CN110488700A - A kind of power-supply management system and robot - Google Patents
A kind of power-supply management system and robot Download PDFInfo
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- CN110488700A CN110488700A CN201910765170.1A CN201910765170A CN110488700A CN 110488700 A CN110488700 A CN 110488700A CN 201910765170 A CN201910765170 A CN 201910765170A CN 110488700 A CN110488700 A CN 110488700A
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- 238000004422 calculation algorithm Methods 0.000 claims abstract description 35
- 239000003990 capacitor Substances 0.000 claims description 113
- 238000005070 sampling Methods 0.000 claims description 47
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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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
- G05B2219/20—Pc systems
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Abstract
A kind of power-supply management system and robot generate internal power supply according to battery supply by the first DC conversion modules to be powered to each functional module；Second DC conversion modules generate the first external power supply and the second external power supply according to battery supply and enable signal；Third DC conversion modules are according to battery supply and enable signal generating algorithm processor power supply and reserved power supply；Detection module detects to generate corresponding power detection signal the first external power supply, the second external power supply, algorithm processor power supply and reserved power supply；Conversion module generates line communication signal according to power detection signal；Control module generates enable signal according to line communication signal；Real-time monitoring and management are carried out to each power supply to realize, save the ADC analog-to-digital conversion interface resource of control module, the isolation between power supply and signal is carried out simultaneously, reduces hardware cost and R&D work amount, improves power-supply management system response speed and control precision.
Description
Technical field
The invention belongs to robot power supply technical field more particularly to a kind of power-supply management systems and robot.
Background technique
With the rise of robot industry, more and more robots occur in the market, these robots are with more
Kind mode substitutes manually, mitigates labor burden for the mankind.And the power supply core as robot, the power-supply management system of robot
Must electrical safety, it is reliable and stable and in terms of guarantee it is reliable and practical.
Existing robot power supply Managed Solution, power-supply management system pass through voltage or current sample and mould on the market at present
Handled and controlled by single-chip microcontroller after number conversion, system control precision is low and response speed is easy to cause system to go out slowly
The failures such as existing overcurrent damage circuit components and monitoring system has little time the case where responding.Simultaneously as voltage or electric current
What sampling processing utilized is the serial line interface of single-chip microcontroller itself, occupies and expend more mcu resource, is being needed to multiple groups electricity
Correspondence is needed to realize using multiple single-chip microcontrollers when pressure is monitored, hardware cost is high, and R&D work amount is big.
Therefore, there are carry out being carried out by single-chip microcontroller after voltage or current sample and analog-to-digital conversion in traditional technical solution
Processing and control, so as to cause ground power-supply management system control response speed slowly and precision it is low and occupy and consuming compared with multiple single chip microcomputer
Resource leads to the defect that hardware cost is high, R&D work amount is big.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of power-supply management system and robots, it is intended to solve traditional skill
It carries out being handled and being controlled by single-chip microcontroller after voltage present in art scheme or current sample and analog-to-digital conversion, so as to cause
Ground power-supply management system control response speed slowly and precision it is low and occupy and expend more mcu resource cause hardware cost height,
The big problem of R&D work amount.
The first aspect of the embodiment of the present invention provides a kind of power-supply management system, and the power-supply management system includes:
Turned for generating internal power supply according to battery supply with the first direct current being powered to each functional module
Change the mold block；
It is powered for generating the first external power supply according to the battery supply and the first enable signal with sub-system,
And that the second external power supply is powered with detection module of adjusting the distance is generated according to the battery supply and the second enable signal
Two DC conversion modules；
For according to the battery supply and third enable signal generating algorithm processor power supply with to algorithm processor into
Row power supply, and reserved third of the power supply to be powered to external equipment is generated according to the battery supply and the 4th enable signal
DC conversion modules；
It is connect with second DC conversion modules and the third DC conversion modules, for first external electrical
Source, second external power supply, the algorithm processor power supply and the reserved power supply are detected to generate the first external electrical
Detect the inspection of signal, the second external power supply detection signal, algorithm processor power detection signal and reserved power detection signal in source
Survey module；
It is connect with the detection module, for detecting signal, second external power supply according to first external power supply
It detects signal, the algorithm processor power detection signal and the reserved power detection signal and generates turning for line communication signal
Change the mold block；
With first DC conversion modules, second DC conversion modules, the third DC conversion modules and institute
Conversion module connection is stated, is used to be enabled according to line communication signal generation first enable signal, described second, is described
The control module of third enable signal and the 4th enable signal.
The power-supply management system in one of the embodiments, further include:
It connect, is used for according to key-press input generation key-press status detection signal with battery and the control module, and according to
On/off controls the upper electrical switch module of signal communication or the shutdown battery supply；
The control module is also used to detect signal according to the key-press status and generates the on/off control signal.
The power-supply management system in one of the embodiments, further include:
It connect, battery is detected to generate battery information with the control module, and forward the battery information
First wire communication module；
The control module is specifically used for being made according to the battery information and line communication signal generation described first
It can signal, second enable signal, the third enable signal and the 4th enable signal.
The power-supply management system in one of the embodiments, further include:
It is connect with the control module, for forwarding the second wire communication module of subsystem state information；
It is connect with the control module, for forwarding the third wire communication module of subsystem control information；
The control module is also used to generate the subsystem control information according to the subsystem state information.
