CN110329077A - Robot and applied to the battery runs down control method in robot - Google Patents
Robot and applied to the battery runs down control method in robot Download PDFInfo
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- CN110329077A CN110329077A CN201910750423.8A CN201910750423A CN110329077A CN 110329077 A CN110329077 A CN 110329077A CN 201910750423 A CN201910750423 A CN 201910750423A CN 110329077 A CN110329077 A CN 110329077A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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Abstract
The embodiment of the invention discloses a kind of robot and applied to the battery runs down control method in robot.Equipped with battery, battery includes power control unit, switch, the current supply circuit for being electrically connected robot for the robot, and switch is serially connected with current supply circuit, and control unit being capable of control switch conducting or shutdown；The switching signal that power control unit is used to respond user's triggering sends communication instruction to robot；And when receiving power-off trigger signal, sends first and instruct to robot, and control switch turns off after preset time；First instruction is used to indicate task before robot is shut down within a preset time and handles.When power control unit is when receiving power-off trigger signal in the embodiment of the present invention, the switch controlled in battery turns off after preset time, while sending the first instruction to robot, to indicate the task processing before robot completes shutdown within a preset time；To ensure that the data of robot are safely stored and effectively update.
Description
Technical field
The present embodiments relate to robotic technology field more particularly to a kind of robot and applied to the electricity in robot
Pond circuit breaking controlling method.
Background technique
Currently, such as the automated handlings equipment such as automatic guide vehicle (Automated Guided Vehicle, AGV) has been
It is widely used in the fields such as storage, logistics, for realizing the automatic transportation to cargo.
In general, can be haulage equipment power supply by battery (such as lithium battery), when haulage equipment shutdown, battery can be direct
Power down.In the moment of power down, the master control of haulage equipment can not save in time critical data, and data is caused to be damaged.
Summary of the invention
The embodiment of the present invention provides a kind of robot and applied to the battery runs down control method in robot, is existed with realizing
The master control of electrical equipment can save critical data before lithium battery power down, enable robot in subsequent starting according to newest
State trouble-free operation.
In a first aspect, the robot is equipped with battery, the battery pack the embodiment of the invention provides a kind of robot
Power control unit, controllable switch, the current supply circuit for being electrically connected robot are included, the controllable switch is serially connected with described power back
Road, the power control unit can control the controllable switch conducting or shutdown；
When the power control unit is for receiving power-off trigger signal, the master control list of the first instruction to robot is sent
Member, and the controllable switch shutdown is controlled after preset time；First instruction is used to indicate the master control list of the robot
Task is handled before member is shut down in the preset time.
Optionally, the current supply circuit includes main current supply circuit and secondary current supply circuit；The controllable switch can including first
Control switch and the second controllable switch；First controllable switch is serially connected with the main current supply circuit, the second controllable switch string
It is connected to the secondary current supply circuit；The power control unit can control first controllable switch conducting or shutdown, with
And the conducting or shutdown of control second controllable switch；
If the power control unit sends the first instruction to the robot for receiving power-off trigger signal
Main control unit controls the first controllable switch shutdown, and after preset time described in timing, control described second is controllably opened
Shutdown.
Optionally, the current supply circuit includes main current supply circuit and secondary current supply circuit；The controllable switch can including first
Control switch and the second controllable switch；First controllable switch is serially connected with the main current supply circuit, the second controllable switch string
It is connected to the secondary current supply circuit；The power control unit can control first controllable switch conducting or shutdown, with
And the conducting or shutdown of control second controllable switch；
If the power control unit sends the first instruction to the robot for receiving power-off trigger signal
Main control unit controls the first controllable switch shutdown, and sends first instruction to the robot, is receiving second
It controls second controllable switch after instruction to disconnect, wherein second instruction indicates that the battery disconnects the pair and powers back
Road.
Second aspect, the embodiment of the invention also provides a kind of robot circuit breaking controlling method, the robot equipped with
Battery, the battery include power control unit, controllable switch, the current supply circuit for being electrically connected robot, the controllable switch
It is serially connected with the current supply circuit, the power control unit can control the controllable switch conducting or shutdown；The method
Include:
When the power control unit receives power-off trigger signal, the master control list of the first instruction to the robot is sent
Member, and the controllable switch shutdown is controlled after preset time；First instruction is used to indicate the master control list of the robot
Task is handled before member is shut down in the preset time.
