CN111060777A - Robot wireless charging monitoring module - Google Patents
Robot wireless charging monitoring module Download PDFInfo
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- CN111060777A CN111060777A CN202010190630.5A CN202010190630A CN111060777A CN 111060777 A CN111060777 A CN 111060777A CN 202010190630 A CN202010190630 A CN 202010190630A CN 111060777 A CN111060777 A CN 111060777A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/165—Indicating that current or voltage is either above or below a predetermined value or within or outside a predetermined range of values
Abstract
The invention discloses a robot wireless charging monitoring module, which is positioned at the front end of a power supply line of the wireless charging module and comprises a DC power supply, a protective tube, an MOS (metal oxide semiconductor) tube Q1 and a singlechip which are sequentially connected, wherein the singlechip detects whether current, voltage and temperature parameters of the wireless charging module are normal, when the singlechip detects that at least one parameter is abnormal, the MOS tube Q1 is disconnected, and the DC power supply stops supplying power to the wireless charging module; when the singlechip detects that the parameters are normal, the MOS tube Q1 is conducted, and the DC power supply normally supplies power to the wireless charging module; after the MOS tube Q1 is used for controlling the power supply loop, the switching speed and the current magnitude borne by the loop are improved, the stability of the switching effect is greatly improved, the communication of the single chip microcomputer is isolated, the service life of the single chip microcomputer is prolonged, meanwhile, the voltage, the current and the temperature parameters of the wireless charging module are actively acquired and detected, a power supply system is more stable, and the circuit structure is better protected.
Description
Technical Field
The invention belongs to the technical field of artificial intelligence, and particularly relates to a robot wireless charging monitoring module.
Background
The robot trade develops rapidly, and the mode that the charging seat multi-terminal directly links is all adopted to connect to traditional charging mode. Because the requirements on the stress of the terminal, the machining precision and the like are high, when the terminals are connected, the current of part of the terminals is overlarge, and certain hidden dangers are brought to the service life of the terminals and the charging safety. Furthermore, we adopt a wireless charging mode, but still have the following problems: 1. the relay is used as a switch of a power supply loop, when the relay passes large current for a long time, the contact points of the relay are easy to be adhered and oxidized, and even the relay cutting loop is ineffective; 2. when the singlechip is used for serial port communication, because the singlechip has an electricity stealing technology, pins are directly connected, and when the singlechip is connected with the wireless charging module, because different electric systems are connected, the common ground problem often exists, and the phenomenon of burning of the singlechip often occurs; 3. the monitoring board that charges that uses can not be active collection and the wireless module's of monitoring signal of charging signal and also not add measuring module, when using wireless charging mode, because wireless charging module when its transmission power reaches 150W, can make the high stability that influences its inside device of ambient temperature, the parameter such as electric current and the voltage of the transmission that influences the module of charging, can lead to wireless charging module to break down seriously, appear when unusual when its aforementioned parameter, if can not in time carry out the outage to its power supply, some consequences that are difficult to the prediction can be brought.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a robot wireless charging monitoring module, after a power supply loop is controlled by using an MOS (metal oxide semiconductor) tube Q1, the switching speed is increased from the previous millisecond level to the nanosecond level, the current borne by the loop is improved, the stability of the switching effect is greatly improved, the communication of a single chip microcomputer is isolated, the service life of the single chip microcomputer is greatly prolonged, the voltage, the current and the temperature parameters of the wireless charging module are actively acquired and monitored, when abnormality occurs, the power supply loop is timely cut off, the danger is reduced to the minimum, a power supply system is more stable, and a circuit structure is better protected.
