CN110696626A - Unmanned vehicle and power supply control method thereof - Google Patents

Unmanned vehicle and power supply control method thereof Download PDF

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Publication number
CN110696626A
CN110696626A CN201911147033.8A CN201911147033A CN110696626A CN 110696626 A CN110696626 A CN 110696626A CN 201911147033 A CN201911147033 A CN 201911147033A CN 110696626 A CN110696626 A CN 110696626A
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CN
China
Prior art keywords
circuit
power supply
switch
supply circuit
controlling
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CN201911147033.8A
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Chinese (zh)
Inventor
邵连
杨圣波
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Beijing Jingbangda Trade Co Ltd
Beijing Jingdong Qianshi Technology Co Ltd
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Beijing Jingbangda Trade Co Ltd
Beijing Jingdong Qianshi Technology Co Ltd
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Priority to CN201911147033.8A priority Critical patent/CN110696626A/en
Publication of CN110696626A publication Critical patent/CN110696626A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention discloses an unmanned vehicle and a power supply control method thereof. The unmanned vehicle includes: the charging device comprises a battery, a power supply circuit connected with the battery, a circuit to be charged and a control module connected with the battery; wherein the power supply circuit comprises: a precharge circuit, the precharge circuit comprising: a switch and a resistor connected in series; the input end of the circuit to be charged is provided with a capacitive load; the control module is used for controlling the switch to be closed so as to conduct the pre-charging circuit, and pre-charging the capacitive load through the pre-charging circuit; and after the capacitive load is precharged for a preset time, controlling the switch to be switched off to switch off the precharge circuit, and supplying power to the circuit to be charged through the power supply circuit. According to the unmanned vehicle provided by the invention, the element can be charged with small current in advance before normal power supply, so that the phenomenon that the battery or other elements are damaged due to instantaneous short circuit caused by the capacitor in direct charging is avoided.

Description

Unmanned vehicle and power supply control method thereof
Technical Field
The invention relates to the technical field of vehicle power supply, in particular to an unmanned vehicle and a power supply control method of the unmanned vehicle.
Background
In current unmanned vehicle technology, the front end of the component (i.e., the power supply input) with higher power usually has a larger capacitance. When the whole vehicle is powered on, the capacitor usually has no charge or only has residual voltage, and if the battery is directly powered to two ends of the capacitor, which is equivalent to instantaneous short circuit, the battery reaches the output current limit and further starts self-protection, and the battery and other elements can be damaged in serious cases.
The above information disclosed in this background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not constitute prior art that is already known to a person of ordinary skill in the art.
Disclosure of Invention
In view of this, the present invention provides an unmanned vehicle and a power supply control method for the unmanned vehicle.
Additional features and advantages of the invention will be set forth in the detailed description which follows, or may be learned by practice of the invention.
According to an aspect of the present invention, there is provided an unmanned vehicle including: the charging device comprises a battery, a power supply circuit connected with the battery, a circuit to be charged and a control module connected with the battery; wherein the power supply circuit comprises: a precharge circuit, the precharge circuit comprising: a switch and a resistor connected in series; the input end of the circuit to be charged is provided with a capacitive load; the control module is used for controlling the switch to be closed so as to conduct the pre-charging circuit, and pre-charging the capacitive load through the pre-charging circuit; and after the capacitive load is precharged for a preset time, controlling the switch to be switched off to switch off the precharge circuit, and supplying power to the circuit to be charged through the power supply circuit.
According to an embodiment of the present invention, the power supply circuit includes: a first power supply circuit and a second power supply circuit; the circuit to be charged includes: the device comprises a walking device and a circuit to be powered; the control module is further used for controlling the first power supply circuit and the second power supply circuit to be conducted so as to supply power to the circuit to be powered through the first power supply circuit and supply power to the walking device through the second power supply circuit; and when receiving the emergency stop signal, controlling to turn off the second power supply circuit so as to stop supplying power to the walking device.
According to an embodiment of the present invention, the first power supply circuit includes: a first precharge circuit, the first precharge circuit comprising: a first switch and a first resistor connected in series; the second power supply circuit includes: a second precharge circuit, the second precharge circuit comprising: a second switch and a second resistor connected in series; the control module is further used for sequentially controlling the first switch and the second switch to be closed so as to sequentially carry out pre-charging on the circuit to be powered through the first pre-charging circuit and pre-charging on the walking device through the second pre-charging circuit.
