CN110535209B - Power management circuit of night patrol robot and control method thereof - Google Patents
Power management circuit of night patrol robot and control method thereof Download PDFInfo
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- CN110535209B CN110535209B CN201910862441.5A CN201910862441A CN110535209B CN 110535209 B CN110535209 B CN 110535209B CN 201910862441 A CN201910862441 A CN 201910862441A CN 110535209 B CN110535209 B CN 110535209B
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/425—Structural combination with electronic components, e.g. electronic circuits integrated to the outside of the casing
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0031—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using battery or load disconnect circuits
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/425—Structural combination with electronic components, e.g. electronic circuits integrated to the outside of the casing
- H01M2010/4271—Battery management systems including electronic circuits, e.g. control of current or voltage to keep battery in healthy state, cell balancing
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The invention relates to the field of robot power management, in particular to a power management circuit of a night patrol robot and a control method thereof, wherein the circuit comprises the following components: the power supply device comprises a power supply battery, a power supply management unit, a switching power supply, a main control unit and an industrial personal computer; the output end of the power supply battery is connected with the input end of the power supply management unit, the output end of the power supply management unit is connected with the input end of the switching power supply, the first output end of the switching power supply is connected with the input end of the main control unit, the second output end of the switching power supply is connected with the input end of the industrial personal computer, and the power supply management unit controls the on or off of the power supply and the switching power supply, so that the power supply of the main control unit and the industrial personal computer is controlled. The invention provides a direct current power supply management circuit with higher safety, which can realize the functions of autonomous timing starting and dormancy of a patrol robot, estimate the electric quantity of a power supply battery, complete automatic charging of the robot before timing dormancy, and cut off power supply of all power supplies except a power supply management module after full charge.
Description
Technical Field
The invention relates to the field of robot power management, in particular to a power management circuit of a night patrol robot and a control method thereof.
Background
The current robot power management system generally comprises a power supply, a power control circuit and a communication module. The voltage and current detection function can be realized, and the power-off or sleep operation can be performed according to the voltage and current conditions.
So far, few robots integrate power supply voltage and current detection and charge and discharge management, have no self-starting and self-power-off functions at regular time, and are not high enough in safety for high-voltage and high-current detection.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a power management circuit of a robot and a control method thereof.
In order to achieve the above object, the present invention provides the following technical solutions:
a power management circuit for a night patrol robot, comprising: the power supply device comprises a power supply battery, a power supply management unit, a switching power supply, a main control unit and an industrial personal computer;
the output end of the power supply battery is connected with the input end of the power supply management unit, the output end of the power supply management unit is connected with the input end of the switch power supply, the first output end of the switch power supply is connected with the input end of the main control unit, the second output end of the switch power supply is connected with the input end of the industrial personal computer,
the power management unit receives a power switch control command output by the main control unit, controls the turn-off between the power supply and the switch power supply, and conducts the connection between the power supply battery and the switch power supply according to preset starting time, so as to supply power to the main control unit and the industrial personal computer.
Further, in the power management circuit of the night patrol robot, the power supply battery outputs a direct-current voltage to the power management unit;
the power management unit receives the direct-current voltage output by the power supply battery, receives a power switch turn-off control command of the main control unit, turns off the connection between the power supply battery and the switch power supply according to the power switch turn-off control command, turns on the connection between the power supply battery and the switch power supply according to a preset starting time, outputs the direct-current voltage to the switch power supply when turned on, and does not output the direct-current voltage to the switch power supply when turned off;
the switch power supply inputs the direct current voltage output by the power management unit, outputs a first direct current output voltage to the main control unit at the first output end, and outputs a second direct current output voltage to the industrial personal computer at the second output end;
the main control unit receives a first direct current output voltage output by the switching power supply at the first output end, outputs the power supply switch control command to the power supply management unit, and interacts information with the industrial personal computer through an RS232 protocol;
the industrial personal computer receives the second direct current output voltage output by the switching power supply at the second output end, and controls the night patrol robot to finish night patrol.
