CN108008698B - Robot system and on-off control device thereof - Google Patents
Robot system and on-off control device thereof Download PDFInfo
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- CN108008698B CN108008698B CN201610971270.6A CN201610971270A CN108008698B CN 108008698 B CN108008698 B CN 108008698B CN 201610971270 A CN201610971270 A CN 201610971270A CN 108008698 B CN108008698 B CN 108008698B
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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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4067—Restoring data or position after power failure or other interruption
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34308—Power supply sets relay switch, allows push button or automatic switch on off nc
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention belongs to the field of robots, and provides a robot system and an on-off control device thereof; the on-off control device comprises a power button, a power control module, a complete machine power switch module, a control module, an electronic switch module, an external sensing module, a motion control module and a specific functional module; the power control module generates a key power-off state signal, and after the control module saves the operation parameters of the robot system according to the key power-off state signal, the power control module outputs a second power-off control signal according to the power-off state of the power key so as to control the whole power switch module to close the power supply to the control module; so that the parameters can be kept normal when the robot system is restarted.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a robot system and an on-off control device thereof.
Background
With increasingly intelligent, complex robotic systems today, as the systems become more complex, there is often a great challenge in system stability.
In the prior art, a robot system only comprises a key, a power control module, a complete machine power switch module and a system function module, wherein the system function module comprises a control module, and the control module is used for controlling various operations of the robot system. When the power-off and shutdown of the robot system are required to be controlled, a power-off control signal is generated by the power control module according to the key instruction by receiving the key instruction related to the power-off and shutdown operation, and the whole power switch module controls the external direct current power supply to be disconnected according to the power-off control signal, so that the power supply to the system functional module is stopped. However, for the robot system, because the system is complex, a lot of important parameters are often existed in the operation of the robot system, and the robot system needs to be powered off and powered off after the storage of the important parameters is completed in the power off process, so that the robot system cannot be directly powered off and powered off, otherwise, abnormal parameters can be caused in the power on process again.
Therefore, in the prior art, the operation parameters of the robot system are not stored, so that the robot system is directly powered off and shut down, and the problem of abnormal parameters when the robot system is powered on again is caused.
Disclosure of Invention
The invention provides a robot system and a startup and shutdown control device thereof, and aims to solve the problem that in the prior art, the operation parameters of the robot system are not stored and are directly powered off and shut down, so that the abnormal parameters of the robot system occur when the robot system is restarted.
The invention is realized in such a way that a robot system on-off control device comprises a power button, a power control module, a whole machine power switch module and a control module; when the power control module detects that the key state of the power key is a starting state, the power control module outputs a starting control signal to enable the whole power switch module to supply power to the control module; when the power control module detects that the key state of the power key is a power-off state, the power control module generates a power-off control signal to enable the whole power switch module to stop supplying power to the control module; the on-off control device of the robot system further includes:
when the power control module detects that the key state of the power key is a starting state, the control module controls the electronic switch module to start power supply to the external sensing module, the motion control module and the specific functional module according to a preset program;
when the power control module detects that the key state of the power key is a shutdown state, the control module stores the operation parameters of the robot system according to the key shutdown state signal, the power control module outputs a second shutdown control signal according to the shutdown state of the power key, and the whole power switch module shuts off power supply to the control module according to the second shutdown control signal.
The invention also provides a robot system, which comprises the on-off control device of the robot system.