Optionally, first instruction includes indicating that the current state of the battery is to wait the information of off-position；
First instruction specifically indicates the robot in the preset time, handles critical data and is protected
It deposits, wherein the critical data is data required for starting the robot.
Optionally, preset time time according to required for the robot processing critical data is set
It is fixed.
Optionally, the method also includes:
After having handled the task before the shutdown, Xiang Suoshu battery control unit is sent the main control unit of the robot
Second instruction, to indicate that the battery control unit disconnects the current supply circuit.
Optionally, the preset time is that the power control unit to the robot sends first instruction to connecing
Receive the time of the second instruction.
Optionally, the current supply circuit includes main current supply circuit and secondary current supply circuit；The controllable switch can including first
Control switch and the second controllable switch；First controllable switch is serially connected with the main current supply circuit, the second controllable switch string
It is connected to the secondary current supply circuit；The power control unit can control first controllable switch conducting or shutdown, with
And the conducting or shutdown of control second controllable switch；
When the power control unit receives power-off trigger signal, the master control list of the first instruction to the robot is sent
Member, and the controllable switch shutdown is controlled after preset time, comprising:
When the power control unit receives power-off trigger signal, the master control list of the first instruction to the robot is sent
Member controls the first controllable switch shutdown, and after preset time described in timing, controls second controllable switch and close
It is disconnected.
Optionally, the current supply circuit includes main current supply circuit and secondary current supply circuit；The controllable switch can including first
Control switch and the second controllable switch；First controllable switch is serially connected with the main current supply circuit, the second controllable switch string
It is connected to the secondary current supply circuit；The power control unit can control first controllable switch conducting or shutdown, with
And the conducting or shutdown of control second controllable switch；
When the power control unit receives power-off trigger signal, the master control list of the first instruction to the robot is sent
Member, and the controllable switch shutdown is controlled after preset time, comprising:
When the power control unit receives power-off trigger signal, the master control list of the first instruction to the robot is sent
Member controls the first controllable switch shutdown, and sends first instruction to the robot, after receiving the second instruction
It controls second controllable switch to disconnect, wherein second instruction indicates that the battery disconnects the secondary current supply circuit.
By providing a kind of robot equipped with battery, and in the cell, setting power supply controls list to the embodiment of the present invention
Member, when power control unit is when receiving power-off trigger signal, the switch controlled in battery turns off after preset time, is machine
Device people provides the time of shutdown pre-processing data；Power control unit includes that user's switch state is believed to robot transmission simultaneously
First instruction of breath, to indicate the task processing before robot completes shutdown within a preset time；So as to avoid the prior art
Middle shutdown is power down the case where cause robot that can not save critical data and corrupted data, ensure that the data of robot
It is safely stored and effectively updates, so that robot can be according to last state trouble-free operation in subsequent starting.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of battery of one of embodiment of the present invention one configuration in robot；
Fig. 2 is the electrical block diagram of the optional battery current supply circuit of one of embodiment of the present invention one；
Fig. 3 is the structural schematic diagram of the battery control unit in the embodiment of the present invention one；
Fig. 4 is the structural schematic diagram of the main control unit in the robot in the embodiment of the present invention one；
Fig. 5 is the flow chart of one of embodiment of the present invention two battery runs down control method；
Fig. 6 is the flow chart of one of embodiment of the present invention three battery runs down control method.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of circuit diagram of battery of the configuration that provides of the embodiment of the present invention one in robot, such as Fig. 1 institute
Show, which includes power control unit 110, controllable switch 120 and provide the current supply circuit 130 of power supply for robot, can
The series winding access current supply circuit 130 of switch 120 is controlled, power control unit 110 can control the conducting of controllable switch 120 or shutdown；
The switching signal that power control unit 110 is used to respond user's triggering sends communication instruction to the robot, should
Communication instruction is used to the information to the main control unit of robot feedback battery, for example, the status information of battery, the identity letter of battery
Breath etc.；In addition, sending the main control unit of the first instruction to robot when detecting that emergency stop switch (not shown in figure 1) disconnects
(not shown in figure 1), and control controllable switch 120 closes after the confirmation of preset time or the main control unit for receiving robot instruction
Disconnected, current supply circuit 130 stops being that robot powers.Wherein, switch status flags position is carried in first instruction, by this
Marker bit can indicate the switch state of emergency stop switch, for example, the mark position 0 works as emergency stop switch when emergency stop switch conducting
When shutdown, the mark position 1.Therefore, power control unit 110 can be by the mark position 0 or setting 1 and indicating that emergency stop is opened
The switch state of pass.