Still further, the circuit also comprises an executing mechanism, the executing mechanism receives the second direct current output voltage output by the switching power supply at the second output end, receives the control instruction of the industrial personal computer, completes the actions of lifting, stretching, rotating, pitching and covering the switch of the robot, returns the status information of the actions to the industrial personal computer in real time, completes the acquisition of infrared thermal image data, and returns the infrared thermal image data to the industrial personal computer in real time.
Further, the power supply management unit receives a power supply switch control command of the main control unit through the wireless communication module.
Further, the power management unit includes: the switch relay, the wireless communication module, the standby power supply battery, the RTC clock and the controller,
the switch relay receives the power switch turn-off control command output by the controller, disconnects the connection between the output end of the power management unit and the input end of the switch power supply, and also turns on the connection between the output end of the power management unit and the input end of the switch power supply according to a start-up command sent by the controller;
the wireless communication module adopts a TTL wireless module, receives a power switch turn-off control command sent by the main control unit, transmits the power switch turn-off control command to the controller, and also receives a turn-off power request instruction output by the controller and sends the turn-off power request instruction to the main control unit;
the standby power supply battery is used for providing standby power for the controller;
the RTC clock is used for perpetual calendar timing;
the controller reads the count value of the RTC clock, when the count value is a preset turn-on time, the switch relay is controlled to be turned on, the output end of the power management unit is connected with the input end of the switch power supply, and when the count value is a preset turn-off time, the controller sends a power-off request instruction to the wireless communication module and receives the power switch turn-off control command returned by the wireless communication module.
Further, the power management unit also receives an electric quantity inquiry and reading instruction output by the main control unit, calculates a real-time updated residual electric quantity value according to the electric quantity inquiry and reading instruction, and returns the real-time updated residual electric quantity value to the main control unit.
Further, the power management unit further comprises a current or voltage detection module, and the current or voltage detection module is used for collecting a current value or a voltage value of the direct current voltage output by the power supply battery to the input end of the power management unit and sending the current value or the voltage value to the controller.
A power management method of night patrol robot includes the steps:
s11, the power management unit sends a power-off request instruction to the main control unit according to preset power-off time;
s12, after receiving the power-off request instruction, the main control unit sends a dormancy instruction to the industrial personal computer;
s13, after receiving the dormancy instruction, the industrial personal computer stores state information, returns a state information storage completion instruction to the main control unit and automatically shuts down;
s14, after receiving the state information storage completion instruction, the main control unit stores the state information of the current main control unit and the state information of the executing mechanism, and sends a power switch off command to the power management unit;
s15, after receiving the power switch turn-off command, the power management switch turns off the power supply to the main control unit, the executing mechanism and the industrial personal computer.
Further, the power management method of the night patrol robot further comprises the starting-up step:
s21, the power management unit starts to supply power to the main control unit and the industrial personal computer according to preset starting time;
s22, reading state information of the last automatic shutdown, and starting to work after the self-checking is finished;
s23, after receiving the power supply input, the main control unit reads the working state information of the main control unit and the working state information of the executing mechanism before power failure, and starts working after self-checking.
The invention also provides a power management method of the night patrol robot, which comprises the following steps:
s31, after the power management unit sends a power-off request instruction to the main control unit, the main control unit sends an electric quantity inquiry reading instruction to the power management unit;
s32, after receiving the electric quantity inquiry reading instruction, the power management unit returns the updated residual electric quantity value to the main control unit in real time;
s33, the main control unit outputs the received real-time updated residual electric quantity value to the industrial personal computer;
s34, comparing the received real-time updated residual electric quantity value with a preset electric quantity threshold value by the industrial personal computer, and controlling the inspection robot to charge the charging pile when the received real-time updated residual electric quantity value is smaller than the preset electric quantity threshold value by the industrial personal computer;
s35, after the electric quantity of the power supply battery is full, the industrial personal computer controls the inspection robot to break away from the charging pile, returns to an initial working point, and returns full information of the power supply battery to the main control unit;
s36, after receiving the full information of the power supply battery, the main control unit sends a dormancy instruction to the industrial personal computer;
s37, after receiving the dormancy instruction, the industrial personal computer stores state information, returns a state information storage completion instruction to the main control unit and automatically shuts down;
s38, after receiving the state information storage completion instruction, the main control unit stores the state information of the current main control unit and the state information of the executing mechanism, and sends a power switch off command to the power management unit;
s39, after receiving the power switch turn-off command, the power management switch turns off the power supply to the main control unit, the executing mechanism and the industrial personal computer.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a direct current power supply management circuit with higher safety, which can realize the functions of starting and dormancy of a robot at regular time through a power supply management module, estimate the electric quantity of a power supply battery, complete automatic charging of the robot before regular dormancy, and cut off power supply of all power supplies except the power supply management module after full charge.