According to an embodiment of the present invention, the first power supply circuit is connected in series with the second power supply circuit; the first power supply circuit further includes: a third switch in parallel with the first precharge circuit; the second power supply circuit further includes: a fourth switch in parallel with the second pre-charge circuit.
According to an embodiment of the present invention, the control module is configured to control the first switch to be closed when receiving a power-on signal, so as to pre-charge the circuit to be powered through the first pre-charge circuit; after the circuit to be powered is precharged for a first time period, the first switch is controlled to be switched off, and the second switch and the third switch are controlled to be switched on, so that the circuit to be powered is powered through the first power supply circuit, and the walking device is precharged through the second precharge circuit; and after the walking device is precharged for a second time period, controlling the second switch to be switched off, and controlling the fourth switch to be switched on so as to supply power to the walking device through the second power supply circuit.
According to an embodiment of the present invention, the control module is configured to control the fourth switch to be turned off to stop supplying power to the traveling apparatus when the emergency stop signal is received.
According to an embodiment of the present invention, the first switch, the second switch, the third switch and the fourth switch are all normally open contact switches; the control module controls the first switch, the second switch, the third switch, and the fourth switch to be closed by powering a first coil, a second coil, a third coil, and a fourth coil corresponding to the first switch, the second switch, the third switch, and the fourth switch, respectively.
According to an embodiment of the present invention, the unmanned vehicle further comprises: and the circuit to be powered is connected with the first power supply circuit through the at least one power supply module.
According to another aspect of the present invention, there is provided a power supply control method of an unmanned vehicle, including: controlling a switch in the power supply circuit of the unmanned vehicle to be closed so as to conduct a pre-charging circuit comprising a resistor in the power supply circuit, and pre-charging a capacitive load at an input end of a circuit to be charged of the unmanned vehicle through the pre-charging circuit; and after the capacitive load is precharged for a preset time, controlling the switch to be switched off to switch off the precharge circuit, and supplying power to the circuit to be charged through the power supply circuit.
According to an embodiment of the invention, the method further comprises: controlling a first power supply circuit and a second power supply circuit in the power supply circuit to be conducted so as to supply power to a traveling device in the power supply circuit through the second power supply circuit and supply power to a circuit to be supplied with power except the traveling device in the power supply circuit through the first power supply circuit; and when receiving the emergency stop signal, controlling to turn off the second power supply circuit so as to stop supplying power to the walking device.
According to an embodiment of the present invention, the controlling the first power supply circuit and the second power supply circuit of the power supply circuits to be turned on includes: controlling a first pre-charging circuit in the first power supply circuit to be conducted so as to pre-charge the circuit to be powered through the first pre-charging circuit; and controlling a second pre-charging circuit in the second power supply circuit to be conducted so as to pre-charge the traveling device through the second pre-charging circuit.
According to an embodiment of the present invention, the controlling the first power supply circuit and the second power supply circuit of the power supply circuits to be turned on includes: when a power-on signal is received, a first switch in the first pre-charging circuit is controlled to be closed, so that the first pre-charging circuit is used for pre-charging the circuit to be powered; after the circuit to be powered is precharged for a first time period, controlling the first switch to be switched off, and controlling the second switch in the second precharge circuit and the third switch in the first power supply circuit to be switched on, so as to supply power to the circuit to be powered through the first power supply circuit and precharge the walking device through the second precharge circuit; after the walking device is precharged for a second time period, controlling the second switch to be switched off, and controlling a fourth switch in the second power supply circuit to be switched on so as to supply power to the walking device through the second power supply circuit; and when the emergency stop signal is received, controlling the fourth switch to be switched off so as to stop supplying power to the walking device.
According to the unmanned vehicle provided by the invention, the element can be charged with small current in advance before normal power supply, so that the phenomenon that the battery or other elements are damaged due to instantaneous short circuit caused by the capacitor in direct charging is avoided.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
Fig. 1 is a flowchart illustrating a power supply control method of an unmanned vehicle according to an exemplary embodiment.
Fig. 2 is a flow chart illustrating another power supply control method for an unmanned vehicle according to an exemplary embodiment.
Fig. 3 is a flowchart illustrating a power supply control method of yet another unmanned vehicle according to an exemplary embodiment.
Fig. 4 is a flowchart illustrating a power supply control method of yet another unmanned vehicle according to an exemplary embodiment.
Fig. 5 is a schematic diagram of a power supply control circuit for an unmanned vehicle, according to an exemplary embodiment.