In order to achieve the above purpose, the robot wireless charging monitoring module provided by the invention is located at the front end of a power supply line of the wireless charging module, and comprises a DC power supply, a protective tube, an MOS transistor Q1, a single chip microcomputer U3, a temperature sensor U1 and an electromagnetic isolation chip U4, which are connected in sequence; the single chip microcomputer U3 detects whether current, voltage and temperature parameters of the wireless charging module are normal, when the single chip microcomputer U3 detects that at least one parameter is abnormal, the MOS tube Q1 is disconnected, and the DC power supply stops supplying power to the wireless charging module; when the singlechip U3 detects that the parameters are normal, the MOS tube Q1 is conducted, and the DC power supply normally supplies power to the wireless charging module;
the temperature sensor U1 is fixedly connected with a radiating fin of the wireless charging module, and a pin 2 of the temperature sensor U1 is connected with a pin 25 of the singlechip U3;
the DC power supply is connected with the drain electrode of the MOS transistor Q1 through a pin 1 of a first terminal J1, a fuse, a pin 2 of a second terminal P2 and a pin 1 of a second terminal P2 in sequence, and the second terminal P2 is used for providing power for the wireless charging module: when the grid voltage of the MOS transistor Q1 reaches 5V, the MOS transistor is in an open state, and current flows from the drain electrode to the source electrode of the MOS transistor Q1 and flows back to the pin 2 and the pin 3 of the first J1 through the resistor R16 and the resistor R17 which are connected in parallel; when the grid voltage of the MOS tube Q1 is 0V, the MOS tube is in a closed state;
the voltage signal POWER _ P and the voltage signal POWER _ N of the pin 2 and the pin 1 of the second terminal P2 pass through a resistor R23 and a resistor R24 respectively and then are subjected to differential operation through an operational amplifier to generate a signal PowerVoltage of a voltage value of the corresponding second terminal P2, and the signal PowerVoltage is output to a pin 10 of a singlechip U3; the voltage signal POWER _ C and the ground terminal signal at the two ends of the resistor R16 and the resistor R17 which are connected in parallel are subjected to differential operation through the operational amplifier through the resistor R5 and the resistor R15 respectively to generate a corresponding signal PowerCurrent of a current value flowing through the terminal two P2, and the signal PowerCurrent is output to the pin 11 of the single chip microcomputer U3 to be connected.
Preferably, the single-chip microcomputer further comprises a 5V input voltage and an NPN triode Q4, wherein a pin 42 of the single-chip microcomputer is connected with a first pin of the NPN triode Q4, the 5V input voltage is connected with a second pin of the NPN triode Q4 through a resistor R31, and a third pin of the NPN triode Q4 is connected with a MOS transistor Q1 and is grounded through a resistor R97; when the output signal of the pin 42 of the singlechip is at a high level, the NPN triode Q4 is turned on, and the upper pin of the resistor R97 has 5V voltage; when the output signal of the pin 42 of the singlechip is at low level, the NPN triode Q4 is closed, and the upper pin of the resistor R97 is at 0V voltage;
preferably, a pin 31 of the single chip microcomputer is connected with a pin 2 of an electromagnetic isolation chip U4 through a resistor R26, a pin 30 of the single chip microcomputer is connected with a pin 3 of the electromagnetic isolation chip U4 through a resistor R29, a pin 7 of the electromagnetic isolation chip U4 is connected with a pin 2 of a terminal tri-P7 through a resistor R28, a pin 6 of the electromagnetic isolation chip U4 is connected with a pin 3 of a terminal tri-P7 through a resistor R30, and the terminal tri-P7 is connected with a communication port of the wireless charging module;
preferably, the singlechip is an STM32F103C8 singlechip;
preferably, the model of the MOS transistor Q1 is IRFP 150M;
preferably, the electromagnetic isolation chip U4 is of the type ADum 1201;
preferably, the model of the operational amplifier is LM 358.
The robot wireless charging monitoring module provided by the invention has the following beneficial effects:
1. the invention effectively avoids the problem that the relay used as the switch of the power supply loop in the prior art has oxidation failure of the contact point for long-time use; the MOS tube adopted by the invention is used as a switch for cutting off power, and due to the adoption of the semiconductor material of the MOS tube, the service life of the switching frequency is greatly prolonged, and the advantages of small volume, large current capable of bearing, high response speed and the like are particularly realized. The current experienced by the previous loop becomes greater than that of the previous loop 3A. The stability of the switching effect is greatly improved.
2. The invention effectively avoids the technical problems that in the prior art, when the singlechip is used for serial port communication, most of the singlechip adopts a pin-to-pin direct connection mode, and the singlechip is burnt after direct connection due to the common ground problem existing in connection of different electrical systems; the invention adopts the isolation of the electromagnetic isolation chip to the communication added with the singlechip, solves the common ground problem of different circuit boards during serial communication, better protects the singlechip, greatly prolongs the service life of the singlechip, ensures that a power supply system is more stable and better protects the whole circuit structure.
3. The invention effectively avoids the technical problems that the single chip microcomputer can not actively collect the electric signals of the wireless charging module and can not achieve the effect of active and real-time monitoring; the single chip microcomputer provided by the invention realizes active real-time acquisition of electric signals of the wireless charging module, namely, acquisition of a voltage signal POWER _ P, POWER _ N at two ends of a terminal II P2, and acquisition of a voltage signal POWER _ C and a grounding end at two ends of a resistor R16 and a resistor R17 which are connected in parallel, wherein the four groups of electric signals respectively generate two groups of signals of a voltage value of the terminal II P2 and a current value flowing through the terminal II P2 which are correspondingly generated after differential operation through an operational amplifier LM358 and are transmitted to an analog-digital converter of the single chip microcomputer to realize real-time acquisition and monitoring of whether input current, input voltage and ambient temperature of the wireless charging module are abnormal, and when the abnormal state occurs, POWER supply is timely cut off to reduce the risk.