The power-supply management system in one of the embodiments, further include:
For forwarding the memory module of the identity information of storage；
It is connect with the memory module and the control module, for generating the body of id signal according to the identity information
Part identification module；
The control module is specifically used for being made according to the id signal and line communication signal generation described first
It can signal, second enable signal, the third enable signal and the 4th enable signal.
The power-supply management system in one of the embodiments, further include:
It is connect with the control module, for being detected the sensing mould with build environment transducing signal to environmental parameter
Block；
The control module be specifically used for according to the environmentally sensitive signal and with the line communication signal generate described in
First enable signal, second enable signal, the third enable signal and the 4th enable signal.
The power-supply management system in one of the embodiments, further include:
For to first external power supply, second external power supply, the algorithm processor power supply and described pre-
Power supply is stayed to be detected respectively to generate the first external power supply current detection signal, the second external power supply current detection signal, calculate
The current detection module of method processor power supply current detection signal and reserved source current detection signal；
The control module is specifically used for being believed according to the line communication signal, the first external power supply current detecting
Number, the second external power supply current detection signal, the algorithm processor source current detection signal and reserved electricity
Ource electric current detection signal generates first enable signal, second enabled, the described third enable signal and the described 4th makes
It can signal.
The conversion module includes first capacitor, the second capacitor, third capacitor, the 4th electricity in one of the embodiments,
Appearance, the 5th capacitor, the 6th capacitor, the 7th capacitor, first resistor, second resistance, 3rd resistor, the 4th resistance, the 5th resistance,
Six resistance, the 7th resistance, the 8th resistance, the first triode, the first optical coupling isolator, the first sampling A/D chip and first number every
From device；
The first end of the first resistor is that the battery supply of the conversion module detects signal input part；
The first end of the second resistance is that the first external power supply of the conversion module detects signal input part；
The first end of the 3rd resistor is that the second external power supply of the conversion module detects signal input part；
The first end of 4th resistance is the algorithm processor power detection signal input terminal of the conversion module；
The first end of 5th resistance is the reserved power detection signal input terminal of the conversion module；
The first end of 8th resistance is the conversion enable signal input terminal of the conversion module；
The A channel input terminal of first digital isolator, the channel B input terminal of first digital isolator and institute
The C-channel output end for stating the first digital isolator collectively forms line communication signal output end for the conversion module, described
First output enable end of the first digital isolator is the output enable signal input terminal of the conversion module；
The of the first input end of first sampling A/D chip and the second end of the first resistor and the first capacitor
The of one end connection, the second input terminal of first sampling A/D chip and the second end of the second resistance and second capacitor
The of one end connection, the third input terminal of first sampling A/D chip and the second end of the 3rd resistor and the third capacitor
The of one end connection, the second end of the 4th input terminal of first sampling A/D chip and the 4th resistance and the 4th capacitor
The of one end connection, the second end of the 5th input terminal of first sampling A/D chip and the 5th resistance and the 5th capacitor
One end connection, the second end of the first capacitor, the second end of the second capacitor, the second end of the third capacitor, the described 4th
The second end of capacitor and the second end of the 5th capacitor are connect with power ground；The analog power end of first sampling A/D chip
It is connect with the first internal power supply, the second end of the enable end of first sampling A/D chip and the 7th resistance and described the
The collector of one optical coupling isolator connects, and the first end of the 6th resistance and the first cathode of first optical coupling isolator connect
It connects, the emitter of first optical coupling isolator is connect with power ground, the anode of first optical coupling isolator and the described 7th
The second end of resistance connects, and the first end of the 7th resistance is connect with the second internal power supply, and the of the 7th resistance
Two ends are connect with third internal power supply, the current collection of the second cathode of first optical coupling isolator and first triode
Pole connection, the emitter of first triode are connect with power ground, the base stage of first triode and the 8th resistance
Second end connection；The clock end of first sampling A/D chip is connect with the A channel output end of first digital isolator, institute
The data output end for stating the first sampling A/D chip is connect with the C-channel input terminal of first digital isolator, first sampling
The data input pin of chip is connect with the channel B output end of first digital isolator, the number of first sampling A/D chip
Power end is connect with first internal power supply, the simulation ground terminal of first sampling A/D chip and first sampling A/D chip
Digital ground terminal connect with power ground, the first end of the first power end of first digital isolator and the 6th capacitor with
The third internal power supply connection, the first end at the second source end of first digital isolator and the 7th capacitor
It is connect with second internal power supply, the second end of the 7th capacitor, the second end of the 6th capacitor and described
First digital isolator ground terminal is connect with power ground.