The technical scheme provided by the invention has the beneficial effects that: as can be seen from the above-mentioned invention, since the on-off control device of the robot system includes a power button, a power control module, a complete machine power switch module and a control module, and further includes an electronic switch module, an external sensing module, a motion control module and a specific function module; when the power control module detects that the key state of the power key is a power-off state, the power control module generates a key power-off state signal, and after the control module stores the operation parameters of the robot system according to the key power-off state signal, the power control module outputs a second power-off control signal according to the power-off state of the power key so as to enable the whole power switch module to close the power supply to the control module; the control module can save relevant operation parameters according to the key-off state signals and then close the power supply to the control module, so that the parameters can be kept normal when the robot system is restarted.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block diagram of a power on/off control device of a robot system according to an embodiment of the present invention;
fig. 2 is a block diagram of a power control module in a power on/off control device of a robot system according to an embodiment of the present invention;
fig. 3 is a circuit configuration diagram of an example of a power on/off control device of a robot system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Fig. 1 shows a module structure of an on-off control device of a robot system according to an embodiment of the present invention, and for convenience of explanation, only a portion related to the embodiment of the present invention is shown, and the details are as follows:
the on-off control device of the robot system comprises a power key 01, a power control module 02, a whole machine power switch module 03 and a control module 04, wherein a first input end of the power control module 02 is connected with the power key 01, a first output end of the power control module 02 is connected with the whole machine power switch module 03, the control module 04 is connected with the whole machine power switch module 03, and when the power control module 02 detects that the key state of the power key 01 is in a starting state, the power control module 02 outputs a starting control signal to enable the whole machine power switch module 03 to start power supply to the control module 04; when the power control module 02 detects that the key state of the power key 01 is a power-off state, the power control module 02 generates a power-off control signal to enable the whole power switch module 03 to stop supplying power to the control module 04; the on-off control device of the robot system further comprises an electronic switch module 05, an external sensing module 06, a motion control module 07 and a specific function module 08.
The second output end of the power supply control module 02 and the second input end of the power supply control module 02 are connected with the control module 04, the control module 04 is connected with the electronic switch module 05, and the electronic switch module 05 is connected with the external sensing module 06, the motion control module 07 and the specific functional module 08.
In the on-off control device of the robot system, when the power control module 02 detects that the key state of the power key 01 is the on state, the control module 04 controls the electronic switch module 05 to start the power supply to the external sensor module 06, the motion control module 07 and the specific function module 08 according to the preset program.
In the on-off control device of the robot system, when the power control module 02 detects that the key state of the power key 01 is the off state, the power control module 02 generates a key off state signal, the control module 04 stores the operation parameters of the robot system according to the key off state signal, the power control module 02 outputs a second off control signal according to the off state of the power key, and the whole power switch module 03 turns off power supply to the control module 04 according to the second off control signal.
In a specific implementation, the power key 01 can be a self-locking power key mechanical switch, and after being pressed, the two conductive metal sheets are conducted, after the hand is released, the key keeps on the pressed state, and after the user presses the switch again, the two conductive metal sheets are sprung, and then the two conductive metal sheets are disconnected. The whole power switch 03 can be a device or a circuit which can control the on-off of a power supply, such as a relay, a silicon controlled rectifier, a MOSFET and the like. The control module 04 may be a single-chip microcomputer, DSP, FPGA, POWERPC, or other architecture or platform processor. The electronic switch module 05 may be a module or a circuit for realizing program control of a power switch, may be a relay, or may be a circuit such as a thyristor or a MOSFET. The external sensor module 06 refers to all sensor modules in the robotic system used to monitor the environment and the motion state. The motion control module 07 may be all driving circuits and associated motor control units in the robot system that control the motion of the robot. The specific functional module 08 may be a main functional module in the robot system for meeting the specific use situation of the robot, such as an image acquisition and recognition module of the vision robot.
In specific implementation, when the control module 04 detects that at least one of the external sensing module 06, the motion control module 07 and the specific functional module 08 fails, the control module 04 controls the electronic switch module 05 to power off and restart the external sensing module 06, the motion control module 07 and the specific functional module 08 according to a preset program according to the failure condition.
In specific implementation, the control module 04 controls the electronic switch module 05 to restart the external sensor module 06, the motion control module 07 and the specific functional module 08 according to a preset program power-off may be specifically: the control module 04 generates a reset signal, the whole power switch module 03 controls the control module 04 to be powered off and restarted according to the reset signal, and the control module 04 controls the electronic switch module 05 to control the external sensing module 06, the motion control module 07 and the specific functional module 08 to be powered off and restarted according to a preset program.
