resistance of series connection for stating transistor circuit.
It is preferred that, if electro-motor can not control to run well according to the d.c. motor signal, disconnect the described 4th
On-off circuit.
It is preferred that, the process chip also includes electric power detection interface, wherein, the electric power detection interface connection the 5th is opened
The voltage output end of the first switch circuit is connected behind powered-down road.
Present invention also offers a kind of robot, including the power management system of robot described in any of the above-described.
The invention provides a kind of power management system of robot, including power supply, DCDC circuits, power switch, power supply control
Circuit processed and process chip, wherein, the power cathode and the power switch are grounded respectively, the positive source and the electricity
Source control circuit, the DCDC circuits and process chip series connection, the ungrounded end of the power switch connects the power supply
Circuit is controlled, the power control circuit is additionally provided with for the voltage output interface to direct current generator output voltage.It can be seen that, this hair
In bright, power control circuit is closed, then power supply is cut off completely；Power switch is triggered under off-mode, power control circuit is led
It is logical, power supply is connected into access system, process chip then keeps system electrification according to signal；Touched after power switch starts under open state
Generating source switch, power control circuit excision power supply, system power failure.The present invention utilizes multiple switch circuit, by multiple batteries string
Joint group into supply voltage be converted into control signal, using on the premise of existing process chip, realize to multiple batteries string
The power management of connection.
The invention also discloses a kind of robot, including any of the above-described power management system of robot, and with identical
Technique effect, will not be repeated here.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is a kind of structural representation of power management system of robot provided in an embodiment of the present invention；
Fig. 2 is a kind of circuit diagram of specific power management system of robot provided in an embodiment of the present invention；
Fig. 3 illustrates for a kind of circuit of power management system of robot including charging circuit provided in an embodiment of the present invention
Figure；
Fig. 4 is a kind of electricity of the specific power management system of robot including charging circuit provided in an embodiment of the present invention
Road schematic diagram；
Fig. 5 (1) and Fig. 5 (2) is a kind of specific use charging chip BQ24133 machine provided in an embodiment of the present invention
The circuit diagram of charging circuit in people's power-supply management system；
Fig. 6 is the circuit signal of on-off circuit in a kind of specific power management system of robot provided in an embodiment of the present invention
Figure；
Fig. 7 a kind of specifically includes the power management system of robot of charge control interface to be provided in an embodiment of the present invention
Circuit diagram；
Fig. 8 be a kind of specific power management system of robot provided in an embodiment of the present invention in utilize charge control interface
The charging current of realization adjusts the circuit diagram of circuit；
Fig. 9 is a kind of specific power management system of robot including isolating discharge circuit provided in an embodiment of the present invention
Circuit diagram；
Figure 10 is isolation discharge circuit in a kind of specific power management system of robot provided in an embodiment of the present invention
Circuit diagram.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
It is shown in Figure 1 the invention provides a kind of power management system of robot, including power supply Battery, DCDC electricity
Road DCDC, power switch Power Key1, power control circuit Control and process chip AP, wherein, the power cathode and
The power switch is grounded respectively, the positive source and the power control circuit, the DCDC circuits and the processing core
Piece is connected, and the ungrounded end of the power switch connects the power control circuit, and the power control circuit, which is additionally provided with, to be used for
To the voltage output interface of direct current generator output voltage.
It is managed present invention aims at the power supply connected using the realization of existing process chip to multiple batteries, by
The voltage range of single battery is all based in existing process chip, generally pressure-resistant only 0~5.5V or so, battery herein,
Conventional batteries on finger ordinary meaning, such as 18650 batteries, the single battery voltage conventional voltage such as including 1.5V, 3.2V and 5V,
The specific material of battery may include Ni-MH battery, ferric phosphate lithium cell or lithium battery.
It is understood that multiple batteries are connected in the present invention, refer to the power supply being composed in series more than the battery of a section, when
So, there is special battery, i.e. single battery voltage more than conventional batteries, because the special battery can be considered multiple conventional batteries
Series connection, therefore protection scope of the present invention should also be fallen into the power management of the special battery using the principle realization of the present invention.