Second wire communication module includes the 8th capacitor, the 9th capacitor, the tenth electricity in one of the embodiments,
Appearance, the 11st capacitor, the 12nd capacitor, the 9th resistance, the tenth resistance, eleventh resistor, twelfth resistor, the first common mode filtering
Device, the first transient suppressor and the first isolated can transceiver；
The data sending terminal of the data receiver of the first isolated can transceiver and the first isolated can transceiver
It collectively forms as the subsystem state information output end of second wire communication module；
The first end of 11st capacitor and the second end of the 12nd capacitor collectively form wired for described second
The subsystem state information input terminal of communication module；
The second end and the second end of the tenth capacitor and the first end of the 12nd capacitor of 11st capacitor
It is connect with power ground, the first end of the 11st capacitor and first end, first common mode filtering of the eleventh resistor
Second cathode at the third end of device, the second end of the 9th resistance and first transient suppressor connects, and the described tenth
The second end of the second end of two capacitors and the twelfth resistor, the 4th end of first common-mode filter, the tenth electricity
The connection of first cathode of the second end of resistance and first transient suppressor, the common cathode and electricity of first transient suppressor
It connects to source, the first end of the 9th resistance and the second end of first common-mode filter and first isolated can are received
Send out the advanced CAN bus end connection of device, the first end of the tenth resistance and first end and the institute of first common-mode filter
State the rudimentary CAN bus end connection of the first isolated can transceiver, the first power end of the first isolated can transceiver and institute
The first end for stating the 8th capacitor is connected with the 4th internal power supply, and the second end of the 8th capacitor is connect with power ground, institute
The second source end for stating the first isolated can transceiver is connect with the first end of the 9th capacitor and the 5th internal power supply,
The second end of 9th capacitor is connect with power ground, and the ground terminal of the first isolated can transceiver is connect with power ground.
The second aspect of the embodiment of the present invention provides a kind of robot, and the robot includes power supply as described above
Management system.
Above-mentioned power-supply management system by the first DC conversion modules according to battery supply generate internal power supply with
Each functional module is powered, the second DC conversion modules and third DC conversion modules are according to battery supply and enabled letter
Number generate the first external power supply, the second external power supply, algorithm processor power supply and reserved power supply, detection module is to outside first
Power supply, the second external power supply, algorithm processor power supply and reserved power supply are detected to generate the first external power supply detection letter
Number, the second external power supply detection signal, algorithm processor power detection signal and reserved power detection signal, modulus of conversion root tuber
According to the first external power supply detection signal, the second external power supply detection signal, algorithm processor power detection signal and reserved electricity
Source detects signal and generates line communication signal, and control module generates enable signal according to line communication signal；To realize to each
A power supply carries out real-time monitoring, generates line communication signal by conversion module, and the ADC modulus for saving control module turns
Alias resource, the case where avoiding the ADC interface shortage of resources of control module when thering is multiple groups voltage to need to monitor, and
Since control module reads the information of voltage of each power supply by conversion module and according to the information of voltage pair read
Each power supply is monitored and manages, and facilitates the isolation for carrying out power supply and signal, effectively prevent the two mutual interference, reduces hard
Part cost and R&D work amount improve system response time and control precision.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of a kind of structural schematic diagram for power-supply management system that one embodiment of the invention provides；
Fig. 2 is a kind of another structural schematic diagram for power-supply management system that one embodiment of the invention provides；
Fig. 3 is a kind of another structural schematic diagram for power-supply management system that one embodiment of the invention provides；
Fig. 4 is a kind of another structural schematic diagram for power-supply management system that one embodiment of the invention provides；
Fig. 5 is a kind of another structural schematic diagram for power-supply management system that one embodiment of the invention provides；
Fig. 6 is a kind of another structural schematic diagram for power-supply management system that one embodiment of the invention provides；
Fig. 7 is a kind of another structural schematic diagram for power-supply management system that one embodiment of the invention provides；
Fig. 8 is a kind of exemplary circuit schematic diagram of the conversion module for power-supply management system that one embodiment of the invention provides；
Fig. 9 is a kind of exemplary circuit of the second wire communication module of power-supply management system that one embodiment of the invention provides
Schematic diagram；
Figure 10 is the robot subsystems expansion structure schematic diagram that one embodiment of the invention provides.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Referring to Fig. 1, a kind of structural schematic diagram of power-supply management system provided in an embodiment of the present invention, for the ease of saying
Bright, only the parts related to this embodiment are shown, and details are as follows:
A kind of power-supply management system, including the first DC conversion modules 11, the second DC conversion modules 12, third direct current turn
Change the mold block 13, detection module 14, conversion module 15 and control module 16.
First DC conversion modules 11 be used for according to battery supply generate internal power supply with to each functional module into
Row power supply；Second DC conversion modules 12 are used to generate the first external power supply according to battery supply and the first enable signal with antithetical phrase
System is powered, and is generated the second external power supply according to battery supply and the second enable signal and carried out with detection module of adjusting the distance
Power supply；Third DC conversion modules 13 are used for according to battery supply and third enable signal generating algorithm processor power supply to calculation
Method processor is powered, and generates reserved power supply according to battery supply and the 4th enable signal to supply external equipment
Electricity；Detection module 14 is connect with the second DC conversion modules 12 and third DC conversion modules 13, for the first external power supply,
Second external power supply, algorithm processor power supply and reserved power supply are detected to generate the first external power supply detection signal, second
External power supply detects signal, algorithm processor power detection signal and reserved power detection signal；Conversion module 15 and detection mould
Block 14 connects, and for detecting signal according to the first external power supply, the second external power supply detects signal, algorithm processor power detecting
Signal and reserved power detection signal generate line communication signal；Control module 16 and the first DC conversion modules 11, second are straight
It flows conversion module 12, third DC conversion modules 13 and conversion module 15 to connect, for generating first according to line communication signal
Enable signal, the second enabled, third enable signal and the 4th enable signal.
