CN107834534B - Power supply management system for intelligent inspection robot and management method thereof - Google Patents

Power supply management system for intelligent inspection robot and management method thereof Download PDF

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Publication number
CN107834534B
CN107834534B CN201711374330.7A CN201711374330A CN107834534B CN 107834534 B CN107834534 B CN 107834534B CN 201711374330 A CN201711374330 A CN 201711374330A CN 107834534 B CN107834534 B CN 107834534B
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direct current
bus
auxiliary
main controller
inspection robot
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CN107834534A (en
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王晋玲
孟尧
孟祥忠
岳耀宾
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QINGDAO FUDIER ELECTRIC AUTOMATION CO Ltd
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QINGDAO FUDIER ELECTRIC AUTOMATION CO Ltd
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J1/00Circuit arrangements for dc mains or dc distribution networks
    • H02J1/14Balancing the load in a network

Abstract

A power supply management system for an intelligent inspection robot and a management method thereof belong to the technical equipment field of robot management. The main circuit comprises a battery, a positive voltage bus, a negative voltage bus, a direct current bus contactor, a core load and two groups of auxiliary loads, wherein the negative voltage bus is respectively connected with the output end of the direct current load and the negative electrode of the battery; the positive voltage bus comprises a core bus and two auxiliary buses, the core bus is respectively connected with the core load input end and the battery anode, and the two auxiliary buses are respectively connected with the two groups of auxiliary load input ends; the control circuit comprises a main controller and a driving circuit, wherein the main controller is respectively connected with two input ends of the driving circuit through two output ports, and the two output ends of the driving circuit are respectively connected with coils of two direct current bus contactors; the core bus is connected with the two auxiliary buses through the normally open contacts of the two direct current bus contactors respectively. The invention realizes the hierarchical management of the DC load of the inspection robot and improves the endurance time and the circuit redundancy.

Description

Power supply management system for intelligent inspection robot and management method thereof
Technical Field
A power supply management system for an intelligent inspection robot and a management method thereof belong to the technical equipment field of robot management.
Background
The intelligent inspection robot is characterized in that a plurality of direct current loads are required to be assembled when in operation, and the intelligent inspection robot comprises a main controller, a circuit board integrated element thereof, a motor driver, a navigation sensor, an intelligent detection module, a wireless communication module, a video monitoring module, a man-machine interaction module, a broadcasting and alarming module, a lighting module and the like.
Under the condition that the battery power is sufficient, all loads of the inspection robot work normally, but when the inspection robot detects that the battery power is insufficient, the inspection robot needs to return to a charging position of a starting point independently to charge, but the inspection robot is often stopped due to the fact that the inspection robot is too far away from the charging position, and power shortage is caused in the returning process. This phenomenon sometimes takes place in large-scale workshop and transformer substation, takes place the back of similar circumstances, and the staff usually needs to spend a large amount of time manual work to look for the robot and carry it back to the department of charging, will bring inconvenience for inspection robot application unit like this, can influence inspection because inspection robot shut down in normal inspection simultaneously, causes certain potential safety hazard.
In the prior art, countermeasures adopted for solving the problems mainly comprise: a. the early warning threshold value of the battery electric quantity is improved, for example, when the electric quantity is 30% -40%, the robot can return to the navigation and charge, and the power shortage during the return of the robot is prevented. b. A plurality of charging piles are arranged on a walking path of the robot. c. The staff looks for the robot deficient position through the monitoring video that the inspection robot sent to carry portable battery charging outfit to go to the deficient place and charge the robot battery. Although the above approach can better solve this problem, it sacrifices human, financial and robot endurance to a great extent. Aiming at the defects of the prior art, a technical scheme for saving the cost and ensuring the cruising time of the inspection robot is urgently needed at present.