Fig. 2 is a kind of specific embodiment of the present invention, including power supply Battery, ON-OFF control circuit, DCDC circuits
DCDC, power switch Power Key1, process chip AP, wherein, ON-OFF control circuit include first switch circuit Switch1 and
Second switch circuit Switch2, the first switch circuit is provided with the enabling signal being connected with the second switch circuit and received
Port, the first switch circuit is provided with the off signal receiving port being connected with the process chip, the power switch
Ungrounded end connects the second switch circuit；Supply voltage is VBAT, and diode D4, D5 are Schottky diode, and it is acted on
For rectification, current limliting.It is of course also possible to use other rectifier circuit current limitings.DCDC is the buck chips for decompression.
Under off-mode, first switch circuit Switch1 is closed, and battery is completely cut through with system, system is kept extremely low
Leakage current, prevent battery over-discharge problem.
Under off-mode, power switch Power key1, second switch circuit Switch2 conductings, to enabling signal are triggered
Receiving port sends enabling signal Button Signal, i.e., Button Signal are pulled into high level, opens first switch electricity
Electric on road Switch1, system voltage VSYS, process chip AP detects Power on Signal and is pulled low, then draws high shutdown letter
Number Hold Signal signals, even if off signal interface can not receive off signal, make system be always maintained at power-up state.
Process chip AP detects power switch power key1 and pressed under open state, sends shutdown command, handles core
Piece AP walks shutdown process, and off signal Hold signal are sent to off signal receiving port, and switch Switch1 is closed, system
Power down.
Wherein, Hold signal are process chip AP latch signals, keep system electrification；Button signal are unlatching
The signal that power switch sets out；Power on signal are the starting-up signal that process chip AP is sent.
It should be noted that first switch circuit Switch1, second switch circuit Switch2 in the present invention, the 3rd opening
Powered-down road Switch3, the 4th on-off circuit Switch4 or the 5th on-off circuit Switch5 can be single in actual applications
Switching component or the on-off circuit that is made up of logic component or the place with switch control functions
Manage chip.
Due in actual use, most of power supply is rechargeable battery, therefore the present invention is added in the above-described embodiments
Charging circuit.
Shown in Figure 3, the present invention includes first switch circuit and second switch circuit in above-mentioned ON-OFF control circuit
Again there is provided the specific embodiment of charging circuit is included on the basis of embodiment, the charging circuit includes the 3rd switch electricity
Road Switch3, charging adapter Adapter, charging chip Charge IC and inductance L1, wherein, the inductance and the charging
It is parallel to the voltage output end and DCDC electricity of the first switch circuit after chip-in series with the 3rd on-off circuit again
Between the voltage input end on road, the charging voltage of the charged chip of charging voltage output port connection of the charging adapter is defeated
Inbound port, the 3rd on-off circuit is provided with control signal receiving port, to receive the control signal that the charging chip is sent,
The first switch circuit also includes charging adapter access interface, for receiving charging adapter access signal.
Under system closedown state, if the charging adapter access interface receives the charging adapter access signal,
Then the first switch circuit connects the power supply, and the charging chip is by the inductance to the power source charges；
Under system boot state, if the charging adapter access interface receives the charging adapter access signal,
Then the first switch circuit connects the power supply, the control institute that the charging chip is sent to the control signal receiving port
The control signal of the 3rd on-off circuit disconnection is stated, the charging chip is to the DCDC circuit output voltages.
Under off-mode, first switch circuit Switch1 is closed, and battery is completely cut through with system, system is kept extremely low
Leakage current, prevent battery over-discharge problem.
Under system boot state, access the charging adapter, the charging chip to the DCDC circuit output voltages,
If system load is more than the charging adapter, the control institute that the charging chip is sent to the control signal receiving port
The control signal of the 3rd on-off circuit connection is stated, the charging chip and the power supply are powered simultaneously.