In specific implementation, control module 16 can also input the key-press input signal generation generated according to user and power on enabled letter
Number, the first DC conversion modules 11 generate internal power supply to each function mould according to enable signal and battery supply is powered on
Block power supply.Conversion module 15 includes the ADC of band SPI (Serial Peripheral Interface, Serial Peripheral Interface (SPI)) interface
Sampling A/D chip saves the ADC interface resource of the control module 16 of system by conversion module 15, and avoiding to work as has multiple groups voltage
When needing to monitor the case where ADC interface shortage of resources, and since control module 16 only needs to read by SPI interface respectively
The information of voltage of a power supply, facilitate carry out power supply and signal isolation, simplify isolation circuit design, save hardware at
Sheet and R&D work amount.
Optionally, control module 16 includes central processing unit (CPU), digital signal processor (DSP), central control unit
(MCU), at least one of field programmable gate array (FPGA), Complex Programmable Logic Devices (CPLD) have abundance
Operation, analysis and processing capacity, operation needed for can satisfy power-supply management system and demand for control.
Referring to Fig. 2, power-supply management system further includes upper electrical switch module 17 in one of the embodiments,.
Upper electrical switch module 17 is connect with battery and control module 16, for generating key-press status detection according to key-press input
Signal, and signal communication or shutdown battery supply are controlled according to on/off；Control module 16 is also used to according to key-press status
It detects signal and generates on/off control signal.
In specific implementation, upper electrical switch module 17 includes switch control chip, passes through upper electrical switch module 17 and control mould
Block 16 can independently define the switching on and shutting down time, and can use under the scene of high voltage, significantly enhance power management
The applicability and flexibility of circuit.Due to having used integrated switch control chip and specifically having powered on the mode of maintenance, avoid
The problem of shake or false triggering that common key-press circuit faces, greatly strengthen the stabilization of switching on and shutting down and upper and lower electric system
Property.
Referring to Fig. 3, power-supply management system further includes the first wire communication module 18 in one of the embodiments,.
First wire communication module 18 is connect with control module 16, is detected to battery 01 to generate battery information, and
Forward battery information；Control module 16 is specifically used for generating the first enable signal, the according to battery information and line communication signal
Two enable signals, third enable signal and the 4th enable signal.
In specific implementation, the communication between battery 01 and control module 16, energy are realized by the first wire communication module 18
The battery information of enough batteries 01 of monitoring in time, including battery level information and battery failures information, and battery information is anti-in time
Control module of feeding 16 improves the reliable of system power supply so that control module 16 carries out power supply managing according to battery information
Property and practicability.
Referring to Fig. 4, power-supply management system further includes the second wire communication mould 19 and third in one of the embodiments,
Wire communication module 20.
Second wire communication mould 19 is connect with control module 16, for forwarding subsystem state information；Third wire communication
Module 20 is connect with control module 16, for forwarding subsystem control information；Control module 16 is also used to according to subsystem state
Information generates subsystem control information.
In specific implementation, the second wire communication mould 19 includes CAN bus transceiver, and third wire communication module 20 includes
RS485 transceiver, it is integrated that the second wire communication mould 19 and third wire communication module 20 and the first external power supply, which collectively form,
One integrated expansion module, for expanding subsystem.RS485 believes as low speed bus, the control of prevailing transmission subsystems
The interactive information of breath or subsystem work indispensability；CAN bus is the security information transmitting of robot system as safety bus
Channel is mainly used for transfer of security data, system backup data, emergency data, such as transmits the status information of each subsystem, version
This information, configuration information, self-diagnosis information, error message report, emergency stop conditions information etc..In the feelings of short haul connection
Under condition, CAN bus theoretically can 256 nodes of carry, this also means that the subsystem of this system, which can theoretically extend, reaches 256
It is a, the scalability of robot power supply system is improved, so that new functional requirement is faced in robot, it can be conveniently and effectively
Extension subsystem is used and is managed, and overcoming cannot after traditional power management system of robot once designs completion
It is expanded to be electrically connected more equipment or limited scalability, once robot faces new functional requirement, needs to expand
Problem often helpless when exhibition subsystem.Meanwhile RS485 and CAN bus are all made of the mode access system of isolation
Control module 106, make it possible to effectively protect the external disturbances such as electrostatic, surge.
The a part of robot subsystems as robot, subsystem and power-supply management system composition one of the invention are whole
Body, each subsystem equally have respective identity (ID number) and storage chip and independent PMU (power
Management unit, Power Management Unit), as shown in Figure 10, wherein it is total that P/S bus can be regarded as CAN bus, RS485
The bus that line and the first external power supply bus (Power_BUS) collectively form.Optionally, PMU uses low-power consumption monolithic
Machine receives the status information of subsystems by CAN bus, control module 16 is according to subsystem shape as unit main control chip
State information generates subsystem control information, and the control for the control information and lower electricity for powering on control subsystem through RS485 bus
Information is transmitted to the PMU of subsystems, and the voltage and current data of PMU monitoring and each road power supply of acquisition subsystem are abnormal
In the case of can independently close corresponding abnormal power supply.
Referring to Fig. 5, power-supply management system further includes memory module 21 and identification mould in one of the embodiments,
Block 2.
Memory module 21 is used to forward the identity information of storage；Identification module 22 and memory module and control module 16
Connection, for generating id signal according to identity information；Control module 16 is specifically used for being believed according to id signal and wire communication
Number generate the first enable signal, the second enable signal, third enable signal and the 4th enable signal.