Disclosure of Invention
The invention aims to solve the technical problems that: the power supply management system for the intelligent inspection robot and the management method thereof can save cost and improve the duration of the inspection robot by means of hierarchical management of the direct current load of the inspection robot.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: this intelligent inspection robot is with power management system, including main circuit and control circuit, main circuit is connected its characterized in that with control circuit: the main circuit comprises a battery, a direct current load, a positive voltage bus, a negative voltage bus and a direct current bus contactor; the direct current load comprises a core load and an auxiliary load, the core load comprises a main controller, a motor driver, a navigation sensor and a wireless communication module, the auxiliary load comprises a first group of auxiliary loads and a second group of auxiliary loads, and the direct current bus contactor comprises a first direct current bus contactor and a second direct current bus contactor; the negative voltage bus is respectively connected with the output end of the direct current load and the negative electrode of the battery; the positive voltage bus comprises a core bus A, an auxiliary bus B1 and an auxiliary bus B2, wherein the core bus A is respectively connected with the input end of a core load and the anode of a battery, the auxiliary bus B1 and the auxiliary bus B2 are respectively connected with the input ends of a first group of auxiliary loads and a second group of auxiliary loads, and the core bus A is respectively connected with the auxiliary bus B1 and the auxiliary bus B2 through a normally open contact of a first direct current bus contactor and a normally open contact of a second direct current bus contactor; the control circuit comprises a main controller and an optocoupler isolation driving circuit, wherein the main controller is connected with a first input end of the optocoupler isolation driving circuit through an output port P1, an output port P2 is connected with a second input end of the optocoupler isolation driving circuit, a first output end of the optocoupler isolation driving circuit is connected with a first direct current bus contactor coil, and a second output end of the optocoupler isolation driving circuit is connected with a second direct current bus contactor coil.
Preferably, the navigation sensor comprises at least one of a laser navigation sensor, a magnetic navigation sensor and a GPS sensor; the motor comprises at least one of a direct current brush motor, a permanent magnet synchronous motor and a direct current brushless motor.
Preferably, the wireless communication module comprises at least one of a 4g communication module, a Bluetooth communication module and a WIFI communication module.
Preferably, the first group of auxiliary loads and the second group of auxiliary loads respectively comprise at least one of an intelligent detection module, a video monitoring module, a man-machine interaction module, a broadcasting and alarming module and a lighting module, and are different from each other.
Further, the intelligent detection module comprises at least one of an infrared sensor, a temperature sensor and a smoke sensor.
Or, the video monitoring module comprises at least one of a visible light camera, an infrared thermal imaging camera and a night vision device.
Or the man-machine interaction module comprises at least one of a voice recognition module, a face recognition module, an operation screen and keys.
Preferably, a power supply breaker is connected between the output end of the battery and the core bus A.
The management method for realizing the power supply management system for the intelligent inspection robot is characterized by comprising the following steps of: the power supply management method of the inspection robot comprises the following steps:
step 1: the method comprises the steps that an early warning threshold value and an alarm threshold value which are related to the electric quantity of a battery are set in a main controller in advance through software, the early warning threshold value is larger than the alarm threshold value, and step 2 is entered;
step 2: the battery supplies power to the core bus A, the core load works normally, the main controller performs self-checking, and judges whether the core load works normally, if abnormal, the main controller alarms to an application unit through the wireless communication module to search for maintenance, and if the main controller detects no abnormal condition and receives an operation instruction sent by the application unit, the main controller runs according to a set track and then enters step 3;
step 3: the main controller continuously detects the battery electric quantity in the running process, compares the battery electric quantity with the early warning threshold value in the step 1, and enters the step 4 when the main controller detects that the battery electric quantity is higher than the early warning threshold value; when the battery electric quantity is equal to or lower than the early warning threshold value, the step 5 is entered;
step 4: the output port P1 of the main controller outputs a low-level signal, the signal is isolated and amplified by an optical coupler isolation driving circuit and then controls the coil of the first direct current bus contactor to be electrified, so that the normally open contact of the corresponding first direct current bus contactor is closed, the auxiliary bus B1 is electrified, the first group of auxiliary loads work normally, and the step 6 is entered;
step 5: the main controller controls the inspection robot to automatically return to the home through a driving motor, meanwhile, the output end P1 of the main controller outputs a high-level signal, the signal is isolated and amplified through an optical coupler isolation driving circuit and then controls the first direct current bus contactor coil to be powered off, the normally open contact of the corresponding first direct current bus contactor is further disconnected, the auxiliary bus B1 is powered off, the first group of auxiliary loads stop working, and the step 6 is entered;
step 6: the main controller continuously detects the battery electric quantity in the process of returning, compares the battery electric quantity with the alarm threshold value in the step 1, and enters the step 7 when the main controller detects that the battery electric quantity is higher than the alarm threshold value; when the battery electric quantity is equal to or lower than the alarm threshold value, the step 8 is entered;
step 7: the output port P2 of the main controller outputs a low-level signal, the signal is isolated and amplified by an optical coupler isolation driving circuit and then controls the coil of the second direct current bus contactor to be electrified, so that the normally open contact of the corresponding second direct current bus contactor is closed, the auxiliary bus B2 is electrified, the second group of auxiliary loads work normally, and the step 9 is entered;
step 8: the output port P2 of the main controller outputs a low-high level signal, the signal is isolated and amplified by the optocoupler isolation driving circuit and then controls the coil of the second direct current bus contactor to be powered off, the normally open contact of the corresponding second direct current bus contactor is disconnected, the auxiliary bus B2 is powered off, the second group of auxiliary loads stop working, and meanwhile, the main controller continuously sends the position information of the inspection robot to an application unit through the wireless communication module and enters the step 9;
step 9: the inspection robot continues to automatically return to the charging place.