In a robot system, most of module anomalies can be recovered through soft restarting and power-off restarting, and when all sub-modules in the system meet faults and need power-off restarting in the prior art, manual power-off restarting or maintenance is needed, so that the working efficiency and the system stability of the robot are greatly reduced.
As shown in fig. 2, the power control module 02 includes a switch module 021, a switch delay module 022, a key state detection module 023, and a control signal isolation module 024.
The first input end of the switch module 021 is connected with the output end of the switch delay module 022, the second input end of the switch module 021 is connected with the output end of the control signal isolation module 024, the output end of the switch module 021 is connected with the whole power switch module 03, the input end of the switch delay module 022 and the input end of the key state detection module 023 are connected with the power key 01, and the output end of the key state detection module 023 and the input end of the control signal isolation module 024 are connected with the control module 04.
In a specific implementation, the output end of the switch module 021 is the first output end of the power control module 02, the input end of the switch delay module 022 and the input end of the key state detection module 023 jointly form the first input end of the power control module 02, the key state detection module 023 is the second output end of the power control module 02, and the input end of the control signal isolation module 024 is the second input end of the power control module 02.
In the above power control module 02, when the switch delay module detects that the Key state key_sig of the power Key 01 is in the on state, the switch delay module outputs a second power voltage according to the power voltage, the switch module 021 generates an on control signal SwitchCtrl according to the second power voltage, the Key state detection module 023 generates a Key on state signal key_det according to the on state of the power Key 01, the control module 04 generates a first on control signal key_ctl according to the Key on state signal key_det, the control signal isolation module 024 generates a second on control signal according to the first on control signal, and the switch module 021 maintains the output of the on control signal SwitchCtrl according to the second power voltage and the second on control signal.
In the above power control module 02, when the switch delay module detects that the Key state key_sig of the power Key 01 is a power-off state, the Key state detection module 023 generates a Key power-off state signal key_det according to the power-off state of the power Key 01, the switch delay module delays to stop the output of the second power voltage according to the power-off state of the power Key, and the switch module 021 generates a second power-off control signal SwitchCtrl according to the termination of the output of the second power voltage.
Fig. 3 shows an exemplary circuit structure of the power control module 02 in the on-off control device 10 of the robot system according to the embodiment of the present invention, and for convenience of explanation, only the portions related to the embodiment of the present invention are shown, and the details are as follows:
the switch module 021 includes a first triode Q1, a third triode Q3, a first resistor R1, a second resistor R2, a third resistor R3 and a fourth resistor R4.
The collector of the first triode Q1 is the output end of the switch module 021, the emitter of the first triode Q1 is the first input end of the switch module 021, the base of the first triode Q1 is connected with the first end of the first resistor R1 and the collector of the third triode Q3, the emitter of the third triode Q3 is connected with the first end of the third resistor R3, the base of the third triode Q3, the first end of the second resistor R2 and the first end of the fourth resistor R4 are the second input ends of the switch module 021, the second end of the first resistor R1 is connected with the second end of the second resistor R2, and the second end of the third resistor R3 and the second end of the fourth resistor R4 are commonly connected to the power ground.
The switch delay module comprises a second triode Q2, a fourth triode Q4, a first diode D1, a first capacitor C1, a fifth resistor R5, a sixth resistor R6 and a seventh resistor R7.
The collector of the second triode Q2 is an output end of a switch delay module, the emitter of the second triode Q2 and the first end of the fifth resistor R5 are first input ends of the switch delay module, the base of the second triode Q2 is connected with the second end of the fifth resistor R5 and the collector of the fourth triode Q4, the base of the fourth triode Q4 is connected with the first end of the sixth resistor R6, the second end of the sixth resistor R6 is connected with the cathode of the first diode D1, the first end of the first capacitor C1 and the first end of the seventh resistor R7, the anode of the first diode D1 is the second input end of the switch delay module, and the emitter of the fourth triode Q4, the second end of the first capacitor C1 and the second end of the seventh resistor R7 are commonly connected to the power ground.
The key state detection module 023 includes a first optocoupler U1, an eighth resistor R8, a ninth resistor R9, and a tenth resistor R10.