Drawings
FIG. 1 is a schematic block diagram of a power management circuit of a night patrol robot according to the present invention;
fig. 2 is a main functional block diagram of a power management module in embodiment 1;
FIG. 3 is a power management method shutdown flow chart of the night patrol robot in the embodiment 1;
FIG. 4 is a power-on flowchart of a power management method of the night patrol robot in the embodiment 1;
fig. 5 is a main functional block diagram of a power management module with a current/voltage detection module in embodiment 2;
fig. 6 is a flowchart of a power management method of a night patrol robot with a charging function in embodiment 2.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific embodiments. It should not be construed that the scope of the above subject matter of the present invention is limited to the following embodiments, and all techniques realized based on the present invention are within the scope of the present invention.
Example 1
A schematic block diagram of a power management circuit of a night patrol robot is shown in fig. 1, and includes: the device comprises a power supply battery, a power management unit, a switching power supply, a main control unit, an industrial personal computer and an executing mechanism.
The power supply battery adopts a 48V lithium battery and outputs 48V direct current voltage to the power management unit.
The power management unit receives a 48V direct current voltage output from the power supply battery and outputs the 48V voltage to the DC/DC switching power supply. The power management unit also realizes wireless communication with the main control unit through the TTL wireless module, and outputs a power-off request instruction to the main control unit through the TTL wireless module according to the internal preset power-off time. The power management unit also receives a power switch turn-off control command of the main control unit through the TTL wireless module, and cuts off 48V power output to the DC/DC switching power supply when the notification command is turn-off.
The switching power supply is a DC/DC direct current switching power supply, receives the 48V direct current voltage output by the power management unit, outputs two groups of direct current voltages through a first output end and a second output end, wherein the first output end outputs a first direct current output voltage to the main control unit, and the second output end outputs a second direct current output voltage to the industrial personal computer, in this embodiment, the first direct current output voltage output to the main control unit is 12V direct current voltage, and the second direct current output voltage output to the industrial personal computer is 12V. The DC/DC switching power supply also outputs a 12V second direct current output voltage to the executing mechanism through the second output end, and supplies power to the main control unit and the executing mechanism simultaneously.
The main control unit receives the 12V second direct current output voltage output by the DC/DC switching power supply, and realizes information interaction with the industrial personal computer through the RS232 communication module, namely, after receiving a power-off request instruction sent by the power management unit, the main control unit sends a dormancy control command to the industrial personal computer through RS232, and receives a state information preservation completion instruction of the industrial personal computer, so that the monitoring of the dormancy state of the industrial personal computer is realized. When the main control unit receives a state information storage completion instruction of the industrial personal computer, the state information of the current main control unit and the state information of the executing mechanism are stored, and a power switch turn-off control command is output to the power management unit.
When the night patrol robot performs night patrol, the main control unit receives an action control signal sent by the industrial personal computer, converts the action control signal into a control instruction containing an instruction address according to a corresponding protocol, wherein the control instruction containing the instruction address comprises an instruction address (CID), a type (control or inquiry), parameters (such as direction, speed and displacement) and the like, and sends the analyzed control instruction containing the instruction address to the executing mechanism, so that the executing mechanism can complete actions of lifting, stretching, rotating, pitching or a mask switch according to the action control signal sent by the industrial personal computer. The main control unit also receives the state information returned by the execution mechanism in real time and returns the acquired state information of the execution mechanism to the industrial personal computer. The main control board also controls equipment such as an audible and visual alarm device, a thermal imager and the like according to the instruction of the industrial personal computer, acquires the state information in real time, and sends the real-time state information to the industrial personal computer.