Preferably, the battery power includes at least one of a battery voltage value and a battery SOC value.
Compared with the prior art, the invention has the following beneficial effects:
1. the power supply management system for the intelligent inspection robot and the management method thereof have the beneficial effects of saving manpower and financial resources and ensuring the endurance time of the inspection robot.
2. According to the invention, the intelligent inspection robot is divided into a core load and an auxiliary load according to the importance degree and the power consumption of the direct current load, and the positive voltage bus of the power supply management system is divided into a plurality of positive voltage buses, so that the inspection robot can automatically disconnect the power supply of the unnecessary direct current load under the condition of low battery power, and the normal work of the core load is ensured, thereby ensuring that the inspection robot can smoothly return to a charging place for charging. The invention realizes the dynamic association of the energy consumption and the battery electric quantity of the inspection robot through the hierarchical management of the direct current load, well solves the problem that the inspection robot is easy to lose power, and has the beneficial effects of saving electric energy and prolonging the duration of the robot.
3. By using the intelligent inspection robot application unit, the electric quantity early warning threshold and the alarm threshold can be set in the robot main controller by changing the form of software according to the size of the robot operation site. The robot main controller can disconnect different direct current loads according to the stage of the battery electric quantity, reduces unnecessary consumption of the battery electric quantity, prevents the conditions of low electric quantity and high discharge current of the battery, and has the beneficial effects of prolonging the service life of the battery and reducing potential safety hazards of battery bulge or explosion.
4. According to the invention, the plurality of positive voltage buses are arranged, when a single device or the single positive voltage bus has a short circuit or a ground fault, the inspection robot can automatically cut off the power supply of the positive voltage bus where the fault device is located through the main controller, so that the purposes of shielding the fault and preventing the fault from expanding can be achieved; the design greatly improves the redundancy and reliability of the power supply module of the inspection robot, and is convenient for the later-stage technicians to overhaul.
5. According to the invention, after the electric quantity of the inspection robot is reduced to the alarm threshold value, the position information of the robot is continuously sent to the robot application unit dispatching room, so that the situation that the application unit does not know or cannot find the position of the robot after power deficiency occurs is prevented.
6. The invention relates to a power supply management module which is built in a mode of combining software and hardware, and has the advantages of high intelligent degree, simple structure, reasonable logic and high circuit reliability compared with other power supply management modules of inspection robots.
Drawings
Fig. 1 is a block diagram of a main circuit structure of a power supply management system for an intelligent inspection robot.
Fig. 2 is a block diagram of a control circuit structure of a power supply management system for an intelligent inspection robot in the invention.
Wherein: 1. the device comprises a battery 2, a core load 3, a first group of auxiliary loads 4, a second group of auxiliary loads 5, a first direct current bus contactor normally-open contact 6, a second direct current bus contactor normally-open contact 7, a main controller 8, an optocoupler isolation driving circuit 9, a battery power 10, an operation instruction 11, a circuit state 12, communication and alarm 13, a first direct current bus contactor coil 14 and a second direct current bus contactor coil.
Detailed Description
Fig. 1-2 are diagrams illustrating a preferred embodiment of the present invention, and the present invention is further described with reference to fig. 1-2.