In the present embodiment, the first instruction is the instruction that power control unit 110 is sent when detection all emergency stop switch disconnect,
Thus correspondingly, the switch status flags position in first instruction is 1, that is, shows that user has triggered shutdown, battery is just located
In the state for waiting power-off.When the main control unit of robot receives the first instruction, the main control unit of robot is according to first
After switch status flags position in instruction determines emergency stop switch shutdown, starts the processing of the task before being shut down, work as example, saving
Location information, register information and sensor information of pre-editing device etc..
Wherein, power control unit 110 is used to managing and monitoring battery, and is led to the main control unit of robot
News.
Optionally, in the present embodiment, battery control unit 110 is electrically connected MOS switch pipe by driving circuit 114 to control
The turn-on and turn-off of controllable switch 120 processed.
Controllable switch 120 is that the switch for being controlled by power control unit 110 in current supply circuit 130 is arranged in.
Wherein, it is communicated between battery control unit and the main control unit of robot by the communications protocol arranged, machine
The main control unit of device people arrives emergency stop according to the first instruction that the communications protocol parsing battery control unit of agreement is sent is available
The current switch states of switch.It include switch status flags position in the instruction of the communications protocol, which uses
The current switch states of emergency stop switch are characterized, optionally, when the emergency stop switch status indication position is 1, show emergency stop switch
It is currently at the state of disconnection, correspondingly, battery, which is in, waits off-position；When emergency stop switch status indication position is 0, show
Emergency stop switch is currently at the state of conducting, correspondingly, shows that battery is in the state of normal power supply.Battery control unit passes through
Communication instruction is sent to the main control unit of robot, to indicate that the main control unit of robot (is waited according to the current state of battery
Power-off or normal power supply) carry out inter-related task processing.
Emergency stop switch can be the physical switch being arranged on robot body, also, one can be set in robot
Or multiple emergency stop switch, to facilitate relevant operation task to carry out power-off operation to robot in time；Alternatively, anxious
Guard's valve may be the electronic switch being controlled wirelessly, and remote control unit is referred to by sending long-range control to emergency stop switch
It enables, is turned on or off with controlling emergency stop switch.
Preset time is the time of the task before the preset main control unit processing shutdown for leaving robot for.Optionally, should
The time of task before the duration of predetermined time completes shutdown with the main control unit of robot is related, after counting the full predetermined time, electricity
Source control unit 110 controls controllable switch 120 and disconnects.
The confirmation instruction of the main control unit of robot refers to task processing of the main control unit of robot before completing shutdown
An OK instruction is sent to power control unit afterwards, to indicate that power control unit disconnects current supply circuit.
In view of there is the low energy-consumption electronic devices such as the high power devices such as motor and master control in robot, thus, it is supplied according to one
Electrical circuit is powered all devices, then during power control unit 110 postpones to power off, motor etc. is high-power
Device can continue to consume the electricity of battery, and unnecessary electricity is caused to waste.And in the case where a current supply circuit, it is unfavorable for
To the independent control of motor.
From the above problem, in an optional scheme, which may include main current supply circuit and pair
Current supply circuit, correspondingly, controllable switch 120 may include the first controllable switch and the second controllable switch, wherein first controllably opens
It closes series winding and accesses main current supply circuit, the second controllable switch series winding accesses secondary current supply circuit.Power control unit 110 can pass through control
The first controllable switch is made to realize the power supply or power-off of main current supply circuit, and secondary confession is realized by the second controllable switch of control
The power supply or power-off of electrical circuit.Specifically, as shown in Fig. 2, Fig. 2 shows a kind of circuit theories of optional battery current supply circuit
The input terminal of figure, battery control unit 110 connects emergency stop switch SW, and output end passes through the first main confession of controllable switch Q1 connection respectively
Electrical circuit, and pass through the second controllable switch Q2 auxiliary connection current supply circuit, wherein P1 is the positive input terminal of main current supply circuit, P2
For the positive input terminal of secondary current supply circuit, P- is the negative input end of current supply circuit；When receiving the signal of emergency stop switch SW disconnection,
On the one hand power control unit 110 controls the first controllable switch Q1 disconnection, to disconnect main current supply circuit, stop the drive for robot
The device power supply of the high power consumptions such as dynamic motor；It controls the second controllable switch Q2 simultaneously to continue to tend to remain on, so that secondary power back
Road continues as the low energy-consumption electronic devices such as the main control unit of robot and continues to power, and the second controllable switch Q2 is controlled after preset time
Disconnect current connection (implementation of preset time is referring to above description)；The main control unit of another party's object manipulator sends the
One instruction, to indicate that the task before the main control unit of robot is shut down is handled.