The anode of the light emitting diode in the first optocoupler U1 is connected with the first end of the eighth resistor R8, the second end of the eighth resistor R8 is the input end of the key state detection module 023, the collector in the first optocoupler U1 is connected with the first power supply VBB, the emitter in the first optocoupler U1 is connected with the first end of the ninth resistor R9 and the first end of the tenth resistor R10, the second end of the ninth resistor R9 is the output end of the key state detection module 023, the cathode of the light emitting diode in the first optocoupler U1 is connected with the power supply ground, and the second end of the tenth resistor R10 is connected with the digital power supply ground.
The control signal isolation module 024 includes a second optocoupler U2 and an eleventh resistor R11.
The anode of the light emitting diode in the second optocoupler U2 is connected with the first end of the eleventh resistor R11, the second end of the eleventh resistor R11 is the input end of the control signal isolation module, the collector electrode in the second optocoupler U2 is the output end of the control signal isolation module 024, the emitter electrode in the second optocoupler U2 is connected with the power ground, and the cathode of the light emitting diode in the second optocoupler U2 is connected with the digital power ground.
The power control module 02 in the on-off control device 10 of the robot system shown in fig. 3 is further described below with reference to the working principle:
in a specific implementation process, when the power key is pressed, that is, the power key SW1 is turned on, the power voltage VCC charges the first capacitor C1 through the first diode D1, then the fourth triode Q4 is in a conductive state through the sixth resistor R6, and then under the partial pressures of the fifth resistor R5 and the twelfth resistor R12, the base of the second triode Q2 reaches a conductive condition, so that the second diode Q2 is turned on, and the emitter of the first triode Q1 is close to the power voltage VCC. At this time, the power supply of the robot complete machine is not electrified, the control module 04 does not work, the key_ctl signal is at a low level "0", the second optocoupler U2 is in an off state, so that the second resistor R2 and the fourth resistor R4 divide the power supply voltage VCC, so that the third triode Q3 is in a conducting state, and then the first triode Q1 is conducted, so that the SwitchCtrl signal is in proximity to the power supply voltage VCC, thereby controlling the complete machine power switch module 03 to be conducted, and the control module 04 works.
After the control module 04 works, the KEY state detection module 023 composed of the first optocoupler U1, the eighth resistor R8, the ninth resistor R9 and the tenth resistor R10 is responsible for detecting whether the power KEY SW1 is pressed, when the power KEY SW1 is pressed, the first optocoupler U1 is turned on, and the signal key_det of the docking control module 04 is changed from low level "0" to high level "1", so that detection of the power KEY SW1 is realized.
In normal operation of the robot, the first start control signal key_ctl is "0" by a software program, so as to ensure that the second optocoupler U2 is in an off state, thereby finally making the first triode Q1 be in conduction.
When the robot system needs to be shut down, an operator presses a power Key SW1, the power Key SW1 is disconnected, and then a Key signal Key_sig is powered down so that a first optocoupler U1 is turned off, and a KEY_DET signal is changed from '1' to '0'. The control module 04 knows the external shutdown requirement by detecting the signal, then starts to save the operation parameters, the anode of the first diode D1 stops inputting the power supply voltage VCC, and the fourth triode Q4 and the second triode Q2 delay to stop outputting the second power supply voltage by discharging the first capacitor C1 so as to control the third triode Q3 to cut off, thereby realizing reliable shutdown.
Meanwhile, after the power key SW1 is turned off, the first capacitor C1 is charged before, and then is slowly discharged through the sixth resistor R6 and the seventh resistor R7 until the base voltage of the fourth triode Q4 is discharged to a level insufficient to turn on the fourth triode Q4, the fourth triode Q4 starts to be turned off, and then the second triode Q2 is turned off, so that the SwitchCtrl signal is turned off to control the power switch of the whole power supply to be turned off. The time from the disconnection of the power button SW1 to the final disconnection of the second triode Q2 is the shutdown delay time provided by hardware, and the hardware shutdown delay time is designed on a hardware circuit for about 10s, so that reliable shutdown can be performed after the shutdown delay even if the key_ctl signal cannot be controlled due to abnormality of software in the control module 04. It should be noted that, the size of the capacity value of the first capacitor C1 may be changed to determine the length of the hardware shutdown delay time, so as to balance the minimization of the shutdown time duration and the preservation of the system parameters.