The embodiment comprises a main circuit and a control circuit, wherein the main circuit comprises a battery 1, a direct current load, a positive voltage bus, a negative voltage bus and a direct current bus contactor as shown in fig. 1; the direct current load comprises a core load 2 and an auxiliary load, the core load 2 comprises a main controller 7, a motor driver, a navigation sensor and a wireless communication module, the auxiliary load comprises a first group of auxiliary loads 3 and a second group of auxiliary loads 4, and the direct current bus contactor comprises a first direct current bus contactor and a second direct current bus contactor; the negative voltage bus is respectively connected with the output end of the direct current load and the negative electrode of the battery 1; the positive voltage bus comprises a core bus A, an auxiliary bus B1 and an auxiliary bus B2, wherein the core bus A is respectively connected with the input end of the core load 2 and the anode of the battery 1, and the auxiliary bus B1 and the auxiliary bus B2 are respectively connected with the input ends of the first group of auxiliary loads 3 and the second group of auxiliary loads 4; in this embodiment, the first dc bus contactor is bat ck1, and the second dc bus contactor is bat ck2; the core bus A is connected with the auxiliary bus B1 through a first direct current bus contactor normally open contact 5, and is connected with the auxiliary bus B2 through a second direct current bus contactor normally open contact 6.
The navigation sensor in the embodiment comprises at least one of a laser navigation sensor, a magnetic navigation sensor and a GPS sensor; the motor comprises at least one of a direct current brush motor, a permanent magnet synchronous motor and a direct current brushless motor; the wireless communication module comprises at least one of a 4g communication module, a Bluetooth communication module and a WIFI communication module; in this embodiment, the first auxiliary load 3 includes an intelligent detection module and a broadcasting and alarming module, and the second auxiliary load 4 includes a video monitoring module, a man-machine interaction module and a lighting module.
The intelligent detection module comprises at least one of an infrared sensor, a temperature sensor and a smoke sensor, the video monitoring module comprises at least one of a visible light camera, an infrared thermal imaging camera and a night vision device, the man-machine interaction module comprises at least one of a voice recognition module, a face recognition module, an operation screen and a key, and a power supply breaker BATN is connected between the output end of the battery 1 and the core bus A.
As shown in fig. 2, the control circuit includes a main controller 7 and an optocoupler isolation driving circuit 8, where the optocoupler isolation driving circuit 8 includes an optocoupler circuit, a triode and an intermediate relay, which are sequentially connected, and in this embodiment, the optocoupler isolation driving circuit 8 is provided with two input ends and two output ends; the main controller 7 is connected with a first input end of the optocoupler isolation driving circuit 8 through an output port P1, the output port P2 is connected with a second input end of the optocoupler isolation driving circuit 8, a first output end of the optocoupler isolation driving circuit 8 is connected with a first direct current bus contactor coil 13, and a second output end of the optocoupler isolation driving circuit is connected with a second direct current bus contactor coil 14.
In this embodiment, the main controller 7 detects the battery power 9, controls the wireless communication module to receive the operation command 10, detects the circuit state 11 inside the inspection robot, and communicates and alarms 12 according to the corresponding detection result.
The power supply management method of the inspection robot comprises the following steps:
step 1: the method comprises the steps that an early warning threshold value and an alarm threshold value related to the battery power 9 are set in a main controller 7 in advance through software, wherein the early warning threshold value is set to 25%, the alarm threshold value is set to 20%, and the early warning threshold value is larger than the alarm threshold value, and the step 2 is entered;
step 2: closing a power supply breaker BATN, wherein the battery 1 supplies power for a core bus A, a core load 2 works normally, a main controller 7 performs self-checking, judges whether the core load 2 works normally, if so, the main controller 7 alarms to an application unit through the wireless communication module to search for maintenance, and if the main controller 7 detects no abnormality and receives an operation instruction 10 sent by the application unit, the main controller runs according to a set track and enters a step 3;
step 3: the main controller 7 continuously detects the battery power 9 in the running process, compares the battery power 9 with the early warning threshold value in the step 1, and enters the step 4 when the main controller 7 detects that the battery power 9 is higher than the early warning threshold value; when the battery power 9 is equal to or lower than the early warning threshold value, the step 5 is entered;
step 4: the output port P1 of the main controller 7 outputs a low-level signal, the signal is isolated and amplified by the optocoupler isolation driving circuit 8 and then controls the first direct current bus contactor coil 13 to be electrified, the corresponding normally open contact 5 of the first direct current bus contactor is closed, the auxiliary bus B1 is electrified, the first group of auxiliary loads 3 work normally, and the step 6 is entered;
step 5: the main controller 7 controls the inspection robot to automatically return to the home through a driving motor, meanwhile, the output end P1 of the main controller 7 outputs a high-level signal, the signal is isolated and amplified by the optocoupler isolation driving circuit 8 and then controls the first direct current bus contactor coil 13 to be powered off, the normally open contact 5 of the corresponding first direct current bus contactor is further disconnected, the auxiliary bus B1 is powered off, the first group of auxiliary loads 3 stop working, and the step 6 is entered;
step 6: the main controller 7 continuously detects the battery power 9 in the process of returning, compares the battery power 9 with the alarm threshold value in the step 1, and enters the step 7 when the main controller 7 detects that the battery power 9 is higher than the alarm threshold value; when the battery power 9 is equal to or lower than the alarm threshold value, the step 8 is entered;
step 7: the output port P2 of the main controller 7 outputs a low-level signal, the signal is isolated and amplified by the optocoupler isolation driving circuit 8 and then controls the second direct current bus contactor coil 14 to be electrified, so that the normally open contact of the corresponding second direct current bus contactor is closed, the auxiliary bus B2 is electrified, the second group of auxiliary loads 4 work normally, and the step 9 is entered;
step 8: the output port P2 of the main controller 7 outputs a high-level signal, the signal is isolated and amplified by the optocoupler isolation driving circuit 8 and then controls the second direct current bus contactor coil 14 to be powered off, the normally open contact of the corresponding second direct current bus contactor is further disconnected, the auxiliary bus B2 is powered off, the second group of auxiliary loads 4 stops working, and meanwhile, the main controller 7 continuously sends the position information of the inspection robot to an application unit through the wireless communication module and enters the step 9;
step 9: the inspection robot continues to automatically return to the charging place.