By being optimized to current supply circuit, using two current supply circuits respectively to high power device and low energy-consumption electronic device into
Row power supply, may be implemented to power to the high power devices such as motor and low energy-consumption electronic device respectively, on the one hand facilitate to motor
The control of equal high power devices, and when motor generates failure, facilitate the investigation to failure；On the other hand, in power supply control
During device delay cutting processed, the main current supply circuit where motor can be powered off in advance, to save the electricity to battery
Amount consumption.
Power control unit 110 can include the miniature processing unit of central processing unit, power supply control for single-chip microcontroller 113 etc.
The input port of unit 110 is directly or indirectly connected to emergency stop switch, for receiving the finger of power supply or power-off of the user to battery
It enables.The output port of power control unit 110 is connected with the controllable switch 120 of current supply circuit 130, for controlling current supply circuit
130 on-off.
Optionally, battery control unit 110 includes: battery communication module 111, detection module 112 and letter in the present embodiment
Enable package module 113, wherein
Battery communication module 111 with the main control unit of robot for communicating；
Detection module 112 is used to detect the off-state of emergency stop switch；
Signaling package module 113 is used for when meeting preset condition, generates the first instruction, and send out to the controllable switch
Send open command；
Optionally, the preset condition in signaling package module 113 includes expiring preset time and/or power supply control in time
Unit receives the confirmation instruction of the main control unit of robot.
Optionally, battery communication module 111 is specifically used for:
If receiving power-off trigger signal, the main control unit of the first instruction to the robot is sent.
Optionally, battery communication module 111 is also used to:
The second instruction that the main control unit of the robot is sent is received, second instruction indicates the master of the robot
Task is handled before control unit has executed machine.
Optionally, the main control unit of robot includes: second communication module 410, signaling resolution module 420 in the present embodiment
With task processing module 430, wherein
Second communication module 410 with the first communication module of power control unit for communicating, to receive the first communication mould
The signaling that block is sent；
Signaling resolution module 420, for obtaining switch status flags position according to the first instruction of preset communications protocol parsing
State；
Task processing module 430, for the task processing before shutting down
Optionally, signaling resolution module 420 is specifically used for:
Parse the communication instruction according to preset communications protocol, analytically after instruction in obtain switch state mark
Position；If the switch state flag bit is 1, it is determined that the current state of battery is to wait off-position.
Optionally, task processing module 430 is specifically used for:
It handles current data and is saved.
The technical solution of the present embodiment passes through setting electricity in the battery by providing a kind of robot equipped with battery
Source control unit, when power control unit is when receiving power-off trigger signal, the controllable switch in control battery is when default
Between after shutdown, for robot provide shut down pre-processing data time；Power control unit sends first to robot and refers to simultaneously
It enables, to indicate the task processing before robot completes shutdown within a preset time；It is to fall so as to avoid shutdown in the prior art
Electricity and the case where cause robot that can not save critical data and corrupted data, ensure that the data of robot are safely stored
It is updated with effective, so that robot can be according to last state trouble-free operation in subsequent starting.
Embodiment two
Fig. 5 is a kind of flow chart of battery runs down control method provided by Embodiment 2 of the present invention, and the present embodiment is applicable
In the haulage equipment being battery powered, the case where the delay of control battery powers off when the user turns it down, for example, in robot,
Power supply of the control battery delay cutting to the main control unit of robot after user's shutdown, so that the main control unit of robot is sometimes
Between handled the task before shutdown, this method can be executed by the power control unit of robot, for example, by configuring in robot
In the main control unit of battery management system cooperation robot of battery execute, this method specifically includes the following steps:
S510, the switching information for receiving user's triggering, and communication instruction is generated according to the switching information, wherein it is described
Communication instruction includes the status information of the emergency stop switch of robot, and the switching signal includes power-off trigger signal or power-up control
Signal.