Due to adding the 3rd on-off circuit Switch3 and charging chip Charge IC in the present embodiment, therefore, it is
System start working condition has output voltage after certain difference, i.e. first switch circuit connection power supply with upper embodiment, then charges
Chip sends the control signal of control the 3rd on-off circuit conducting to control signal receiving interface, with electric to DCDC circuit outputs
Pressure.
Under off-mode, power switch Power key1, second switch circuit Switch2 conductings, enabling signal are pressed
Button Signal are high level, and opening first switch circuit Switch1, VBAT_Q has level, and Charge IC start working,
Open second switch circuit Switch2, system voltage VSYS and start a little electricity, process chip AP detects Power on
Signal is pulled low, then draws high Hold Signal signals, system is always maintained at power-up state.
Process chip AP detects power switch power key1 and pressed under open state, sends shutdown command, handles core
Piece AP walks shutdown process, discharges Hold signal, and switch Switch1 is closed, system power failure.
In actual applications, in order to be protected to circuit, charging circuit also includes being connected on the charging adapter device
Electrostatic protection device ESD, the first filter circuit RC1, overvoltage crowbar OVP between Adapter and the charging chip and
Any one or a few in current foldback circuit OCP.
Fig. 4 is connected electrostatic protection device ESD, the first filter circuit RC1, overvoltage crowbar OVP and overcurrent protection
Circuit OCP charging circuit.
Fig. 5 (1) and Fig. 5 (2) is a kind of specific use charging chip BQ24133 charging circuit connection figure, certainly
Other charging chips can be used.Because length is limited, Fig. 5 (1) is the left-half of circuit connection diagram, and Fig. 5 (2) connects for circuit
The right half part of map interlinking, certainly, in actual use, can also use the component of other specifications according to actual conditions.
After charging adapter is come in by connector J1 inputs first, ESD electrostatic protection TVS pipe D1, resistance are first passed around
R14 and electric capacity C26 have collectively constituted RC filter circuits, and main function is to filter out charging adapter insertion momentary pulse, plays anti-
The effect of late-class circuit is protected, electric capacity C5, C7, C9 filtering reduce the effect of electric capacity ripple, and N-channel MOS pipe Q1 and Q2 constitute OVP
+ OCP Protection switches, when occur excessively stream or overvoltage when charging chip can turn off Q1 and Q2, with prevent damage charging adapter or
Person's late-class circuit, power resistor R1 effect is detection input current, when threshold value of the electric current beyond setting, notifier processes chip
U1 turns off Q1 and Q2.
XVref is that the reference voltage 3.3V, Cell that charging chip is exported are charging voltage pattern configurations pin, is during 0 level
1Cell, is 2Cell when hanging, is 3Cell during 1 level, and level is realized by resistance R11 and R18 various combination；Vset is charging
Electric current configures pin, and charging current calculation formula is Icharger=5A/V*Viset.
Double Schottky diode D7 input source has two-way, is charging adapter all the way, is by switching P-channel all the way
The cell voltage VBAT_Q of metal-oxide-semiconductor, is to ensure energy after shutdown why after selecting switch rather than the directly output of battery
Enough there is relatively low leakage current.
P-channel metal-oxide-semiconductor Q3 effects are to do path management, and during no charging adapter insertion, system takes a little from battery, there is charging
When adapter is inserted, System Priority is from charging adapter power taking.
Metal-oxide-semiconductor Q4 and Q5 constitute on-off circuit, the connection for cutting off battery and system, just because of depositing for this part
System is being enabled to have extremely low shutdown leakage current, the enable signal of switch there are three tunnels, and this road of AP_PS_HOLD is from processing
The latch signal of chip, V_ADP is charging adapter power supply, and Switch is the signal from starting key.
It is shown in Figure 6, in order to which on-off circuit is better described, the invention provides a kind of specific on-off circuit,
Wherein, first switch circuit Switch1 uses ST-1188UDB, power switch Power Key1 to use SIS502NT1G.
