CN110531643B - Time-delay power-off control system and method for automatic unmanned carrier - Google Patents
Time-delay power-off control system and method for automatic unmanned carrier Download PDFInfo
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- CN110531643B CN110531643B CN201910807126.2A CN201910807126A CN110531643B CN 110531643 B CN110531643 B CN 110531643B CN 201910807126 A CN201910807126 A CN 201910807126A CN 110531643 B CN110531643 B CN 110531643B
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Abstract
The invention provides a system and a method for controlling the delayed power-off of an unmanned automatic carrier, belonging to the technical field of unmanned automatic carriers, wherein the system comprises a power switch, a power-off delayed relay, a lower computer controller and an upper computer; after the power-off signal of the power switch is detected through IO input, the lower computer controller feeds the power-off signal of the power switch back to the upper computer as a shutdown signal through a serial port communicated with the upper computer; when the operator manually closes the power switch, the system power supply can not be immediately cut off, the system can detect a power-off signal, automatically stores data and closes the used computer system through software, and the system, the file or the disk of the computer system are prevented from being damaged due to sudden power failure.
Description
Technical Field
The invention belongs to the technical field of unmanned automatic carriers, and relates to an AGV electrical control system.
Background
The AGV is an unmanned automatic transport vehicle, power energy is provided by a lead-acid or lithium battery, a control system of the AGV generally comprises motion control and upper-layer task logic decision, the motion control is usually completed in an embedded system or a lower computer controller such as a PLC, and the upper-layer decision is developed in an upper computer. When an operator closes the AGV switch to cut off the battery power supply, the AGV system suddenly loses power, and computer software, a system or a magnetic disk developed at the upper layer is easily damaged.
Disclosure of Invention
The invention provides an AGV (automatic guided vehicle) delayed power-off system and a method, and designs a power-off delay circuit.
The technical scheme of the invention is as follows: a delay power-off control system of an unmanned automatic carrier comprises a power switch, a power-off delay relay, a lower computer controller and an upper computer; the power supply supplies voltage to the upper computer, the lower computer controller and the power-off delay relay; the power switch of the automatic unmanned conveying vehicle is a double-pole single-throw switch; two paths at one end of the double-pole single-throw switch are connected with the positive electrode of the power supply; the delay time of the power-off delay relay is longer than the shutdown time of the upper computer; the lower computer controller is communicated with the upper computer through a serial port; one path of the other end of the power switch is connected with the control end of the power-off delay relay; the other path of the other end of the power switch is connected with the IO input of the lower computer controller; the power output is connected with the power input end of the relay; the output end of the relay is connected with the power input ends of the upper computer and the lower computer controller; after the lower computer controller detects the power-off signal of the power switch through IO input, the lower computer controller feeds the power-off signal of the power switch back to the upper computer through the serial port as a shutdown signal.
Further, the system is specifically limited to comprise a lower computer controller control module and an upper computer control module; the lower computer controller control module is positioned in the lower computer controller, and the upper computer control module is positioned in the upper computer; the lower computer controller control module sends a power-off instruction to the upper computer control module after detecting a power-off signal of the power switch, and the upper computer control module controls the upper computer to automatically power off after receiving the power-off instruction.
Further, when the power switch is closed, the coil of the control end of the power-off delay relay is conducted, the two ends with the switching function, namely the input and output contacts, are closed, and the power supply supplies power.
Further, when the power switch is turned off, the power-off delay relay waits for a period of time before turning off the input and output contacts.
Further, when the power switch is turned off, the input and output contacts are turned off after the power-off delay relay waits for a period of time, and at this time, an IO port of the lower computer controller detects a level falling edge signal as a turn-off signal of the power switch.
Further, after the upper computer receives the shutdown signal, the upper computer firstly keeps the current data and then calls the API to shut down the upper computer.
A delay power-off control method for an unmanned automatic transport vehicle is characterized by comprising the following steps:
a relay is connected between the power supply output end and the upper computer and the lower computer controller; the relay is a power-off delay relay; the delay time of the power-off delay relay is longer than the shutdown time of the upper computer;
one path of the output end of the power switch, namely the other end of the power switch, is connected with the control end of the power-off delay relay; the other path of the output end of the power switch is connected with the IO input of the lower computer controller;
after the lower computer controller detects the power-off signal of the power switch through IO input, the lower computer controller feeds the power-off signal of the power switch back to the upper computer as a power-off signal through a serial port communicated with the upper computer;
wherein, the power supply supplies voltage for the upper computer, the lower computer controller and the power-off delay relay; the power switch is a double-pole single-throw switch; the input end of the double-pole single-throw switch, namely two paths at one end, is connected with the anode of the power supply.
Further, the delay power-off control method for the automatic unmanned transport vehicle is characterized in that when a power switch is turned off, a coil of a control end of a power-off delay relay is conducted, two ends with switching functions, namely input and output contacts, are closed, and power is supplied by a power supply.