The industrial personal computer receives the power supply of the 12V first direct current output voltage output by the DC/DC switching power supply, sends out an action control signal to the main control unit, and controls the execution mechanism through the main control unit so that the night patrol robot can finish night patrol. After the power management unit starts the power off step, the industrial personal computer receives the sleep control command sent by the main control unit through the RS232 protocol, saves the state information of the current industrial personal computer, returns a state information saving completion instruction to the main control unit, and is automatically powered off.
The night inspection robot is completed through an executing mechanism, and the executing mechanism comprises a lifting motion control module, a telescopic motion control module, a rotary motion module, a pitching motion control module, a mask switch control module and the like. The executing mechanism also comprises a thermal imaging instrument, an audible and visual alarm device and other equipment.
The industrial personal computer sends an infrared thermal image data acquisition instruction to the main control unit, the main control unit controls the thermal imager to complete infrared thermal image data acquisition according to the infrared thermal image data acquisition instruction, and returns acquired data to the industrial personal computer in real time, and the industrial personal computer judges whether data representing vital signs and behavior gestures of a human body exist in a patrol area according to the infrared thermal image data. When the industrial personal computer judges that the data representing the vital signs and the behavior postures of the human body exist, the industrial personal computer sends an audible and visual alarm signal to the main control unit, and the main control unit controls the audible and visual alarm device to send alarm sounds and alarm light signals according to the audible and visual alarm signal.
The power management unit comprises a switch relay, an LCD display module, a wireless communication module, a standby power supply battery, an RTC clock and a controller, and the main functional structure diagram of the power management module is shown in figure 2.
And the switching relay is used for switching off or closing the connection between the output end of the power management unit and the input end of the DC/DC direct current switching power supply under the control of the controller, receiving a power switch switching-off control command output by the controller, switching off the connection between the output end of the power management unit and the input end of the switching power supply, and switching on the connection between the output end of the power management unit and the input end of the DC/DC direct current switching power supply according to a starting command sent by the controller.
The wireless communication module adopts a TTL wireless module, establishes a communication link with the TTL wireless module in the main control unit, and the controller outputs a power-off request instruction to the TTL wireless module according to preset off time, the TTL wireless module sends the power-off request instruction to the main control unit through a wireless channel, and when the main control unit sends a power-off control command of the power switch, the TTL wireless module receives the power-off control command of the power switch and transmits the power-off control command of the power switch to the controller;
the button battery is a standby power supply of the controller, so that continuous timing of the RTC clock is guaranteed, and when abnormal condition power supply battery can not supply power to the power management unit, the button battery provides a direct-current voltage source for the controller, the controller is ensured to be uninterrupted, and timing of the RTC clock carried by the controller is not interrupted.
The RTC clock is used for perpetual calendar timing, and the preset power on time and the preset power off time are based on the time of the RTC clock.
The LCD display module is used for displaying the time, the current value or voltage value output by the power supply battery, the residual quantity of the power supply battery and other relevant parameters in the power management unit.
The controller is an ARM chip, the specific model is STM32F103C8T6, perpetual calendar timing can be realized by the RTC timing function, the controller reads the count value of the RTC clock, sends a power-off request instruction to the TTL wireless module according to preset turn-off time, receives a power switch turn-off control instruction returned by the TTL wireless module, and when the power switch turn-off control instruction is received, the control switch relay is controlled to disconnect the output end of the power management unit from the input end of the DC/DC switch power supply and stop supplying power to the switch power supply. The controller also sends a starting instruction to the switching relay according to the preset starting time, and controls the switching relay to conduct the connection between the output end of the power management unit and the input end of the DC/DC direct-current switching power supply, and outputs the 48V direct-current voltage to the input end of the DC/DC direct-current switching power supply.