Double Schottky diode D8 have two-way input, are charging adapter power supply V_ADP all the way, are battery VBATT all the way,
This part needs have electric holding system to start shooting always, as first switch circuit Switch1, i.e., when SW1 is pressed, the poles of PNP tri-
Pipe turns on Q6, and Switch is high level, battery is connected system, Q8 effect is to negate Switch signals, and dragging down PWRKEY makes
Process chip AP starts shooting, and 3S or so time post processings chip AP draws high deposited signal AP_PS_HOLD after behaving protects system
Hold open state.
Certainly, process chip AP start delay time can also draw high deposited signal AP_ after other times, such as 2S
PS_HOLD。
In order to preferably be managed battery charging, to use different charging circuits at different temperatures, so as to carry
The security of high power source charges and the service life of power supply, shown in Figure 7, the present invention is to above-mentioned electrostatic protection device of having connected
ESD, the first filter circuit RC1, the embodiment of overvoltage crowbar OVP and current foldback circuit have carried out further optimization,
The process chip also includes the charging control for being used to send charge-current adjustment signal to the charging chip according to battery temperature
Interface processed, wherein, it is in series with the second filter circuit Filter between the charge control interface and the charging chip.
Second filter circuit Filter is RC circuits, and the charge-current adjustment signal PWM that process chip is sent is rectified into
Fixed level.
Under off-mode, charging adapter Adapter is inserted, charging adapter access signal Adapter Signal are
Height, first switch circuit Switch1 is opened, and BAT_Q has electricity, and Charge IC start working, and is battery charging.The upper electricity of VSYS, place
Reason chip AP has electricity to enter shutdown charge mode, while monitored whether that power switch Power key1 are pressed, if any then starting shooting,
Otherwise shutting down charge mode always.
Process chip AP judges whether system can charge according to the temperature signal NTC Signal of the battery detected, such as
Fruit opens charging if default temperature range (such as 0~45 DEG C), if battery temperature exceedes this scope, stops output
Pwm signal, charge-current control signal ISET exports 0V, then charging chip Charge IC charge closing functions, to ensure system
It is safe and reliable.And the present invention can adjust PWM duty cycle to reach the work(of dynamic regulation charging current according to temperature dynamic
Energy (such as 0~10 DEG C 0.2C charging, 10~45 DEG C of 0.5C chargings).
It is shown in Figure 8, the charging current regulation circuit that a kind of specific utilization charge control interface is realized.
CHG_VISET_PWM be process chip export pwm signal, different dutycycles can be adjusted, when dutycycle not
Meanwhile, VISET voltages are just different, so that the charging current of charging chip is different, so as to reach the mesh of the charging current of condition
's.Charging current Ichager and PWM duty cycle duty calculated relationship are as follows：
Ichager=4.7/14.7*1.8*5*duty
=2.878*duty (A)
Make when process chip detects battery temperature outside 0 DEG C~45 DEG C, it is 0 to control PWM duty cycle, then charge closing
Function, is protected battery, is charged when detecting battery temperature when between 0 DEG C~10 DEG C with low current 0.2C, 10 DEG C~
Charged when between 45 DEG C with 0.5C, can very excellent solution cell safety and life problems.
Because most of power-supply management system all refers to the driving of electro-motor, the vibration function of such as electronic equipment,
Locomotive function, especially in robot field, the driving of electro-motor is particularly significant in terms of power management, therefore, and the present invention is originally
System is directed to the motor circuit of robot system, and being devised in voltage output interface end can promptly close when motor movement is abnormal
Close the isolation discharge circuit of motor.