Fig. 6 is a schematic diagram of another power supply control circuit for an unmanned vehicle, according to an exemplary embodiment.
Fig. 7 is a schematic diagram illustrating a power supply control circuit for yet another unmanned vehicle according to an exemplary embodiment.
Fig. 8 is a schematic diagram illustrating a power supply control circuit for yet another unmanned vehicle according to an exemplary embodiment.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known structures, methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the invention.
In the present invention, unless otherwise expressly specified or limited, the terms "connected," "connecting," and the like are to be construed broadly, e.g., as meaning both electrically and communicatively coupled; can be directly connected or indirectly connected. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Furthermore, in the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
As described above, when an unmanned vehicle is powered on, due to the large capacitance at the front end of the high-power element, the battery reaches the output current limit when the battery is directly charged/powered without charge or with residual voltage, and the battery and other elements may be damaged in severe cases. . Therefore, the present invention proposes an unmanned vehicle adopting a new power supply method, and the following embodiments of the present invention will be specifically described.
Fig. 5 is a schematic diagram of a power supply control circuit for an unmanned vehicle, according to an exemplary embodiment. Referring to fig. 5, the unmanned vehicle 4 includes: a battery 41, a power supply circuit 4(2/3) connected to the battery 41, a circuit to be charged 4(4/5), and a control module 46 connected to the battery 41.
Wherein the power supply circuit 4(2/3) includes: the precharge circuit 4(2/3)1, the precharge circuit 4(2/3)1 includes: the switch 4(2/3)11 and the resistor 4(2/3)12 connected in series, and the resistor 4(2/3)12 can be used as a current limiting protection resistor in the precharge circuit 4(2/3) 1.
The input of the circuit to be charged 4(4/5) is provided with a capacitive load.
The control module 46 is configured to: (1) controlling the switch 4(2/3)11 to close to turn on the precharge circuit 4(2/3)1, precharging the capacitive load through the precharge circuit 4(2/3) 1; (2) after the capacitive load is precharged for the preset time period t, the control switch 4(2/3)11 is turned off to turn off the precharge circuit 4(2/3)1, and the power supply circuit 4(4/5) supplies power to the charging circuit 4 (2/3).
The preset time period t may be preset according to, for example, the power of the element in the circuit 4 to be charged (4/5), the capacitance of the input end (i.e., the generalized resistance of the capacitive load), the voltage of the battery 41, and the like, for example: the time to precharge the voltage at the input of the circuit to be charged 4(4/5) to at least 90% of the battery voltage is set to t. The present invention is not limited to the above-described setting principle of t.
The control module 46 may be implemented in the form of an embedded controller in the unmanned vehicle 4, for example. The embedded controller may include: the embedded control panel and the control element complete automatic monitoring, control and other programs through embedded microelectronic technology chips (including a series of microelectronic devices such as a microprocessor chip, a timer, a sequencer and the like).
According to the unmanned vehicle provided by the embodiment of the invention, the element can be charged with a small current in advance before normal power supply, so that the phenomenon that the battery or other elements are damaged due to instantaneous short circuit caused by the capacitor in direct charging is avoided.
Fig. 6 is a schematic diagram of another power supply control circuit for an unmanned vehicle, according to an exemplary embodiment. Referring to fig. 6, the power supply circuit 4(2/3) of the unmanned vehicle 4 in fig. 5 may include: the first power supply circuit 42 and the second power supply circuit 43, the circuit to be charged 4(4/5) may include: a running gear 44 and a circuit to be powered 45.
Wherein, the control module 46 is further operable to: (3) controlling the first power supply circuit 42 and the second power supply circuit 43 to be conducted so as to supply power to the circuit to be powered 45 through the first power supply circuit 42 and supply power to the traveling device 44 through the second power supply circuit 43; (4) when the emergency stop signal is received, the second power supply circuit 43 is controlled to be turned off to stop the power supply to the traveling device 44.
According to the unmanned vehicle provided by some embodiments of the invention, the walking device can be independently powered off and stopped in an emergency, and the normal power supply and use of other electrical elements are kept without powering off the whole vehicle. After the emergency is relieved, the running gear can continue running by recovering power supply to the running gear.