In specific implementation, after being powered on by key-press input triggering, control module 16 reads id signal and is believed according to mark
Number judge whether power-supply management system identity information consistent with preset board identity information, the system that triggered if consistent carry out from
Inspection, self-test completion and system operate normally, and control module 16 generates the first enabled letter according to id signal and line communication signal
Number, the second enable signal, third enable signal and the 4th enable signal, control power-supply management system powers on and generates each power supply
Power supply.After System self-test completion, the subsystems of robot are notified to carry out self-test by third wire communication module 20,
After the completion of subsystems also self-test, system completion is powered on.
Referring to Fig. 6, power-supply management system further includes sensing module 23 in one of the embodiments,.
Sensing module 23 is connect with control module 16, for being detected environmental parameter with build environment transducing signal；
Control module 16 is specifically used for generating the first enable signal, the second enabled letter according to environmentally sensitive signal and with line communication signal
Number, third enable signal and the 4th enable signal.
In specific implementation, sensing module 23 includes temperature sensor, can effectively monitor the temperature of system, anti-locking system temperature
It spends high and fails, improve the reliability of power-supply management system.
Referring to Fig. 7, power-supply management system further includes current detection module 24 in one of the embodiments,.
Current detection module 24 is used for the first external power supply, the second external power supply, algorithm processor power supply and reserves
Power supply is detected respectively to generate the first external power supply current detection signal, the second external power supply current detection signal, algorithm
Processor power supply current detection signal and reserved source current detect signal；Control module 16 is specifically used for according to wire communication
Signal, the first external power supply current detection signal, the second external power supply current detection signal, the detection of algorithm processor source current
It is enabled that signal and reserved source current detection signal generate the first enable signal, the second enabled, third enable signal and the 4th
Signal.
In specific implementation, current monitoring module 24 include galvanometer chip, by galvanometer chip to the first external power supply,
Second external power supply, algorithm processor power supply and reserved power supply are detected respectively to generate the first external power supply current detecting
Signal, the second external power supply current detection signal, algorithm processor source current detection signal and the detection of reserved source current
Signal, and above-mentioned current detection signal is transferred to control module 16, due to having used galvanometer chip and directly to simulation
Amount is sampled, and is improved the current monitoring precision and response speed to each power supply of system, is avoided and system mistake occur
Stream damages device and monitors the case where system has little time response.Simultaneously as current detection circuit is placed in switch below, optimization
The mechanism of protection avoids switch itself fail system undetectable situation.
Referring to Fig. 8, conversion module 15 includes first capacitor C1, the second capacitor C2, third in one of the embodiments,
Capacitor C3, the 4th capacitor C4, the 5th capacitor C5, the 6th capacitor C6, the 7th capacitor C7, first resistor R1, second resistance R2, third
Resistance R3, the 4th resistance R4, the 5th resistance R5, the 6th resistance R6, the 7th resistance R7, the 8th resistance R8, the first triode Q1,
One optical coupling isolator U39, the first sampling A/D chip U34 and the first digital isolator U40.
The first end of first resistor R1 is that the battery supply of conversion module 15 detects signal input part；The of second resistance R2
One end is that the first external power supply of conversion module 15 detects signal input part；The first end of 3rd resistor R3 is conversion module 15
Second external power supply detects signal input part；The first end of 4th resistance R4 is the algorithm processor power detecting of conversion module 15
Signal input part；The first end of 5th resistance R5 is the reserved power detection signal input terminal of conversion module 15；8th resistance R8
First end be conversion module 15 conversion enable signal input terminal.Control module 16 needs to generate according to voltage detecting and sampling
Convert enable signal.
The A channel input terminal INA of first digital isolator U40, the first digital isolator U40 channel B input terminal INB with
And first the C-channel output end OUTC of digital isolator U40 collectively form the line communication signal output end for conversion module 15,
The first output enable end EN1 of first digital isolator U40 is the output enable signal input terminal of conversion module 15.
The first of the second end of the first input end IN0 and first resistor R1 of first sampling A/D chip U34 and first capacitor C1
End connection, the second end of the second input terminal IN1 and second resistance R2 of the first sampling A/D chip U34 and the first end of the second capacitor C2
Connection, the second end of the third input terminal IN2 and 3rd resistor R3 of the first sampling A/D chip U34 and the first end of third capacitor C3 connect
It connects, the second end of the 4th input terminal IN3 and the 4th resistance R4 of the first sampling A/D chip U34 and the first end of the 4th capacitor C4 connect
It connects, the second end of the 5th input terminal IN4 and the 5th resistance R5 of the first sampling A/D chip U34 and the first end of the 5th capacitor C5 connect
Connect, the second end of first capacitor C1, the second end of the second capacitor C2, the second end of third capacitor C3, the 4th capacitor C4 second
The second end of end and the 5th capacitor C5 are connect with power ground；Inside the analog power end VA and first of first sampling A/D chip U34
Power supply connection, the second end and the first optical coupling isolator U39 of the enable end CS and the 7th resistance R7 of the first sampling A/D chip U34
Collector connection, the first end of the 6th resistance R6 connects with the first cathode of the first optical coupling isolator U39, the first light-coupled isolation
The emitter of device U39 is connect with power ground, and the anode of the first optical coupling isolator U39 is connect with the second end of the 7th resistance R7, the
The first end of seven resistance R7 is connect with the second internal power supply, and the second end and third internal power supply of the 7th resistance R7 connects
It connects, the second cathode of the first optical coupling isolator U39 is connect with the collector of the first triode Q1, the emitter of the first triode Q1
It is connect with power ground, the base stage of the first triode Q1 is connect with the second end of the 8th resistance R8；The clock of first sampling A/D chip U34
End SCLK is connect with the A channel output end OUTA of the first digital isolator U40, the data output end of the first sampling A/D chip U34
DOUT is connect with the C-channel input terminal INC of the first digital isolator U40, the data input pin DIN of the first sampling A/D chip U34 with
The channel B output end OUTB connection of first digital isolator U40, in the digital power end VD and first of the first sampling A/D chip U34
The connection of portion's power supply, the digital ground terminal DGND of the simulation ground terminal AGND of the first sampling A/D chip U34 and the first sampling A/D chip U34 and
First end and the third inside of power ground connection, the first power end VCC1 and the 6th capacitor C6 of the first digital isolator U40 supply
Power supply connection, the first end of the second source end VCC2 and the 7th capacitor C7 of the first digital isolator U40 are supplied with the second inside
Power supply connection, the second end of the 7th capacitor C7, the second end of the 6th capacitor C6 and the first digital isolator U40 ground terminal GND
It is connect with power ground.