If the control module finds that the internal and external arrangement (such as UART interface, USB interface, PCIE interface, network port, etc.) of the self interface circuit or chip is abnormal, the key_ctl signal can be controlled to be "1", then the second optocoupler U2 is turned on, so that the voltage output by the collector of the second optocoupler U2 is pulled down to the power ground, the third triode Q3 is turned off, and then the first triode Q1 is turned off, so that the SwitchCtrl signal loses voltage, and hardware power of all very power supply circuits and modules including the control module 04 is cut off by controlling the whole power switch module 03. Then, when the control module 04 is powered down, the key_ctl signal is powered down to "0", so that the second optocoupler U2 is turned off, the third triode Q3 and the first triode Q1 are turned on, and the complete machine power switch module 03 is turned on again, so that the hardware power-off restarting of the complete machine circuit and module is realized, and the faults of the control module 04 and all modules are recovered.
The on-off control device 10 based on the robot system realizes normal parameters when the robot system is restarted, so the embodiment of the invention also provides the robot system which comprises the on-off control device 10 of the robot system.
In summary, the embodiment of the invention includes a power key, a power control module, a complete machine power switch module, a control module, an electronic switch module, an external sensing module, a motion control module, and a specific function module; when the power control module detects that the key state of the power key is a power-off state, the power control module generates a key power-off state signal, and after the control module stores the operation parameters of the robot system according to the key power-off state signal, the power control module outputs a second power-off control signal according to the power-off state of the power key so as to enable the whole power switch module to close the power supply to the control module; the control module can save relevant operation parameters according to the key-off state signals and then close the power supply to the control module, so that the parameters can be kept normal when the robot system is restarted.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (8)
1. The on-off control device of the robot system comprises a power key, a power control module, a whole machine power switch module and a control module; when the power control module detects that the key state of the power key is a starting state, the power control module outputs a starting control signal to enable the whole power switch module to supply power to the control module; when the power control module detects that the key state of the power key is a power-off state, the power control module generates a power-off control signal to enable the whole power switch module to stop supplying power to the control module; the on-off control device of the robot system is characterized by further comprising:
the electronic switch module, the external sensing module, the motion control module and the specific functional module;
when the power control module detects that the key state of the power key is a starting state, the control module controls the electronic switch module to start power supply to the external sensing module, the motion control module and the specific functional module according to a preset program;
when the power control module detects that the key state of the power key is a power-off state, the power control module generates a key power-off state signal, the control module stores operation parameters of the robot system according to the key power-off state signal, the power control module outputs a second power-off control signal according to the power-off state of the power key, and the whole power switch module shuts off power supply to the control module according to the second power-off control signal;
the power control module includes:
the device comprises a switch module, a switch delay module, a key state detection module and a control signal isolation module;
the first input end of the switch module is connected with the output end of the switch delay module, the second input end of the switch module is connected with the output end of the control signal isolation module, the output end of the switch module is connected with the whole power switch module, the input end of the switch delay module and the input end of the key state detection module are both connected with the power key, and the output end of the key state detection module and the input end of the control signal isolation module are both connected with the control module;
when the switch delay module detects that the key state of the power key is a starting state, the switch delay module outputs a second power voltage according to the power voltage, the switch module generates a starting control signal according to the second power voltage, the key state detection module generates a key starting state signal according to the starting state of the power key, the control module generates a first starting control signal according to the key starting state signal, the control signal isolation module generates a second starting control signal according to the first starting control signal, and the switch module maintains the output of the starting control signal according to the second power voltage and the second starting control signal;
when the switch delay module detects that the key state of the power key is a power-off state, the key state detection module generates a key power-off state signal according to the power-off state of the power key, the switch delay module delays to stop the output of the second power voltage according to the power-off state of the power key, and the switch module generates a second power-off control signal according to the termination of the output of the second power voltage.