The battery level 9 in this embodiment includes at least one of a battery voltage value and a battery SOC value. In practical application, the method can be determined according to the area and the range of the working environment of the inspection robot.
In this embodiment, except for the operation when the electric quantity of the battery 1 is lower than the first alarm threshold or the second alarm threshold, when the inspection robot main controller detects that the bus is short-circuited or grounded, the dc contactors bat ck1 and bat ck2 are disconnected, so as to prevent the power supply of other buses from being affected by the fault. Meanwhile, the main controller can store fault information and transmit the fault information to the base station through the network communication module, so that the maintenance of later-stage staff is facilitated.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the invention in any way, and any person skilled in the art may make modifications or alterations to the disclosed technical content to the equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims (8)

1. The utility model provides an intelligence inspection robot is with power management system, includes main circuit and control circuit, and main circuit is connected its characterized in that with control circuit: the main circuit comprises a battery (1), a direct current load, a positive voltage bus, a negative voltage bus and a direct current bus contactor; the direct current load comprises a core load (2) and an auxiliary load, the core load (2) comprises a main controller (7), a motor driver, a navigation sensor and a wireless communication module, the auxiliary load comprises a first group of auxiliary loads (3) and a second group of auxiliary loads (4), and the direct current bus contactor comprises a first direct current bus contactor and a second direct current bus contactor; the negative voltage bus is respectively connected with the output end of the direct current load and the negative electrode of the battery (1); the positive voltage bus comprises a core bus A, an auxiliary bus B1 and an auxiliary bus B2, wherein the core bus A is respectively connected with the input end of a core load (2) and the positive electrode of a battery (1), the auxiliary bus B1 and the auxiliary bus B2 are respectively connected with the input ends of a first group of auxiliary loads (3) and a second group of auxiliary loads (4), and the core bus A is respectively connected with the auxiliary bus B1 and the auxiliary bus B2 through a first direct current bus contactor normally open contact (5) and a second direct current bus contactor normally open contact (6); the control circuit comprises a main controller (7) and an optocoupler isolation driving circuit (8), wherein the main controller (7) is connected with a first input end of the optocoupler isolation driving circuit (8) through an output port P1, an output port P2 is connected with a second input end of the optocoupler isolation driving circuit (8), a first output end of the optocoupler isolation driving circuit (8) is connected with a first direct current bus contactor coil (13), and a second output end of the optocoupler isolation driving circuit is connected with a second direct current bus contactor coil (14);
the navigation sensor comprises at least one of a laser navigation sensor, a magnetic navigation sensor and a GPS sensor; the motor comprises at least one of a direct current brush motor, a permanent magnet synchronous motor and a direct current brushless motor;
the wireless communication module comprises at least one of a 4g communication module, a Bluetooth communication module and a WIFI communication module.
2. The power management system for an intelligent inspection robot according to claim 1, wherein: the first auxiliary load (3) and the second auxiliary load (4) respectively comprise at least one of an intelligent detection module, a video monitoring module, a man-machine interaction module, a broadcasting and alarming module and a lighting module, and are different from each other.