In specific implementation, control module 16 generates conversion enable signal according to monitoring needs, so that the first sampling A/D chip U34
The power detection signal of each power supply is sampled and converted, the power detecting of each power supply is believed to realize
Number acquisition and processing.Signal is detected to battery supply by first resistor R1 and first capacitor C1 and is filtered noise reduction；Second
Resistance R2 and the second capacitor C2 is filtered noise reduction to the first external power supply detection signal；C3 pairs of 3rd resistor R3 and third capacitor
Second external power supply detection signal is filtered noise reduction；4th resistance R4 and the 4th capacitor C4 believes algorithm processor power detecting
Number it is filtered noise reduction；5th resistance R5 and the 5th capacitor C5 is filtered noise reduction to reserved power detection signal, improves input
The precision of each power supply detection signal of first sampling A/D chip U34, to improve to each power supply detection signal
Conversion accuracy, and then improve monitoring and management precision to each power supply.
Referring to Fig. 9, the second wire communication module 19 includes the 8th capacitor C8, the 9th electricity in one of the embodiments,
Hold C9, the tenth capacitor C10, the 11st capacitor C11, the 12nd capacitor C12, the 9th resistance R9, the tenth resistance R10, the 11st electricity
Hinder R11, twelfth resistor R12, the first common-mode filter L3, the first transient suppressor D18 and the first isolated can transceiver
U17。
The data sending terminal of the data receiver RXD of first isolated can transceiver U17 and the first isolated can transceiver U17
TXD collectively forms as the subsystem state information output end of the second wire communication module 19.
The first end of 11st capacitor C11 and the second end of the 12nd capacitor C12 collectively form as the second wire communication mould
The subsystem state information input terminal of block 19.
The first end and electricity of the second end of 11st capacitor C11 and the second end of the tenth capacitor C10 and the 12nd capacitor C12
It connects to source, the first end of the 11st capacitor C11 and first end, the third of the first common-mode filter L3 of eleventh resistor R11
The second cathode connection at end, the second end of the 9th resistance R9 and the first transient suppressor D18, the second of the 12nd capacitor C12
End and the second end of twelfth resistor R12, the 4th end of the first common-mode filter L3, the second end of the tenth resistance R10 and the
The first cathode of one transient suppressor D18 connects, and the common cathode of the first transient suppressor D18 is connect with power ground, the 9th resistance
The advanced CAN bus end CANH of the first end of R9 and the second end of the first common-mode filter L3 and the first isolated can transceiver U17
The first end of connection, the first end of the tenth resistance R10 and the first common-mode filter L3 are low with the first isolated can transceiver U17's
Grade CAN bus end CANL connection, the first end of the first power end VCC1 and the 8th capacitor C8 of the first isolated can transceiver U17
It is connected with the 4th internal power supply, the second end of the 8th capacitor C8 is connect with power ground, the first isolated can transceiver U17's
Second source end VCC2 is connect with the first end of the 9th capacitor C9 and the 5th internal power supply, the second end of the 9th capacitor C9 with
Power ground connection, the ground terminal GND of the first isolated can transceiver U17 are connect with power ground.
In specific implementation, it is 3V3_SYS that third internal power supply and the 4th internal power supply are identical.Optionally,
First internal power supply, the second internal power supply, third internal power supply, in the 4th internal power supply and the 5th
Portion's power supply can be the power supply of identical voltage value, or the power supply of different voltages value.
Below with reference to Fig. 8 and Fig. 9 to the conversion module 15 of power-supply management system and the work of the second wire communication module 19
It is briefly described as principle:
Battery supply detects signal 48V_POWER_IN_VADC, the first external power supply detection signal 24V_BUS_VADC, the
Two external power supplies detect signal 24V_RADAR_VADC, algorithm processor power detection signal 12V_B_VADC and the inspection of reserved power supply
It surveys signal 12V_OPT_VADC and is converted to line communication signal and the output for meeting SPI communications protocol through the first sampling A/D chip U34
To the first digital isolator U40, the line communication signal is exported after the first digital isolator U40 isolation to control module 16,
Control module 16 generates the first enable signal according to the line communication signal, the second enabled, third enable signal and the 4th enables
Signal is managed and controls to each power supply, saves the ADC analog-to-digital conversion interface resource of control module, facilitates progress
Isolation, reduces hardware cost and R&D work amount, improves system response time and control precision.