In some embodiments, as shown in fig. 7: the first power supply circuit 42 may include: the first precharge circuit 421, the first precharge circuit 421 may include: a first switch 4211 and a first resistor 4212 connected in series. The second power supply circuit 43 may include: the second precharge circuit 431, the second precharge circuit 431 may include: a second switch 4311 and a second resistor 4312 connected in series. The first resistor 4212 and the second resistor 4312 may be used as current limiting protection resistors in the first precharge circuit 421 and the second precharge circuit 431, respectively.
In light of the above, the control module 46 may also be configured to: (5) the first switch 4211 and the second switch 4311 are sequentially controlled to be closed, so that the circuit to be supplied with power 45 is precharged sequentially by the first precharge circuit 421 and the traveling device 44 is precharged by the second precharge circuit 431.
As shown in fig. 7, in some embodiments, the unmanned vehicle 4 may further include: at least one power module 47, the circuit to be powered 45 is connected to the first power supply circuit 42 through at least one power module 47, for example, the circuit to be powered 451 shown in fig. 7 is connected to the first power supply circuit 42 through one power module 47, and the circuit to be powered 452 is connected to the first power supply circuit 42 through another power module 47. The circuit to be powered 451 may include, for example, a steering device (a steering driver and a motor) in the unmanned vehicle 4, and the circuit to be powered 452 may include other electrical components in the unmanned vehicle 4 besides the traveling device and the steering device, which is not limited in this respect.
Correspondingly, the control module 46 controls the first switch 4211 to close, and the first precharge circuit 421 is used to precharge the power module 47 in the circuit to be powered 45. The power module 47 may be, for example, a DC-DC converter, and can convert the voltage of the battery 41 and supply the voltage-stabilized power to the circuit to be powered 45.
According to the unmanned vehicle provided by some embodiments of the invention, when the whole vehicle is powered on, the walking device and other electrical elements can be respectively pre-charged through the two pre-charging circuits, so that the impact of large current at the moment of power-on elements such as a battery and a motor in the unmanned vehicle is avoided.
With continued reference to fig. 7, the first power supply circuit 42 is connected in series with the second power supply circuit 43. The first power supply circuit 42 may further include: the third switch 4213 connected in parallel with the first precharge circuit 421, the second power supply 43 may further include: a fourth switch 4313 connected in parallel to the second precharge circuit 431.
In light of the above, the control module 46 may be configured to:
when receiving the power-on signal, the first switch 4211 is controlled to be closed to precharge the circuit to be powered 45 by the first precharge circuit 421;
during the precharging of the circuit to be supplied 45 for a first time period t1Then, the first switch 4211 is controlled to be opened, and the second switch 4311 and the third switch 4213 are controlled to be closed, so that the power supply circuit 45 to be supplied with power is supplied through the first power supply circuit 42, and the traveling device 44 is pre-charged through the second pre-charging circuit 431;
while pre-charging the traveling gear 44 for a second time period t2Then, the second switch 4311 is controlled to be turned off, and the fourth switch 4313 is controlled to be turned on, so as to supply power to the traveling device 44 through the second power supply circuit 43; and
when the emergency stop signal is received, the fourth switch 4313 is controlled to be turned off to stop power supply to the traveling apparatus 44.
It should be noted that, the control module 46 may control the second switch 4311 and the third switch 4213 to be turned on simultaneously, or may control the third switch 4213 to be turned on first and then control the second switch 4311 to be turned on.
A first time period t1And a second duration t2For example, the power of the elements in the circuit to be supplied 45, the capacitance of the input terminal of the traveling device 44, the capacitance of the input terminal of the circuit to be supplied 45, the voltage of the battery 41, and the like may be set in advance, for example: t is the time for precharging the voltage at the input of the circuit to be powered 45 to at least 90% of the battery voltage1T is a time for precharging the voltage at the input terminal of the traveling unit 44 to at least 90% of the battery voltage2. In the present invention, the above t is not used in the present invention1And t2The set principle of (2) is limited.
In some embodiments, the first switch 4211, the second switch 4311, the third switch 4213, and the fourth switch 4313 may each be a normally open contact switch. As shown in fig. 8, control module 46 may control first, second, third, and fourth switches 4211, 4311, 4213, and 4313 to close by powering first, second, third, and fourth coils 461, 462, 463, and 464 corresponding to first, second, third, and fourth switches 4211, 4311, respectively.