3. The power supply management system for an intelligent inspection robot according to claim 2, wherein: the intelligent detection module comprises at least one of an infrared sensor, a temperature sensor and a smoke sensor.
4. The power supply management system for an intelligent inspection robot according to claim 2, wherein: the video monitoring module comprises at least one of a visible light camera, an infrared thermal imaging camera and a night vision device.
5. The power supply management system for an intelligent inspection robot according to claim 2, wherein: the man-machine interaction module comprises at least one of a voice recognition module, a face recognition module, an operation screen and keys.
6. The power management system for an intelligent inspection robot according to claim 1, wherein: and a power supply breaker is arranged between the output end of the battery (1) and the core bus A.
7. A management method for implementing the power supply management system for an intelligent inspection robot according to claim 1, which is characterized in that: the power supply management method of the inspection robot comprises the following steps:
step 1: the method comprises the steps that an early warning threshold value and an alarm threshold value which are related to the battery electric quantity (9) are set in a main controller (7) in advance through software, the early warning threshold value is larger than the alarm threshold value, and step 2 is carried out;
step 2: the battery (1) supplies power for the core bus A, the core load (2) works normally, the main controller (7) performs self-checking, judges whether the core load (2) works normally, if abnormal, the main controller (7) gives an alarm to an application unit through the wireless communication module to search for maintenance, and if the main controller (7) detects no abnormal condition and receives an operation instruction (10) sent by the application unit, the main controller runs according to a set track and then enters the step 3;
step 3: the method comprises the steps that a main controller (7) continuously detects battery electric quantity (9) in a driving process, the battery electric quantity (9) is compared with an early warning threshold value in the step 1, when the main controller (7) detects that the battery electric quantity (9) is higher than the early warning threshold value, the step 4 is started, and when the battery electric quantity (9) is equal to or lower than the early warning threshold value, the step 5 is started;
step 4: an output port P1 of the main controller (7) outputs a low-level signal, the signal is isolated and amplified by an optocoupler isolation driving circuit (8) and then controls a first direct current bus contactor coil (13) to be electrified, a corresponding first direct current bus contactor normally open contact (5) is further closed, an auxiliary bus B1 is electrified, a first group of auxiliary loads (3) work normally, and a step 6 is entered;
step 5: the main controller (7) controls the inspection robot to return to the home automatically through a driving motor, meanwhile, the output end P1 of the main controller (7) outputs a high-level signal, the signal is isolated and amplified through the optocoupler isolation driving circuit (8) and then controls the first direct current bus contactor coil (13) to be powered off, the corresponding normally open contact (5) of the first direct current bus contactor is disconnected, the auxiliary bus B1 is powered off, the first group of auxiliary loads (3) stops working, and the step 6 is entered;
step 6: the main controller (7) continuously detects the battery electric quantity (9) in the process of returning, compares the battery electric quantity (9) with the alarm threshold value in the step 1, and enters the step 7 when the main controller (7) detects that the battery electric quantity (9) is higher than the alarm threshold value, and enters the step 8 when the battery electric quantity (9) is equal to or lower than the alarm threshold value;
step 7: an output port P2 of the main controller (7) outputs a low-level signal, the signal is isolated and amplified by an optocoupler isolation driving circuit (8) and then controls a second direct current bus contactor coil (14) to be electrified, a corresponding second direct current bus contactor normally open contact (6) is closed, an auxiliary bus B2 is electrified, a second group of auxiliary loads (4) work normally, and a step 9 is entered;
step 8: an output port P2 of the main controller (7) outputs a high-level signal, the signal is isolated and amplified by an optocoupler isolation driving circuit (8) and then controls a second direct current bus contactor coil (14) to be powered off, a corresponding second direct current bus contactor normally open contact (6) is further disconnected, an auxiliary bus B2 is powered off, a second group of auxiliary loads (4) stops working, and meanwhile, the main controller (7) continuously sends position information of the inspection robot to an application unit through the wireless communication module and enters a step 9;
step 9: the inspection robot continues to automatically return to the charging place.
8. The management method of the power supply management system for the intelligent inspection robot according to claim 7, wherein the management method comprises the following steps: the battery power (9) comprises at least one of a battery voltage value and a battery SOC value.
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CN103746592A (en) * 2013-12-31 2014-04-23 华为技术有限公司 Bidirectional inverting system and bidirectional inverting circuit
CN207705776U (en) * 2017-12-19 2018-08-07 青岛孚迪尔电气自动化有限公司 A kind of intelligent inspection robot power supply management system

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