Shown in Figure 9, the present invention can believe above-mentioned according to battery temperature to charging chip transmission charging current regulation
Number embodiment on be optimized, voltage output interface is provided with isolation discharge circuit, and the isolation discharge circuit includes
4th on-off circuit Switch4 and transistor circuit Q1, wherein, the voltage input end of the 4th on-off circuit connection described the
The voltage output end of two on-off circuits, the voltage output end of the 4th on-off circuit connect the transistor circuit base stage and
D.c. motor control signal, the voltage output end of the 3rd on-off circuit and the hair of the transistor circuit are exported after emitter stage
Diode D1 is provided between emitter-base bandgap grading, is set between the voltage output end of the 3rd on-off circuit and the base stage of the transistor circuit
It is grounded after having the first divider resistance R1, the second divider resistance R2 of colelctor electrode series connection of the transistor circuit.
The present embodiment adds isolation discharge circuit with respect to above-described embodiment, system can according to the running situation of motor,
The 4th on-off circuit Switch4, emergency cut-off are closed when d.c. motor can not be according to d.c. motor control signal proper motion
Motor.Inverse electromotive force high pressure V_MOTOR, inverse electromotive force V_ are also easy to produce when motor starting stops with counter motion simultaneously
If MOTOR moves back to system voltage VSYS and easily causes system operation exception, system component is damaged, for this problem present invention
Devise by diode D1, resistance R1, R2, and the transistor circuit of PNP triode Q1 compositions to discharge, diode D1 plays isolation
Effect, prevents that counter electromotive force V_MOTOR from playing a reversed role back VSYS.As inverse electromotive force V_MOTOR-VSYS>During 0.7V, PNP triode
Q1 can just be turned on, and be discharged over the ground by resistance R2, and R2 plays a part of to adjust discharge current.As inverse electromotive force V_MOTOR-VSYS
<During 0.7V, harm will not be produced to system, PNP triode Q1 is closed, to save power consumption.
It is a kind of specific isolation discharge circuit referring to Figure 10, certainly, other specifications can also be used in actual applications
Component.
When motor starting stopping or artificial rotation motor, inverse electromotive force voltage V_MOTOR can be produced, when reverse electricity
Kinetic potential can make system power supply exception or system device of breaking when being higher than system voltage VSYS, in order to which anti-problem here occurs, increase
Plus Schottky diode D9, shielding system power supply VSYS and motor power V_MOTOR.Work as V_MOTOR-VSYS>During 0.7V, PNP
Triode Q7 can just be turned on, and be discharged over the ground by resistance R27, and R27 plays a part of to adjust discharge current.As inverse electromotive force V_
MOTOR-VSYS<During 0.7V, harm will not be produced to system, PNP triode Q7 is closed, to save power consumption.
In actual applications, the process chip also includes electric power detection interface, wherein, the electric power detection interface connection
The first switch circuit Switch1 is connected after 5th on-off circuit Switch5 close to the second switch circuit Switch2
End.
When system needs detection battery electric quantity, process chip AP opens switch Switch5, system detectio to battery electricity
Press computing system electricity.When electricity need not be detected, closing switch Switch5, to save battery electric quantity.
The invention also discloses a kind of robot, including any of the above-described power management system of robot, and with identical
Technique effect, will not be repeated here.
Finally, in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between there is any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that process, method, article or equipment including a series of key elements not only include that
A little key elements, but also other key elements including being not expressly set out, or also include be this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged
Except also there is other identical element in the process including the key element, method, article or equipment.
A kind of method for managing power supply connected based on multiple batteries and circuit provided by the present invention have been carried out in detail above
Thin to introduce, specific case used herein is set forth to the principle and embodiment of the present invention, and above example is said
The bright method and its core concept for being only intended to help to understand the present invention；Simultaneously for those of ordinary skill in the art, foundation
The thought of the present invention, will change, in summary, this specification content is not in specific embodiments and applications
It is interpreted as limitation of the present invention.
Claims (12)
1. a kind of power management system of robot, it is characterised in that including power supply, DCDC circuits, power switch, power supply electricity
Road and process chip, wherein, the power cathode and the power switch are grounded respectively, the positive source and the power supply control
Circuit processed, the DCDC circuits and process chip series connection, the ungrounded end of the power switch connects the power supply
Circuit, the power control circuit is additionally provided with for the voltage output interface to direct current generator output voltage.