As the preferred scheme, the night patrol robot is provided with the starting time of 0:00 and the switching-off time of 6:00, the RTC alarm clock in the controller triggers the interrupt when reaching 0:00, the controller controls the relay to be connected with the power supply of the industrial personal computer, the main control unit and the executing mechanism, and the robot starts working after self-inspection. When the 6:00 task execution is finished, the main control unit firstly receives a shutdown request instruction sent by the power management unit and controls the industrial personal computer to save the current state, the industrial personal computer is automatically shut down, and after the power control unit receives a power switch shutdown control instruction sent by the main control unit, the power supplies of the industrial personal computer, the main control unit and an executing mechanism (a motor, a driver, a limit switch and the like) are cut off, and only the industrial personal computer works.
Specifically, a power management method of the night patrol robot is shown in fig. 3, and the power management method comprises the following steps:
s11, the power management unit sends a power-off request instruction to the main control unit according to preset power-off time;
s12, after receiving the power-off request instruction, the main control unit sends a dormancy instruction to the industrial personal computer;
s13, after receiving the dormancy instruction, the industrial personal computer stores state information, returns a state information storage completion instruction to the main control unit and automatically shuts down;
s14, after receiving the state information storage completion instruction, the main control unit stores the state information of the current main control unit and the state information of the executing mechanism, and sends a power switch off command to the power management unit;
s15, after receiving the power switch turn-off command, the power management switch turns off the power supply to the main control unit, the executing mechanism and the industrial personal computer.
Specifically, a power management method of the night patrol robot is shown in fig. 4, and the steps include:
s21, the power management unit starts to supply power to the main control unit and the industrial personal computer according to preset starting time;
s22, after receiving power supply input, the industrial personal computer reads state information of last automatic shutdown, and starts working after self-checking is completed;
s23, after receiving the power supply input, the main control unit reads the working state information of the main control unit and the working state information of the executing mechanism before power failure, and starts working after self-checking.
Example 2
Embodiment 2 differs from embodiment 1 in that the power management module further includes a current or voltage detection module, and the main functional structure of the power management module with the current or voltage detection module is shown in fig. 5. The current or voltage detection module is used for collecting the current value or the voltage value of the direct current voltage output by the power supply battery to the input end of the power management unit in real time and sending the current value or the voltage value to the controller. The controller calculates the residual electric quantity in the power supply battery according to the collected current value or voltage value, the working time of the output voltage of the power supply battery and the battery capacity, and updates the residual electric quantity value in real time.
When the inspection robot is in a working state, when the industrial personal computer sends a power supply battery electric quantity inquiry command to the main control unit, the main control unit sends an electric quantity inquiry reading command to the power management unit through the TTL wireless module, the TTL wireless module in the power management unit returns to the controller after receiving the electric quantity inquiry reading command, the controller reads the calculated real-time updated residual electric quantity value according to the electric quantity inquiry reading command and sends the real-time updated residual electric quantity value to the main control unit through the TTL wireless module, and the main control unit sends the received real-time updated residual electric quantity value to the industrial personal computer.
In the power management method of the night patrol robot, a step of detecting the electric quantity of a power supply battery is added before shutdown, when the value of the residual electric quantity updated in real time is lower than a preset threshold value, the industrial personal computer controls the night patrol robot to charge a charging pile, after the night patrol robot is full of the electric quantity, the industrial personal computer controls the night patrol robot to return to an initial working point to complete the steps of dormancy and automatic shutdown, a flow chart of the power management method of the night patrol robot with the charging function is shown in fig. 6, and the specific steps comprise:
s31, after the power management unit sends a power-off request instruction to the main control unit, the main control unit sends an electric quantity inquiry reading instruction to the power management unit;
and S32, after receiving the electric quantity inquiry and reading instruction, the power management unit returns the real-time updated residual electric quantity value to the main control unit, and the real-time updated residual electric quantity value is obtained by calculating the working time of the output voltage of the power supply battery and the battery capacity according to the current value or the voltage value output by the power supply battery. If the residual electric quantity value is updated once every second in real time (60 h can be supplied under the condition that the rated Current is set to be 1A), if the battery capacity is 60Ah, 1/3600A.h electric quantity is consumed within 1S if the rated Current is set to be 1A, so that the residual electric quantity value CBAT= (CBAT 0-Current 1/3600) A.h is updated in real time, wherein CBAT is the real-time updated residual electric quantity value, CBAT0 is the battery capacity, current is the Current value acquired in real time, and the real-time updated residual electric quantity value and the battery capacity are in A.h units;