The coil-switch combination described above may be implemented in the control module 46, for example, in the form of a dc contactor: after the embedded control panel 460 receives the power-on signal,
first, power is supplied to the first coil 461 corresponding to the first switch 4211 through the output port OUT1 to control the first switch 4211 to be closed;
a first time period t1Then, the embedded control panel 460 turns off the output of the output port OUT1 to control the first switch 4211 to be opened, and supplies power to the second coil 462 corresponding to the second switch 4311 through the output port OUT2 to control the second switch 4311 to be closed, and supplies power to the third coil 463 corresponding to the third switch 4213 through the output port OUT3 to control the third switch 4213 to be closed; and
a second time period t2Thereafter, the embedded control panel 460 closes the output of the output port OUT2 to control the second switch 4311 to open, and supplies power to the fourth coil 464 corresponding to the fourth switch 4313 through the output port OUT4 to control the fourth switch 4313 to close.
Under the working conditions that the first switch 4211 and the second switch 4311 are disconnected and the third switch 4213 and the fourth switch 4313 are closed, the first power supply circuit 42 and the second power supply circuit 43 are connected to respectively supply power to the to-be-supplied power circuit 45 and the traveling device 44, and the unmanned vehicle 4 keeps a normal traveling state.
The embedded control panel 460 may also include input ports IN 1: the embedded control panel 460 controls to turn off the output of the output port OUT4 when the input port IN1 is turned on. Under normal operating conditions, input port IN1 remains open; IN an emergency, the operator presses the emergency stop button 465, the embedded control panel 460 receives an emergency stop signal through the input port IN1, the output of the output port OUT4 is turned off, the fourth coil 464 is powered off, the fourth switch 4313 (normally open contact switch) is turned off, and the traveling device 44 is powered off immediately to stop the unmanned vehicle 4. And the third switch 4213 is kept closed, the first power supply circuit 42 is kept conducted, that is, the electric elements in the circuit to be supplied with power 45 can still work normally after the unmanned vehicle 4 is stopped emergently.
After the emergency is released, the operator resets the emergency stop button 465, the embedded control panel 460 knows that the emergency stop signal disappears through the input port IN1, controls the second switch 4311 to be closed again, pre-charges the traveling device 44 through the second pre-charging circuit 431, controls the second switch 4311 to be opened and controls the fourth switch 4313 to be closed again after the pre-charging is completed, and supplies power to the traveling device 44 through the second power supply circuit 43 to restore the normal traveling state of the unmanned vehicle 4.
It is noted that the block diagrams shown in the above figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The following are examples of the method of the present invention, which may be applied to the apparatus of the present invention. For details which are not disclosed in the method embodiments of the present invention, reference is made to the apparatus embodiments of the present invention.
Fig. 1 is a flowchart illustrating a power supply control method of an unmanned vehicle according to an exemplary embodiment. The power supply control method of the unmanned vehicle shown in fig. 1 can be applied to the control module 46 in the above-described unmanned vehicle 4, for example.
Referring to fig. 1, a power supply control method 10 of an unmanned vehicle includes:
in step S102, a switch in the unmanned vehicle power supply circuit is controlled to be closed to turn on a pre-charging circuit including a resistor in the power supply circuit, and a capacitive load at an input terminal of a circuit to be charged of the unmanned vehicle is pre-charged through the pre-charging circuit.
In step S104, after the capacitive load is precharged for a preset duration, the control switch is turned off to turn off the precharge circuit, and the power supply circuit supplies power to the circuit to be charged.
According to the power supply control method of the unmanned vehicle, provided by the embodiment of the invention, the element can be charged with a small current in advance before normal power supply, so that the phenomenon that the battery or other elements are damaged due to instantaneous short circuit caused by the capacitor in direct charging is avoided.
It should be clearly understood that the present disclosure describes how to make and use particular examples, but the principles of the present disclosure are not limited to any details of these examples. Rather, these principles can be applied to many other embodiments based on the teachings of the present disclosure.
Fig. 2 is a flow chart illustrating another power supply control method for an unmanned vehicle according to an exemplary embodiment. The method 10 of fig. 1 differs in that the method of fig. 2 further provides a two-way power supply of all electrical components in the unmanned vehicle, i.e., further provides an embodiment of the method 10 described above. Likewise, the power supply control method of the unmanned vehicle shown in fig. 2 can be applied to the control module 46 in the above-described unmanned vehicle 4, for example.
Referring to fig. 2, the power supply control method 10 of the unmanned vehicle may further include:
in step S202, a first power supply circuit and a second power supply circuit in the power supply circuit are controlled to be turned on, so as to supply power to the traveling device in the circuit to be charged through the second power supply circuit, and supply power to the circuit to be charged except for the traveling device in the circuit to be charged through the first power supply circuit.