2. power management system of robot according to claim 1, it is characterised in that the ON-OFF control circuit includes the
One on-off circuit and second switch circuit, the first switch circuit are provided with the enabling signal being connected with the second switch circuit
Receiving port, the first switch circuit is provided with the off signal receiving port being connected with the process chip, and the power supply is opened
The ungrounded end closed connects the second switch circuit.
3. power management system of robot according to claim 2, it is characterised in that also include：
Under system closedown state, if triggering the power switch, the second switch circuit is then to the enabling signal receiving terminal
Mouth sends enabling signal, to control the first switch circuit to connect the power supply；
Under system boot state, if triggering the power switch, the process chip is then sent out to the off signal receiving port
Go out off signal, to control the first switch circuit to disconnect the power supply.
4. power management system of robot according to claim 3, it is characterised in that also including charging circuit, described to fill
Circuit includes the 3rd on-off circuit, charging adapter, charging chip and inductance, wherein, the inductance and the charging chip
It is parallel to the voltage output end and the DCDC circuits of the first switch circuit after series connection with the 3rd on-off circuit again
Between voltage input end, the charging voltage output port of the charging adapter connects the charging voltage input of charged chip
Mouthful, the 3rd on-off circuit is provided with control signal receiving port, described to receive the control signal that the charging chip is sent
First switch circuit also includes charging adapter access interface, for receiving charging adapter access signal.
5. power management system of robot according to claim 4, it is characterised in that also include：
Under system closedown state, if the charging adapter access interface receives the charging adapter access signal, institute
State first switch circuit and connect the power supply, the charging chip is by the inductance to the power source charges；
Under system boot state, if the charging adapter access interface receives the charging adapter access signal, institute
State first switch circuit and connect the power supply, the control that the charging chip is sent to the control signal receiving port described the
The control signal that three on-off circuits disconnect, the charging chip is to the DCDC circuit output voltages.
6. power management system of robot according to claim 5, it is characterised in that under system boot state, accesses institute
Charging adapter is stated, the charging chip is to the DCDC circuit output voltages, if system load is more than the charging adapter,
The control signal for control the 3rd on-off circuit connection that then charging chip is sent to the control signal receiving port,
The charging chip and the power supply are powered simultaneously.
7. power management system of robot according to claim 6, it is characterised in that the charging circuit also includes series connection
Electrostatic protection device, the first filter circuit, overvoltage crowbar between the charging adapter device and the charging chip
With any one or a few in current foldback circuit.
8. power management system of robot according to claim 7, it is characterised in that the process chip also includes being used for
The charge control interface of charge-current adjustment signal is sent to the charging chip according to battery temperature, wherein, the charging control
The second filter circuit is in series between interface processed and the charging chip.
9. power management system of robot according to claim 8, it is characterised in that the voltage output interface be provided with every
From discharge circuit, the isolation discharge circuit includes the 4th on-off circuit and transistor circuit, wherein, the 4th on-off circuit
Voltage input end connect the voltage output end of the second switch circuit, the voltage output end connection of the 4th on-off circuit
D.c. motor control signal, the voltage output of the 3rd on-off circuit are exported after the base stage and emitter stage of the transistor circuit
Diode, the voltage output end and described three of the 3rd on-off circuit are provided between end and the emitter stage of the transistor circuit
The first divider resistance is provided between the base stage of pole pipe circuit, colelctor electrode the second divider resistance of series connection of the transistor circuit is followed by
Ground.
10. power management system of robot according to claim 9, it is characterised in that if electro-motor can not be according to institute
The control normal operation of d.c. motor signal is stated, then disconnects the 4th on-off circuit.
11. power management system of robot according to claim 10, it is characterised in that the process chip also includes electricity
Amount detection interface, wherein, the electric power detection interface connects the voltage that the first switch circuit is connected after the 5th on-off circuit
Output end.