s33, the main control unit outputs the received real-time updated residual electric quantity value to the industrial personal computer;
s34, comparing the received real-time updated residual electric quantity value with a preset electric quantity threshold value by the industrial personal computer, and controlling the inspection robot to charge the charging pile when the received real-time updated residual electric quantity value is smaller than the preset electric quantity threshold value by the industrial personal computer;
s35, after the electric quantity of the power supply battery is full, the industrial personal computer controls the inspection robot to break away from the charging pile, returns to an initial working point, and returns full information of the power supply battery to the main control unit;
s36, after receiving full information of the power supply battery, the main control unit sends a dormancy instruction to the industrial personal computer;
s37, after receiving the dormancy instruction, the industrial personal computer stores state information, returns a state information storage completion instruction to the main control unit and automatically shuts down;
s38, after receiving the state information storage completion instruction, the main control unit stores the state information of the current main control unit and the state information of the executing mechanism, and sends a power switch off command to the power management unit;
s39, after receiving the power switch turn-off command, the power management switch turns off the power supply to the main control unit, the executing mechanism and the industrial personal computer.
Claims (6)
1. A power management circuit for a night patrol robot, comprising: the power supply device comprises a power supply battery, a power supply management unit, a switching power supply, a main control unit and an industrial personal computer;
the output end of the power supply battery is connected with the input end of the power supply management unit, the output end of the power supply management unit is connected with the input end of the switch power supply, the first output end of the switch power supply is connected with the input end of the main control unit, the second output end of the switch power supply is connected with the input end of the industrial personal computer,
the power supply management unit receives a power supply switch control command output by the main control unit, controls the turn-off between a power supply and the switch power supply, and conducts the connection between the power supply battery and the switch power supply according to preset starting time so as to supply power to the main control unit and the industrial personal computer;
the power management unit includes: the switch relay, the wireless communication module, the standby power supply battery, the RTC clock and the controller,
the switch relay receives the power switch turn-off control command output by the controller, disconnects the connection between the output end of the power management unit and the input end of the switch power supply, and also turns on the connection between the output end of the power management unit and the input end of the switch power supply according to a start-up command sent by the controller;
the wireless communication module adopts a TTL wireless module, receives a power switch turn-off control command sent by the main control unit, transmits the power switch turn-off control command to the controller, and also receives a turn-off power request instruction output by the controller and sends the turn-off power request instruction to the main control unit;
the standby power supply battery is used for providing standby power for the controller;
the RTC clock is used for perpetual calendar timing;
the controller reads the count value of the RTC clock, when the count value is a preset turn-on time, the switch relay is controlled to be connected with the output end of the power management unit and the input end of the switch power supply, and when the count value is a preset turn-off time, the controller sends the turn-off power supply request instruction to the wireless communication module and receives the turn-off control command of the power switch returned by the wireless communication module;
the power management method based on the night patrol robot comprises the following steps:
s11, the power management unit sends a power-off request instruction to the main control unit according to preset power-off time;
s12, after receiving the power-off request instruction, the main control unit sends a dormancy instruction to the industrial personal computer;
s13, after receiving the dormancy instruction, the industrial personal computer stores state information, returns a state information storage completion instruction to the main control unit and automatically shuts down;
s14, after receiving the state information storage completion instruction, the main control unit stores the state information of the current main control unit and the state information of the executing mechanism, and sends a power switch off command to the power management unit;
s15, after receiving a power switch turn-off command, the power management switch turns off power supply to the main control unit, the executing mechanism and the industrial personal computer;
the method also comprises the starting-up steps:
s21, the power management unit starts to supply power to the main control unit and the industrial personal computer according to preset starting time;
s22, reading state information of the last automatic shutdown, and starting to work after the self-checking is finished;