Wherein, battery is used to power for each electricity consumption device of robot.For convenience to battery carry out on-off management and
Condition monitoring is provided with power control unit, controllable switch and the confession for being electrically connected robot in the battery in the present embodiment
Electrical circuit, wherein controllable switch is serially connected in current supply circuit, conducting or pass of the power control unit by control controllable switch
It is disconnected, realize the control to the on or off of current supply circuit.
In view of the power consumption of each device of robot is not identical, for example, the power consumption of driving motor is relatively large, and parameter
Then power consumption is relatively low for sampler and control device, thus in the present embodiment, the current supply circuit of robot has been carried out carefully
Change, specifically, which includes main current supply circuit and secondary current supply circuit, wherein main current supply circuit is used to high-power device
Part is powered, for example, powering for motor；Secondary current supply circuit is used to be powered low energy-consumption electronic device, for example, for robot
Main control unit is the power supply such as various kinds of sensors of robot.Correspondingly, controllable switch includes that the first controllable switch and second are controllable
Switch, wherein the first controllable switch is serially connected with main current supply circuit, and the second controllable switch is serially connected with secondary current supply circuit, and power supply control
Unit processed can respectively control the first controllable switch and the second controllable switch, including control its on or off.
If S520, the controllable switch signal are power-off trigger signal, judge whether to meet preset condition.
Optionally, which can be the main control unit that preset time or power control unit receive robot
Confirmation instruction.
When the preset condition is a preset time, the duration of the preset time and the main control unit of robot are completed to close
The time of task before machine is related, therefore, it is possible to handle the time of the task before shutdown in electricity according to the main control unit of robot
The timing to the predetermined time is realized in the control unit of pond by timing circuit；
Preset condition is the confirmation instruction for the main control unit that power control unit receives robot, refers to the master control of robot
Unit sends an OK instruction to power control unit after completing the task processing before shutdown, to indicate that power control unit is disconnected
Open current supply circuit.
Correspondingly, it in the present embodiment, if the controllable switch signal is power-off trigger signal, sends first and instructs to described
The main control unit of robot, and the controllable switch shutdown is controlled after preset time, it can optimize are as follows:
If S521, the controllable switch signal are power-off trigger signal, the master control of the first instruction to the robot is sent
Unit controls the first controllable switch shutdown, and after preset time described in timing, controls second controllable switch and close
It is disconnected；
If S522, the switching signal are power-off trigger signal, first switch shutdown is controlled, and to the machine
The main control unit of people sends first instruction, and the second switch is controlled after receiving the second instruction and is disconnected, wherein is described
Second instruction indicates that the battery disconnects the secondary current supply circuit.
S530, the main control unit of the first instruction of transmission to the robot simultaneously control described controllable when meeting preset condition
Switch OFF；Switch status flags position is carried in first instruction, the switch state flag bit is used to indicate emergency stop and opens
The switch state of pass
Wherein, it is communicated between power control unit and the master control of robot by the communications protocol arranged, robot
Main control unit according to agreement communications protocol parsing power control unit send communication instruction it is available arrive emergency stop switch
Switch state.Specifically, include in the communications protocol robot emergency stop switch status indication position information, pass through the mark
Note position can indicate the switch state of emergency stop switch, for example, when emergency stop switch conducting, the mark position 0, when emergency stop switch closes
When disconnected, the mark position 1.Therefore, power control unit can be by the mark position 0 or setting 1 and indicating emergency stop switch
Switch state.
When power control unit is when the controllable switch signal received is power-off trigger signal, on the one hand to controllable switch
The indication signal of delay power-off is sent, the main control unit of another party's object manipulator sends the first instruction, refers to by sending first
It enables to robot feedback emergency stop switch and is in off-state, to indicate that the main control unit of robot starts before being shut down
Task processing.
Because battery is optimized to the current supply circuit that robot powers, i.e., main current supply circuit is high power device confession
Electricity, secondary current supply circuit is low energy-consumption electronic device power supply, and the main control unit of robot is located at secondary current supply circuit, thus, at this point it is possible to
It is initially switched off main current supply circuit, to save the energy consumption to battery.Specifically, when preset condition is preset time, power supply control
Unit control processed connects the first controllable switch shutdown of main current supply circuit, and it is controllable to control second be connected in secondary current supply circuit
Switch keeps current connection status, controls the second controllable switch again after timing reaches preset time and disconnects current connection.
When preset condition is the confirmation instruction for receiving the main control unit of robot, power control unit receive this
When two instructions, control second switch is disconnected, to disconnect secondary current supply circuit.