12. a kind of robot, it is characterised in that including the power management system of robot described in any one of claim 1 to 11.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710586998.1A CN107196380B (en) | 2017-07-18 | 2017-07-18 | Robot power management system and robot |
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| CN201710586998.1A CN107196380B (en) | 2017-07-18 | 2017-07-18 | Robot power management system and robot |
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| CN107196380B CN107196380B (en) | 2020-11-10 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108448689A (en) * | 2018-05-09 | 2018-08-24 | 宇龙计算机通信科技(深圳)有限公司 | Wireless charging system |
| CN110212903A (en) * | 2019-05-30 | 2019-09-06 | 中电九天智能科技有限公司 | Intelligent robot power circuit in Mobile Cargo logistics system |
| CN110336354A (en) * | 2019-07-09 | 2019-10-15 | 欣旺达电子股份有限公司 | The power control circuit of battery management system |
| CN110676892A (en) * | 2018-07-02 | 2020-01-10 | 深圳市神州云海智能科技有限公司 | Mobile robot and power management system thereof |
| CN110880748A (en) * | 2019-10-08 | 2020-03-13 | 布法罗机器人科技（成都）有限公司 | Multi-motor back electromotive force discharge circuit and system for rehabilitation robot |
| CN111633686A (en) * | 2020-05-19 | 2020-09-08 | 华为技术有限公司 | Robot safety protection method and device and robot |
| WO2020259170A1 (en) * | 2019-06-28 | 2020-12-30 | 炬星科技（深圳）有限公司 | Robot power supply system and robot |
| CN113031739A (en) * | 2021-03-26 | 2021-06-25 | 山东英信计算机技术有限公司 | Computer and power-on starting circuit thereof |
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| CN203588023U (en) * | 2013-11-27 | 2014-05-07 | 湖北三江航天红峰控制有限公司 | Electric servo mechanism based on ARM controller |
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| CN203588023U (en) * | 2013-11-27 | 2014-05-07 | 湖北三江航天红峰控制有限公司 | Electric servo mechanism based on ARM controller |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108448689A (en) * | 2018-05-09 | 2018-08-24 | 宇龙计算机通信科技(深圳)有限公司 | Wireless charging system |
| CN110676892A (en) * | 2018-07-02 | 2020-01-10 | 深圳市神州云海智能科技有限公司 | Mobile robot and power management system thereof |
| CN110212903A (en) * | 2019-05-30 | 2019-09-06 | 中电九天智能科技有限公司 | Intelligent robot power circuit in Mobile Cargo logistics system |
| CN110212903B (en) * | 2019-05-30 | 2023-05-02 | 中电九天智能科技有限公司 | Intelligent robot power supply circuit in mobile warehouse logistics system |
| WO2020259170A1 (en) * | 2019-06-28 | 2020-12-30 | 炬星科技（深圳）有限公司 | Robot power supply system and robot |
| CN110336354A (en) * | 2019-07-09 | 2019-10-15 | 欣旺达电子股份有限公司 | The power control circuit of battery management system |
| CN110880748A (en) * | 2019-10-08 | 2020-03-13 | 布法罗机器人科技（成都）有限公司 | Multi-motor back electromotive force discharge circuit and system for rehabilitation robot |
| CN110880748B (en) * | 2019-10-08 | 2021-12-07 | 布法罗机器人科技（成都）有限公司 | Multi-motor back electromotive force discharge system for rehabilitation robot |
| CN111633686A (en) * | 2020-05-19 | 2020-09-08 | 华为技术有限公司 | Robot safety protection method and device and robot |
| CN111633686B (en) * | 2020-05-19 | 2022-04-12 | 华为技术有限公司 | Robot safety protection method and device and robot |
| CN113031739A (en) * | 2021-03-26 | 2021-06-25 | 山东英信计算机技术有限公司 | Computer and power-on starting circuit thereof |
| CN113031739B (en) * | 2021-03-26 | 2023-02-28 | 山东英信计算机技术有限公司 | Computer and power-on starting circuit thereof |
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| CN107196380B (en) | 2020-11-10 |
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