Pass through the low of the advanced CAN bus end CANH and the first isolated can transceiver U17 of the first isolated can transceiver U17
The subsystem state information of the subsystems of grade CAN bus end CANL input, version information including subsystem match confidence
Breath, self-diagnosis information, error message report, emergency stop conditions information, and subsystem state information is passed through into the first isolation
The data sending terminal TXD of the data receiver RXD of CAN transceiver U17 and the first isolated can transceiver U17, which are exported, gives control mould
Block 16, wherein subsystem information is by the 11st capacitor C11, the 12nd capacitor C12 and the first common-mode filter L3 to subsystem
System information is filtered noise reduction, carries out wave to components such as the first isolated can transceiver U17 by the first transient suppressor D18
Protection is gushed, control module 16 is according to subsystem state information generation subsystem control information and through 20 turns of third wire communication module
Subsystems are issued, realize the control of sub-system.
The second aspect of the embodiment of the present invention provides a kind of robot, including power-supply management system as described above.
The robot of the embodiment of the present invention can store user configuration information, failure by storage chip subsidiary on board
Error message etc.；The temperature of system, anti-locking system excess temperature failure can be effectively monitored；Flexible and convenient and safe upper electrical switch mould
The circuit of block has good anti-interference；Accurate voltage and current is improved in the power supply for expanding the subsystems of connection
Network and control network are monitored, abnormal electric power thus supplied can be timely feedbacked and handled in time by the control module of system, is had actively
Protection and passive protection, safe and reliable power management scheme is provided for robot, improves system response time and control essence
Degree.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (10)
1. a kind of power-supply management system, which is characterized in that the power-supply management system includes:
For generating first direct current modulus of conversion of the internal power supply to be powered to each functional module according to battery supply
Block；
It is powered for generating the first external power supply according to the battery supply and the first enable signal with sub-system, and root
According to the battery supply and the second enable signal generate the second external power supply be powered with detection module of adjusting the distance it is second straight
Flow conversion module；
For according to the battery supply and third enable signal generating algorithm processor power supply to supply algorithm processor
Electricity, and reserved third direct current of the power supply to be powered to external equipment is generated according to the battery supply and the 4th enable signal
Conversion module；
Connect with second DC conversion modules and the third DC conversion modules, for first external power supply,
Second external power supply, the algorithm processor power supply and the reserved power supply are detected to generate the inspection of the first external power supply
Survey signal, the second external power supply detects the detection mould of signal, algorithm processor power detection signal and reserved power detection signal
Block；
Connect with the detection module, according to first external power supply detect signal, second external power supply detection signal,
The algorithm processor power detection signal and the reserved power detection signal generate the conversion module of line communication signal；
With first DC conversion modules, second DC conversion modules, the third DC conversion modules and described turn
Block connection is changed the mold, for generating first enable signal, second enabled, the described third according to the line communication signal
The control module of enable signal and the 4th enable signal.
2. power-supply management system as described in claim 1, which is characterized in that the power-supply management system further include:
It is connect with battery and the control module, detects signal for generating key-press status according to key-press input, and according to power supply
On-off controls the upper electrical switch module of signal communication or the shutdown battery supply；
The control module is also used to detect signal according to the key-press status and generates the on/off control signal.
3. power-supply management system as described in claim 1, which is characterized in that the power-supply management system further include:
It connect, battery is detected to generate battery information with the control module, and forward the first of the battery information
Wire communication module；
The control module is specifically used for generating the described first enabled letter according to the battery information and the line communication signal
Number, second enable signal, the third enable signal and the 4th enable signal.
4. power-supply management system as described in claim 1, which is characterized in that the power-supply management system further include:
It is connect with the control module, for forwarding the second wire communication module of subsystem state information；
It is connect with the control module, for forwarding the third wire communication module of subsystem control information；
The control module is also used to generate the subsystem control information according to the subsystem state information.
5. power-supply management system as described in claim 1, which is characterized in that the power-supply management system further include:
For forwarding the memory module of the identity information of storage；
It is connect with the memory module and the control module, the identity for generating id signal according to the identity information is known
Other module；
The control module is specifically used for generating the described first enabled letter according to the id signal and the line communication signal
Number, second enable signal, the third enable signal and the 4th enable signal.
6. power-supply management system as described in claim 1, which is characterized in that the power-supply management system further include:
It is connect with the control module, for being detected environmental parameter with the sensing module of build environment transducing signal；
The control module is specifically used for generating described first according to the environmentally sensitive signal and with the line communication signal
Enable signal, second enable signal, the third enable signal and the 4th enable signal.
7. power-supply management system as described in claim 1, which is characterized in that the power-supply management system further include:
For to first external power supply, second external power supply, the algorithm processor power supply and the reserved electricity
It is detected at the first external power supply current detection signal of generation, the second external power supply current detection signal, algorithm respectively in source
Manage the current detection module of device source current detection signal and reserved source current detection signal；
The control module is specifically used for according to the line communication signal, the first external power supply current detection signal, institute
State the second external power supply current detection signal, algorithm processor source current detection signal and the reserved source current
It detects signal and generates first enable signal, the described second enabled, third enable signal and the 4th enable signal.