Further, the method for controlling delayed power-off of the automatic unmanned transport vehicle is characterized in that when the power switch is turned off, the power-off delay relay waits for a period of time to turn off the input and output contacts, and at this time, an IO port of the lower computer controller detects a level falling edge signal as a turn-off signal of the power switch.
Further, the method for controlling the delayed power-off of the automatic unmanned conveying vehicle is characterized in that the control module of the lower computer is positioned in the lower computer, and the control module of the upper computer is positioned in the upper computer; the lower computer controller control module sends a power-off instruction to the upper computer control module after detecting a power-off signal of the power switch, and the upper computer control module controls the upper computer to automatically power off after receiving the power-off instruction.
Compared with the prior art, the invention has the beneficial effects that:
1. the method can delay the turn-off of the AGV power supply, and prevents an operator from frequently turning on and off the power supply or turning off the power supply by misoperation;
2. and the upper control system is automatically and safely closed before the AGV system is powered down, so that system breakdown, file loss or disk damage and the like are avoided.
Drawings
FIG. 1: a schematic diagram of an AGV delayed power failure control system is provided.
1-power switch, 2-power-off delay relay
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings
The invention discloses an AGV (automatic guided vehicle) delayed power-off control system, which is shown in the attached figure 1,
an AGV delayed power-off control system comprises a power supply, a power switch, a power-off delayed relay 2, a lower computer controller control module and an upper computer control module; the lower computer controller control module is positioned in the lower computer controller, and the upper computer control module is positioned in the upper computer.
In the figure, the voltage provided by the power supply is rated voltage of an upper computer, a lower computer controller and a power-off delay relay (if the voltage is not matched with the conversion voltage of an available power supply module in practical implementation), a power switch of the AGV is a double-pole single-throw switch, and the delay time of the selected power-off delay relay is longer than the shutdown time of the upper computer; the IO input of the lower computer controller is connected with the power switch, and the common end of the lower computer controller is connected with the negative end of the power supply; the lower computer controller communicates with the upper computer through a serial port.
One path of the other end of the power switch is connected with a control end of the power-off delay relay;
the power output is connected with the power input end (of the two ends with the switching function) of the relay; the output ends of the two ends of the relay with the switching function are connected with the power supply input ends of the upper computer and the lower computer controller;
the lower computer controller control module sends a power-off instruction to the upper computer control module after detecting a power-off signal of the power switch, and the upper computer control module runs a control program after receiving the instruction, and the control program controls the upper computer to automatically power off.
The power-off delay relay 2 delays the action after receiving a power supply breakpoint signal.
When the power switch is turned off, the coil of the relay (the control end of the relay) is switched on, the input and output contacts (two ends with the switching function) of the relay are turned on, the power input end of the relay is closed, and the power supply can supply power to the whole AGV system. When the power switch is switched off, the relay waits for a period of time and then switches off the input and output contacts, at the moment, the whole system is still powered, and the IO port of the lower computer controller detects a level falling edge signal to judge as a shutdown signal. The lower computer controller feeds back a shutdown signal to the upper computer software through the serial port, and the upper computer software firstly keeps current data and then calls an API (application program interface) of the system to shut down the computer system. And after the computer is shut down, the power supply of the whole AGV system is cut off when the relay power-off delay time is up.
Claims (10)
1. A delay power-off control system of an unmanned automatic carrier is characterized by comprising a power switch, a power-off delay relay, a lower computer controller and an upper computer; the power supply supplies voltage to the upper computer, the lower computer controller and the power-off delay relay; the power switch of the automatic unmanned conveying vehicle is a double-pole single-throw switch; two paths at one end of the double-pole single-throw switch are connected with the positive electrode of the power supply; the delay time of the power-off delay relay is longer than the shutdown time of the upper computer; the lower computer controller is communicated with the upper computer through a serial port;
one path of the other end of the power switch is connected with the control end of the power-off delay relay; the other path of the other end of the power switch is connected with the IO input of the lower computer controller;
the power output is connected with the power input end of the relay; the output end of the relay is connected with the power input ends of the upper computer and the lower computer controller;
after the lower computer controller detects the power-off signal of the power switch through IO input, the lower computer controller feeds the power-off signal of the power switch back to the upper computer through the serial port as a shutdown signal.
2. The system of claim 1, further comprising a lower computer control module, an upper computer control module; the lower computer controller control module is positioned in the lower computer controller, and the upper computer control module is positioned in the upper computer; the lower computer controller control module sends a power-off instruction to the upper computer control module after detecting a power-off signal of the power switch, and the upper computer control module controls the upper computer to automatically power off after receiving the power-off instruction.
3. The system of claim 1, wherein when the power switch is turned off, the coil of the control terminal of the power-off delay relay is turned on, and the two terminals having the switching function, i.e. the input/output contacts, are closed, so that the power supply is supplied.