In step S204, when the emergency stop signal is received, the second power supply circuit is controlled to be turned off to stop power supply to the running gear.
According to the power supply control method of the unmanned vehicle provided by some embodiments of the invention, the walking device can be independently powered off and stopped in an emergency, and other electrical elements can be normally powered on and used without powering off the whole vehicle. After the emergency is relieved, the running gear can continue running by recovering power supply to the running gear.
It should be clearly understood that the present disclosure describes how to make and use particular examples, but the principles of the present disclosure are not limited to any details of these examples. Rather, these principles can be applied to many other embodiments based on the teachings of the present disclosure.
Fig. 3 is a flowchart illustrating a power supply control method of yet another unmanned vehicle according to an exemplary embodiment. The difference from the method 10 shown in fig. 1 and 2 is that the method shown in fig. 3 further provides a method of two-way pre-charging all electrical components in the unmanned vehicle, i.e. further provides an embodiment of the step S202. Similarly, the power supply control method for the unmanned vehicle shown in fig. 3 may be applied to the control module 46 in the unmanned vehicle 4.
Referring to fig. 3, step S202 may include:
in step S2022, the first pre-charge circuit in the first power supply circuit is controlled to be turned on to pre-charge the circuit to be powered through the first pre-charge circuit.
In step S2024, the second precharge circuit in the second power supply circuit is controlled to be turned on to precharge the traveling apparatus by the second precharge circuit.
According to the power supply control method of the unmanned vehicle provided by some embodiments of the invention, when the unmanned vehicle is electrified, the walking device and other electrical elements can be pre-charged respectively through the two pre-charging circuits, so that the impact of large current at the moment of electrification on other elements such as a battery and a motor in the unmanned vehicle is avoided.
Fig. 4 is a flowchart illustrating a power supply control method of another unmanned vehicle according to an exemplary embodiment, further providing an example of the step S202. Similarly, the power supply control method for the unmanned vehicle shown in fig. 4 may be applied to the control module 46 in the unmanned vehicle 4.
Referring to fig. 4, step S202 may include:
in step S302, when a power-on signal is received, a first switch in a first pre-charge circuit is controlled to be closed, so as to pre-charge a circuit to be powered through the first pre-charge circuit.
In step S304, after the circuit to be powered is precharged for the first time period, the first switch is controlled to be turned off, and the second switch in the second precharge circuit and the third switch in the first power supply circuit are controlled to be turned on, so as to supply power to the circuit to be powered through the first power supply circuit and precharge the traveling device through the second precharge circuit.
In step S306, after the running gear is precharged for the second time period, the second switch is controlled to be turned off, and the fourth switch in the second power supply circuit is controlled to be turned on, so as to supply power to the running gear through the second power supply circuit.
In step S308, when the emergency stop signal is received, the fourth switch is controlled to be turned off to stop power supply to the running gear.
It is to be noted that the above-mentioned figures are only schematic illustrations of the processes involved in the method according to exemplary embodiments of the invention, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.
Exemplary embodiments of the present invention are specifically illustrated and described above. It is to be understood that the invention is not limited to the precise construction, arrangements, or instrumentalities described herein; on the contrary, the invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims (12)

1. An unmanned vehicle, comprising: the charging device comprises a battery, a power supply circuit connected with the battery, a circuit to be charged and a control module connected with the battery; wherein the power supply circuit comprises: a precharge circuit, the precharge circuit comprising: a switch and a resistor connected in series; the input end of the circuit to be charged is provided with a capacitive load; the control module is used for controlling the switch to be closed so as to conduct the pre-charging circuit, and pre-charging the capacitive load through the pre-charging circuit; and after the capacitive load is precharged for a preset time, controlling the switch to be switched off to switch off the precharge circuit, and supplying power to the circuit to be charged through the power supply circuit.
2. The unmanned vehicle of claim 1, wherein the power supply circuit comprises: a first power supply circuit and a second power supply circuit; the circuit to be charged includes: the device comprises a walking device and a circuit to be powered; the control module is further used for controlling the first power supply circuit and the second power supply circuit to be conducted so as to supply power to the circuit to be powered through the first power supply circuit and supply power to the walking device through the second power supply circuit; and when receiving the emergency stop signal, controlling to turn off the second power supply circuit so as to stop supplying power to the walking device.