8. power-supply management system as described in claim 1, which is characterized in that the conversion module includes first capacitor, second
Capacitor, third capacitor, the 4th capacitor, the 5th capacitor, the 6th capacitor, the 7th capacitor, first resistor, second resistance, 3rd resistor,
4th resistance, the 5th resistance, the 6th resistance, the 7th resistance, the 8th resistance, the first triode, the first optical coupling isolator, first are adopted
Sample chip and the first digital isolator；
The first end of the first resistor is that the battery supply of the conversion module detects signal input part；
The first end of the second resistance is that the first external power supply of the conversion module detects signal input part；
The first end of the 3rd resistor is that the second external power supply of the conversion module detects signal input part；
The first end of 4th resistance is the algorithm processor power detection signal input terminal of the conversion module；
The first end of 5th resistance is the reserved power detection signal input terminal of the conversion module；
The first end of 8th resistance is the conversion enable signal input terminal of the conversion module；
The A channel input terminal of first digital isolator, the channel B input terminal of first digital isolator and described
The line communication signal output end that the C-channel output end of one digital isolator collectively forms as the conversion module, described first
First output enable end of digital isolator is the output enable signal input terminal of the conversion module；
The first end of the first input end of first sampling A/D chip and the second end of the first resistor and the first capacitor
Connection, the first end of the second input terminal of first sampling A/D chip and the second end of the second resistance and second capacitor
Connection, the first end of the third input terminal of first sampling A/D chip and the second end of the 3rd resistor and the third capacitor
Connection, the 4th input terminal and the second end of the 4th resistance and the first end of the 4th capacitor of first sampling A/D chip
Connection, the 5th input terminal and the second end of the 5th resistance and the first end of the 5th capacitor of first sampling A/D chip
Connection, the second end of the first capacitor, the second end of the second capacitor, the second end of the third capacitor, the 4th capacitor
Second end and the second end of the 5th capacitor connect with power ground；The analog power end of first sampling A/D chip and the
The connection of one internal power supply, the second end and first light of the enable end of first sampling A/D chip and the 7th resistance
The collector of coupling isolator connects, and the first end of the 6th resistance is connected with the first cathode of first optical coupling isolator,
The emitter of first optical coupling isolator is connect with power ground, the anode of first optical coupling isolator and the 7th resistance
Second end connection, the first end of the 7th resistance connect with the second internal power supply, the second end of the 7th resistance
It is connect with third internal power supply, the collector of the second cathode of first optical coupling isolator and first triode connects
It connecing, the emitter of first triode is connect with power ground, and the of the base stage of first triode and the 8th resistance
The connection of two ends；The clock end of first sampling A/D chip is connect with the A channel output end of first digital isolator, and described
The data output end of one sampling A/D chip is connect with the C-channel input terminal of first digital isolator, first sampling A/D chip
Data input pin connect with the channel B output end of first digital isolator, the digital power of first sampling A/D chip
End is connect with first internal power supply, the number of the simulation ground terminal of first sampling A/D chip and first sampling A/D chip
Word ground terminal is connect with power ground, the first end of the first power end of first digital isolator and the 6th capacitor with it is described
The connection of third internal power supply, the first end and institute of the second source end of first digital isolator and the 7th capacitor
State the connection of the second internal power supply, second end, the second end and described first of the 6th capacitor of the 7th capacitor
Digital isolator ground terminal is connect with power ground.
9. power-supply management system as claimed in claim 4, which is characterized in that second wire communication module includes the 8th electricity
Hold, the 9th capacitor, the tenth capacitor, the 11st capacitor, the 12nd capacitor, the 9th resistance, the tenth resistance, eleventh resistor, the tenth
Two resistance, the first common-mode filter, the first transient suppressor and the first isolated can transceiver；
The data sending terminal of the data receiver of the first isolated can transceiver and the first isolated can transceiver is common
It is configured to the subsystem state information output end of second wire communication module；
The first end of 11st capacitor and the second end of the 12nd capacitor collectively form as second wire communication
The subsystem state information input terminal of module；
The first end and electricity of the second end of 11st capacitor and the second end of the tenth capacitor and the 12nd capacitor
It connects to source, the first end of the first end of the 11st capacitor and the eleventh resistor, first common-mode filter
Second cathode at third end, the second end of the 9th resistance and first transient suppressor connects, the 12nd electricity
The second end of appearance and the second end of the twelfth resistor, the 4th end of first common-mode filter, the tenth resistance
The connection of first cathode of second end and first transient suppressor, the common cathode and power ground of first transient suppressor
Connection, the first end of the 9th resistance and the second end of first common-mode filter and the first isolated can transceiver
The connection of advanced CAN bus end, the first end of the first end of the tenth resistance and first common-mode filter and described the
The rudimentary CAN bus end of one isolated can transceiver connects, the first power end of the first isolated can transceiver and described the
The first end of eight capacitors is connected with the 4th internal power supply, and the second end of the 8th capacitor is connect with power ground, and described
The second source end of one isolated can transceiver is connect with the first end of the 9th capacitor and the 5th internal power supply, described
The second end of 9th capacitor is connect with power ground, and the ground terminal of the first isolated can transceiver is connect with power ground.
10. a kind of robot, which is characterized in that the robot includes the described in any item power management systems of claim 1 to 9
System.
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