4. The system of claim 1, wherein the power-off delay relay waits a period of time before opening the input and output contacts when the power switch is turned off.
5. The system of claim 1, wherein the power-off delay relay waits for a period of time to open the input and output contacts when the power switch is turned off, and the IO port of the lower computer controller detects a falling edge signal as the turn-off signal of the power switch.
6. The system of claim 1, wherein the upper computer receives the shutdown signal, first maintains the current data, and then calls the API to shut down the upper computer.
7. A delay power-off control method for an unmanned automatic transport vehicle is characterized by comprising the following steps:
a relay is connected between the power supply output end and the upper computer and the lower computer controller; the relay is a power-off delay relay; the delay time of the power-off delay relay is longer than the shutdown time of the upper computer;
one path of the output end of the power switch, namely the other end of the power switch, is connected with the control end of the power-off delay relay; the other path of the output end of the power switch is connected with the IO input of the lower computer controller;
after the lower computer controller detects the power-off signal of the power switch through IO input, the lower computer controller feeds the power-off signal of the power switch back to the upper computer as a power-off signal through a serial port communicated with the upper computer;
wherein, the power supply supplies voltage for the upper computer, the lower computer controller and the power-off delay relay; the power switch is a double-pole single-throw switch; the input end of the double-pole single-throw switch, namely two paths at one end, is connected with the anode of the power supply.
8. The method as claimed in claim 7, wherein when the power switch is turned off, the coil of the control terminal of the power-off delay relay is turned on, and the input/output contacts of the two terminals having the switching function are closed, so that the power is supplied.
9. The method as claimed in claim 7, wherein the power-off delay relay waits for a period of time to open the input and output contacts when the power switch is turned off, and the IO port of the lower computer controller detects a level-down edge signal as the off signal of the power switch.
10. The method of claim 7, wherein the lower computer controller is located in the lower computer, and the upper computer control module is located in the upper computer; the lower computer controller control module sends a power-off instruction to the upper computer control module after detecting a power-off signal of the power switch, and the upper computer control module controls the upper computer to automatically power off after receiving the power-off instruction.
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| CN201910807126.2A CN110531643B (en) | 2019-08-29 | 2019-08-29 | Time-delay power-off control system and method for automatic unmanned carrier |
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| CN110531643B true CN110531643B (en) | 2021-05-07 |
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| CN113568329B (en) * | 2020-04-28 | 2023-10-24 | 广州汽车集团股份有限公司 | Shutdown control method and system based on MCU and SOC communication |
| CN112213569B (en) * | 2020-09-23 | 2022-11-08 | 国网福建省电力有限公司 | Device and method for guaranteeing data integrity of handheld nuclear phase instrument of transformer substation in delayed power failure mode |
| CN112477592B (en) * | 2020-12-03 | 2022-04-29 | 西安现代控制技术研究所 | Emergency forced flameout parking mechanism for unmanned automobile |
| CN113390642B (en) * | 2021-06-15 | 2023-04-18 | 潍柴动力股份有限公司 | Automatic control method and system for engine switch and engine test run equipment |
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| US5485363A (en) * | 1993-06-25 | 1996-01-16 | Reitwiesner; John S. | Warm-up time delay system for relay controlled electrical power supply |
| CN2478167Y (en) * | 2000-12-28 | 2002-02-20 | 成都四方信息技术开发公司 | Computer power supply device preventing error operation |
| CN102622074A (en) * | 2012-03-30 | 2012-08-01 | 沧州供电公司 | Power-off protection system for computer |
| CN104111716A (en) * | 2013-04-18 | 2014-10-22 | 研祥智能科技股份有限公司 | Power off system and method of computer |
| CN204215352U (en) * | 2014-11-27 | 2015-03-18 | 刘建 | Integration computer power-off protection power supply |
| CN205405409U (en) * | 2016-03-01 | 2016-07-27 | 郑州幼儿师范高等专科学校 | Radiator for computer |
| CN205827298U (en) * | 2016-05-16 | 2016-12-21 | 江西科技学院 | A kind of main frame containing power-off protection apparatus |
| CN207571694U (en) * | 2017-11-09 | 2018-07-03 | 舒贤杰 | A kind of computer with power-off protection function |
| CN208158558U (en) * | 2018-04-04 | 2018-11-27 | 沈阳秀展科技有限公司 | A kind of booting of computer equipment delayed and power down delay switching-off protect circuit |
| CN108829178A (en) * | 2018-09-21 | 2018-11-16 | 北京特种机械研究所 | A kind of delay electricity break switch system and its delay cut-off method |
| CN208984991U (en) * | 2018-12-24 | 2019-06-14 | 郑州畅想高科股份有限公司 | Delaying shutdown control system and delaying shutdown control device |
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