3. The unmanned vehicle of claim 2, wherein the first power supply circuit comprises: a first precharge circuit, the first precharge circuit comprising: a first switch and a first resistor connected in series; the second power supply circuit includes: a second precharge circuit, the second precharge circuit comprising: a second switch and a second resistor connected in series; the control module is further used for sequentially controlling the first switch and the second switch to be closed so as to sequentially carry out pre-charging on the circuit to be powered through the first pre-charging circuit and pre-charging on the walking device through the second pre-charging circuit.
4. The unmanned vehicle of claim 3, wherein the first power supply circuit is in series with the second power supply circuit; the first power supply circuit further includes: a third switch in parallel with the first precharge circuit; the second power supply circuit further includes: a fourth switch in parallel with the second pre-charge circuit.
5. The unmanned vehicle of claim 4, wherein the control module is configured to control the first switch to close when receiving a power-on signal, so as to pre-charge the circuit to be powered through the first pre-charge circuit; after the circuit to be powered is precharged for a first time period, the first switch is controlled to be switched off, and the second switch and the third switch are controlled to be switched on, so that the circuit to be powered is powered through the first power supply circuit, and the walking device is precharged through the second precharge circuit; and after the walking device is precharged for a second time period, controlling the second switch to be switched off, and controlling the fourth switch to be switched on so as to supply power to the walking device through the second power supply circuit.
6. The unmanned vehicle of claim 5, wherein the control module is configured to control the fourth switch to be turned off to stop the power supply to the running gear when the emergency stop signal is received.
7. The unmanned vehicle of any of claims 4-6, wherein the first switch, the second switch, the third switch, and the fourth switch are all normally open contact switches; the control module controls the first switch, the second switch, the third switch, and the fourth switch to be closed by powering a first coil, a second coil, a third coil, and a fourth coil corresponding to the first switch, the second switch, the third switch, and the fourth switch, respectively.
8. The unmanned vehicle of any of claims 2-6, further comprising: and the circuit to be powered is connected with the first power supply circuit through the at least one power supply module.
9. A power supply control method for an unmanned vehicle is characterized by comprising the following steps: controlling a switch in the power supply circuit of the unmanned vehicle to be closed so as to conduct a pre-charging circuit comprising a resistor in the power supply circuit, and pre-charging a capacitive load at an input end of a circuit to be charged of the unmanned vehicle through the pre-charging circuit; and
and when the capacitive load is precharged for a preset time, controlling the switch to be switched off to switch off the precharge circuit, and supplying power to the circuit to be charged through the power supply circuit.
10. The method of claim 9, further comprising:
controlling a first power supply circuit and a second power supply circuit in the power supply circuit to be conducted so as to supply power to a traveling device in the circuit to be charged through the second power supply circuit and supply power to a circuit to be supplied in the circuit to be charged except the traveling device through the first power supply circuit; and
and when an emergency stop signal is received, controlling to turn off the second power supply circuit so as to stop supplying power to the walking device.
11. The method of claim 10, wherein controlling a first power supply circuit and a second power supply circuit of the power supply circuits to conduct comprises:
controlling a first pre-charging circuit in the first power supply circuit to be conducted so as to pre-charge the circuit to be powered through the first pre-charging circuit; and
and controlling a second pre-charging circuit in the second power supply circuit to be conducted so as to pre-charge the traveling device through the second pre-charging circuit.
12. The method of claim 11, wherein controlling a first power supply circuit and a second power supply circuit of the power supply circuits to conduct comprises:
when a power-on signal is received, a first switch in the first pre-charging circuit is controlled to be closed, so that the first pre-charging circuit is used for pre-charging the circuit to be powered;
after the circuit to be powered is precharged for a first time period, controlling the first switch to be switched off, and controlling the second switch in the second precharge circuit and the third switch in the first power supply circuit to be switched on, so as to supply power to the circuit to be powered through the first power supply circuit and precharge the walking device through the second precharge circuit;
after the walking device is precharged for a second time period, controlling the second switch to be switched off, and controlling a fourth switch in the second power supply circuit to be switched on so as to supply power to the walking device through the second power supply circuit; and
and when the emergency stop signal is received, controlling the fourth switch to be switched off so as to stop supplying power to the walking device.
CN201911147033.8A 2019-11-21 2019-11-21 Unmanned vehicle and power supply control method thereof Pending CN110696626A (en)

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