The present embodiment technical solution in the communication instruction of power control unit and the main control unit of robot by increasing
Switch status flags position indicates the switch state of emergency stop switch by the marker bit, and single by controlling the power supply in battery
Member is controlled, so that power control unit after receiving cut-offing instruction, on the one hand controls current supply circuit according to preset meter
When time delay power off, another party's object manipulator send first instruction, before indicating that the main control unit of robot is shut down
Task processing, to prepare to shut down；It is the time that robot has reserved processing data by control current supply circuit delay power-off, leads to
It crosses and preset timing time is adjusted, can allow the robot to before having handled shutdown in the preset timing time
Task, avoiding the i.e. power down of shutdown in the prior art causes robot that can not handle current critical data in time, and causes to count
The problem of according to loss or damage, ensure that the data of robot are safely stored and effectively update, so that robot is rear
It can be according to last state trouble-free operation when continuous starting.
Embodiment three
Fig. 6 is the flow chart that the present invention is a kind of battery runs down control method that embodiment three provides, and the present embodiment can fit
In haulage equipment for being battery powered, the case where the delay of control battery powers off when the user turns it down, for example, in robot
In, power supply of the control battery delay cutting to the master control of robot after user's shutdown, this method can be by the master control in robot
Unit executes, this method specifically includes the following steps:
S610, the communication instruction that battery is sent is received, parses the current state that the communication instruction obtains battery.
Wherein, include in communication instruction robot emergency stop switch switch state.Robot refers to receiving communication
After order, needs to parse communication instruction to get the current state of emergency stop switch, specifically, parse the communication instruction
Obtain the current state of battery, comprising:
Parse the communication instruction according to preset communications protocol, analytically after instruction in obtain switch state mark
Position；
If the switch state flag bit is 1, it is determined that emergency stop switch is in an off state.
Wherein, the state of emergency stop switch is characterized by user's switch state flag bit in communications protocol.Optionally, when
When user's switching flag bits are 1, show that user's switch is currently at the state of disconnection, correspondingly, battery, which is in, waits power-off
State；When user's switch status flags position is 0, show that user's switch is currently at the state of conducting and correspondingly shows battery
State in normal power supply.The switch state flag bit is checked according to first instruction of preset protocol analysis by robot
To determine the current state of battery.
Off-position is waited to refer to that the shutdown command of user's triggering, and the pipe of battery has been received in the management system of battery
Reason system postpones the state of battery runs down by the method for software control.
If S620, emergency stop switch are in an off state, task is handled before being shut down.
Wherein, task processing includes: and handles current data and saved before being shut down, for example, saving current compile
Collect location information, register information and the sensor information etc. of device.Current data may include the sensor acquisition of robot
The control unit of the data arrived, robot starts parameter required for robot, saves data etc. in memory.Correspondingly,
Handling current data can be, save the collected data of sensor, clear up memory, the data copy in memory is arrived
In Flash, starting up's parameter etc. is saved.
Optionally, in the present embodiment, after the main control unit of robot has handled current data, further includes:
S630, robot main control unit to the power control unit send second instruction, to indicate the power supply control
Unit processed disconnects current supply circuit.
Specifically, the main control unit of robot sends the second instruction to power control unit, includes in second instruction
Robot has handled the information of current data, and power control unit is assisted after receiving second instruction according to preset communication
View parsing second instruction, and then obtain the second control unit and completed the information of the task processing before shutdown, and then disconnect
The discharge loop powered for the main control unit of robot.
The present embodiment technical solution is closed by increasing in the communications protocol of the control unit of the master control and battery of robot
In the information of the mode bit of user's switch, the first finger sent by the master control parsing in robot by the control unit instructed
It enables, obtains the current state of battery, and when determining that battery such as is at the state to be shut down, carry out data processing to prepare to close
Machine；Control unit in battery is disconnected again when ensuring that robot has handled current data to the control unit of robot
Power supply, to avoid robot because shutdown is that the case where powering off and the data of robot is caused to be damaged or lost, ensure that machine
The data of device people are safely stored and effectively update, to guarantee that robot can be smooth with newest state in subsequent use
Operation.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of robot, which is characterized in that equipped with battery, the battery includes power control unit, can for the robot
Control switch and current supply circuit, the controllable switch series winding access in the current supply circuit, and the power control unit can be controlled
Make the controllable switch conducting or shutdown；
When the power control unit is for detecting power-off trigger signal, the main control unit of the first instruction to robot is sent,
And the controllable switch shutdown is controlled when meeting preset condition；Switch status flags position, institute are carried in first instruction
State the switch state that switch state flag bit is used to indicate emergency stop switch.