2. The power on/off control device according to claim 1, wherein when the control module detects that at least one of the external sensor module, the motion control module, and the specific function module is failed, the control module controls the electronic switch module to control the external sensor module, the motion control module, and the specific function module to be powered off and restarted according to a preset program according to a failure condition.
3. The power-on/off control device according to claim 2, wherein the control module controls the electronic switch module according to a fault condition to control the external sensor module, the motion control module and the specific function module according to a preset program, specifically: the control module generates a reset signal, the whole power switch module controls the control module to be powered off and restarted according to the reset signal, and the control module controls the electronic switch module to control the external sensing module, the motion control module and the specific functional module to be powered off and restarted according to a preset program.
4. The power on/off control device according to claim 1, wherein the switching module includes a first transistor, a third transistor, a first resistor, a second resistor, a third resistor, and a fourth resistor;
the collector of the first triode is the output end of the switch module, the emitter of the first triode is the first input end of the switch module, the base of the first triode is connected with the first end of the first resistor and the collector of the third triode, the emitter of the third triode is connected with the first end of the third resistor, the base of the third triode, the first end of the second resistor and the first end of the fourth resistor are the second input end of the switch module, the second end of the first resistor is connected with the second end of the second resistor, and the second end of the third resistor and the second end of the fourth resistor are commonly connected with the power ground.
5. The power on/off control device according to claim 1, wherein the switching delay module comprises a second triode, a fourth triode, a first diode, a first capacitor, a fifth resistor, a sixth resistor and a seventh resistor;
the collector of the second triode is the output end of the switch delay module, the emitter of the second triode and the first end of the fifth resistor are the first input end of the switch delay module, the base of the second triode is connected with the second end of the fifth resistor and the collector of the fourth triode, the base of the fourth triode is connected with the first end of the sixth resistor, the second end of the sixth resistor is connected with the cathode of the first diode, the first end of the first capacitor and the first end of the seventh resistor, the anode of the first diode is the second input end of the switch delay module, and the emitter of the fourth triode, the second end of the first capacitor and the second end of the seventh resistor are commonly connected to the power supply ground.
6. The power on/off control device according to claim 1, wherein the key state detection module includes a first optocoupler, an eighth resistor, a ninth resistor, and a tenth resistor;
the positive pole of the emitting diode in the first optocoupler is connected with the first end of the eighth resistor, the second end of the eighth resistor is the input end of the key state detection module, the collecting electrode in the first optocoupler is connected with a first power supply, the emitting electrode in the first optocoupler is connected with the first end of the ninth resistor and the first end of the tenth resistor, the second end of the ninth resistor is the output end of the key state detection module, the negative pole of the emitting diode in the first optocoupler is connected with the power supply ground, and the second end of the tenth resistor is connected with the digital power supply ground.
7. The on-off control device of claim 1, wherein the control signal isolation module comprises a second optocoupler and an eleventh resistor;
the anode of the light emitting diode in the second optocoupler is connected with the first end of the eleventh resistor, the second end of the eleventh resistor is the input end of the control signal isolation module, the collector electrode in the second optocoupler is the output end of the control signal isolation module, the emitter in the second optocoupler is connected with the power supply ground, and the cathode of the light emitting diode in the second optocoupler is connected with the digital power supply ground.
8. A robot system, characterized in that the robot system further comprises the on-off control device according to any one of claims 1 to 7.
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| CN110711285A (en) * | 2018-07-11 | 2020-01-21 | 比亚迪股份有限公司 | Infusion pump control device, infusion pump control method and infusion pump |
| CN112162520B (en) * | 2020-08-18 | 2021-10-15 | 中国第一汽车股份有限公司 | Method for prolonging service life of battery of robot axis data board card |
| CN113114199B (en) * | 2021-05-19 | 2023-03-24 | 沃太能源股份有限公司 | BMS power switch control system and control method |
| CN114488910A (en) * | 2022-02-18 | 2022-05-13 | 坎德拉（深圳）科技创新有限公司 | Restart control device and robot |
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