s23, after receiving power supply input, the main control unit reads the working state information of the main control unit and the working state information of the executing mechanism before power failure, and starts working after self-checking;
the method also comprises the charging step before shutdown:
s31, after the power management unit sends a power-off request instruction to the main control unit, the main control unit sends an electric quantity inquiry reading instruction to the power management unit;
s32, after receiving the electric quantity inquiry reading instruction, the power management unit returns the updated residual electric quantity value to the main control unit in real time;
s33, the main control unit outputs the received real-time updated residual electric quantity value to the industrial personal computer;
s34, comparing the received real-time updated residual electric quantity value with a preset electric quantity threshold value by the industrial personal computer, and controlling the inspection robot to charge the charging pile when the received real-time updated residual electric quantity value is smaller than the preset electric quantity threshold value by the industrial personal computer;
s35, after the electric quantity of the power supply battery is full, the industrial personal computer controls the inspection robot to break away from the charging pile, returns to an initial working point, and returns full information of the power supply battery to the main control unit;
s36, after receiving the full information of the power supply battery, the main control unit sends a dormancy instruction to the industrial personal computer;
s37, after receiving the dormancy instruction, the industrial personal computer stores state information, returns a state information storage completion instruction to the main control unit and automatically shuts down;
s38, after receiving the state information storage completion instruction, the main control unit stores the state information of the current main control unit and the state information of the executing mechanism, and sends a power switch off command to the power management unit;
s39, after receiving the power switch turn-off command, the power management switch turns off the power supply to the main control unit, the executing mechanism and the industrial personal computer.
2. A power management circuit for a night patrol robot according to claim 1, wherein,
the power supply battery outputs direct-current voltage to the power supply management unit;
the power management unit receives the direct-current voltage output by the power supply battery, receives a power switch turn-off control command of the main control unit, turns off the connection between the power supply battery and the switch power supply according to the power switch turn-off control command, turns on the connection between the power supply battery and the switch power supply according to a preset starting time, outputs the direct-current voltage to the switch power supply when turned on, and does not output the direct-current voltage to the switch power supply when turned off;
the switch power supply inputs the direct current voltage output by the power management unit, outputs a first direct current output voltage to the main control unit at the first output end, and outputs a second direct current output voltage to the industrial personal computer at the second output end;
the main control unit receives a first direct current output voltage output by the switching power supply at the first output end, outputs the power supply switch control command to the power supply management unit, and interacts information with the industrial personal computer through an RS232 protocol;
the industrial personal computer receives the second direct current output voltage output by the switching power supply at the second output end, and controls the night patrol robot to finish night patrol.
3. The power management circuit of the night patrol robot according to claim 2, further comprising an executing mechanism, wherein the executing mechanism receives the second direct current output voltage output by the switching power supply at the second output end, receives the control command of the industrial personal computer, completes the actions of lifting, stretching, rotating, pitching and covering the switch of the robot, returns the status information of the actions to the industrial personal computer in real time, completes the acquisition of infrared thermal image data, and returns the infrared thermal image data to the industrial personal computer in real time.
4. A power management circuit for a night patrol robot according to any one of claims 1-3, wherein said power management unit receives a power switch control command of said main control unit via a wireless communication module.
5. A power management circuit for a night patrol robot according to claim 1, wherein,
the power management unit also receives an electric quantity inquiry reading instruction output by the main control unit, calculates a real-time updated residual electric quantity value according to the electric quantity inquiry reading instruction, and returns the real-time updated residual electric quantity value to the main control unit.
6. The power management circuit of the night patrol robot according to claim 5, wherein the power management unit further comprises a current or voltage detection module, and the current or voltage detection module is configured to collect a current value or a voltage value of the dc voltage output from the power supply battery to the input end of the power management unit, and send the current value or the voltage value to the controller.
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| CN112698713A (en) * | 2020-12-08 | 2021-04-23 | 京东数科海益信息科技有限公司 | Shutdown control circuit and method and electronic equipment |
| CN112952964B (en) * | 2021-04-14 | 2022-10-04 | 重庆工商大学 | Wireless charging control system of cleaning robot |
| CN114142599A (en) * | 2021-12-01 | 2022-03-04 | 山东新坐标智能装备有限公司 | Robot power management system and method |
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