2. robot according to claim 1, which is characterized in that the current supply circuit is main current supply circuit, described controllable
Switch is the first controllable switch；The battery further includes secondary current supply circuit and the second controllable switch；Wherein, it described second controllably opens
It closes in the series winding access secondary current supply circuit；The power control unit can also control second controllable switch conducting or
Person's shutdown；
If the power control unit is further used for receiving power-off trigger signal, the first instruction is sent to the robot
Main control unit, and control first controllable switch shutdown, after timing preset time, control second controllable switch
Shutdown.
3. robot according to claim 1, which is characterized in that the current supply circuit is main current supply circuit, described controllable
Switch is the first controllable switch；The battery further includes secondary current supply circuit and the second controllable switch；Wherein, it described second controllably opens
It closes in the series winding access secondary current supply circuit；The power control unit can also control second controllable switch conducting or
Person's shutdown；
If the power control unit is further used for receiving power-off trigger signal, the first instruction is sent to the robot
Main control unit, and control first controllable switch shutdown, second sent in the main control unit for receiving the robot
It controls second controllable switch after instruction to disconnect, wherein second instruction indicates that the main control unit of the robot has been held
Task before machine of having gone is handled.
4. robot according to claim 1, which is characterized in that the preset condition include count full preset time and/or
The power control unit receives the confirmation instruction of the main control unit of robot.
5. a kind of robot circuit breaking controlling method, which is characterized in that the robot includes power supply equipped with battery, the battery
Control unit, controllable switch and current supply circuit, the controllable switch series winding access in the current supply circuit, the power supply control
Unit can control the controllable switch conducting or shutdown；The described method includes:
When the power control unit detects power-off trigger signal, sends first and instruct to the main control unit of robot, and
The controllable switch shutdown is controlled when meeting preset condition；Switch status flags position is carried in first instruction, it is described to open
Off status flag bit is used to indicate the switch state of emergency stop switch.
6. battery runs down control method according to claim 5, which is characterized in that
Task before the main control unit that first instruction is used to indicate robot is shut down is handled.
7. according to the method described in claim 5, it is characterized in that, the preset condition includes counting full preset time and/or institute
State the confirmation instruction that power control unit receives the main control unit of robot.
For the main control unit of the robot after having handled the task before the shutdown, Xiang Suoshu battery control unit sends second
Instruction, to indicate that the battery control unit disconnects the current supply circuit.
8. the method according to the description of claim 7 is characterized in that the preset time handles the pass according to the robot
Time required for key data is set.
9. according to the method described in claim 5, it is characterized in that, the current supply circuit be main current supply circuit, it is described controllably to open
Closing is the first controllable switch；The battery further includes secondary current supply circuit and the second controllable switch；Wherein, second controllable switch
In the series winding access secondary current supply circuit；The power control unit can also control second controllable switch conducting or
Shutdown；
When the power control unit detects power-off trigger signal, sends first and instruct to the main control unit of robot, and
The controllable switch shutdown is controlled when meeting preset condition, comprising:
When the power control unit detects power-off trigger signal, then the master control list of the first instruction to the robot is sent
Member, and the first controllable switch shutdown is controlled, after timing preset time, control the second controllable switch shutdown.
10. according to the method described in claim 5, it is characterized in that, the current supply circuit be main current supply circuit, it is described controllably to open
Closing is the first controllable switch；The battery further includes secondary current supply circuit and the second controllable switch；Wherein, second controllable switch
In the series winding access secondary current supply circuit；The power control unit can also control second controllable switch conducting or
Shutdown；
When the power control unit detects power-off trigger signal, sends first and instruct to the main control unit of robot, and
The controllable switch shutdown is controlled when meeting preset condition, comprising:
When the power control unit detects power-off trigger signal, then the master control list of the first instruction to the robot is sent
Member, and the first controllable switch shutdown is controlled, it is controlled after the second instruction that the main control unit for receiving the robot is sent
It makes second controllable switch to disconnect, wherein before second instruction indicates that the main control unit of the robot has executed machine
Task processing.
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| CN114630941A (en) * | 2019-11-05 | 2022-06-14 | 株式会社小松制作所 | GNSS drive control device, GNSS controller, working machine, and GNSS drive control method |
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