Drawings
Fig. 1 is a flowchart of a robot wireless charging monitoring module according to the present invention.
Fig. 2 is a pin diagram of the single chip microcomputer.
Fig. 3 is a circuit diagram of a power supply loop.
Fig. 4 is a pin diagram of an electromagnetically isolated chip.
Fig. 5 is a pin diagram of the terminal P7.
Fig. 6 is a circuit diagram of an output operation voltage signal.
Fig. 7 is a circuit diagram of an output operation current signal.
Fig. 8 is a pin diagram of the temperature sensor.
Fig. 9 is a simplified circuit diagram of fig. 3.
Detailed Description
The present invention will be further described with reference to the following specific embodiments and accompanying drawings to assist in understanding the contents of the invention.
As shown in fig. 1 to 9, the robot wireless charging monitoring module provided by the present invention is a module applied to a robot to perform real-time monitoring on a working state of a wireless charger during wireless charging. The monitoring module is located the power supply line front end of wireless charging module, including the DC power that connects gradually, protective tube, MOS pipe Q1 and singlechip to and temperature sensor U1 and electromagnetism isolation chip U4, MOS pipe Q1's model is IRFP150M, temperature sensor U1 and the fin fixed connection of wireless charging module, and temperature sensor U1's pin 2 links to each other with singlechip U3's pin 25. The single chip microcomputer is used for detecting whether current, voltage and temperature parameters of the wireless charging module are normal or not, when the single chip microcomputer detects that at least one parameter is abnormal, the MOS tube Q1 is disconnected, and the single chip microcomputer stops supplying power to the wireless charging module; when the singlechip detects that the parameters are normal, the MOS tube Q1 is conducted, and the DC power supply normally supplies power to the wireless charging module.
As shown in fig. 2-3, the DC power supply is connected to the drain of the MOS transistor Q1 sequentially through the pin 1 of the first terminal J1, the fuse, the pin 2 of the second terminal P2, and the pin 1 of the second terminal P2, the first terminal J1 inputs 48V of DC power as power supply of the whole circuit, the second terminal P2 serves as an output terminal to provide power for the wireless charging module, wherein the +48V potential is connected to the second terminal P2 after passing through the FUSH fuse, when the loop current exceeds 5A, the fuse is directly burned out to supply power to provide hard protection for the output end of the second terminal P2, the FUSH1 is a reserved fuse, and when the FUSH is burned out, the fuse is used as a replacement fuse. The DC power supply passes through a pin 1 of a first terminal J1 and a fuse which are connected in series in sequence, then is connected with a second terminal P2 in series through a diode D1, a diode group U10, a resistor R135 and a resistor R135 which are connected in parallel, and the resistor R155 and the capacitor C147 are connected in series. A pin 42 of the single chip microcomputer is connected with a first pin of an NPN triode Q4, a 5V input voltage is connected with a second pin of an NPN triode Q4 through a resistor R31, a capacitor C17 and a capacitor C4 which are connected in parallel are connected between the resistor 31 and the NPN triode Q4 and are grounded, and a third pin of an NPN triode Q4 is connected with a MOS transistor Q1 and is grounded through a resistor R97. When the output signal of the pin 42 of the singlechip is at a high level, the NPN triode Q4 is turned on, and the upper pin of the resistor R97 has 5V voltage; when the output signal of the pin 42 of the single chip microcomputer is low level, the NPN triode Q4 is turned off, and the upper pin of the resistor R97 is at 0V. When the gate voltage of the MOS transistor Q1 reaches 5V, the MOS transistor is in an open state, and a current flows from the drain to the source of the MOS transistor Q1, flows back to the pin 2 and the pin 3 of the first J1 through the resistor R16 and the resistor R17 which are connected in parallel, and is grounded, so that the circuit is opened. When the abnormal condition appears, singlechip pin 42 output signal becomes low level, can realize the disconnection of loop and then reduce danger to minimum, and when MOS pipe Q1's grid voltage was 0V, the MOS pipe was in the closed condition.
As shown in fig. 4-5, the electromagnetic isolation chip U4 is of the type ADum1201, the pin 31 of the single chip microcomputer is connected to the pin 2 of the electromagnetic isolation chip U4 through the resistor R26, the pin 30 of the single chip microcomputer is connected to the pin 3 of the electromagnetic isolation chip U4 through the resistor R29, the pin 7 of the electromagnetic isolation chip U4 is connected to the pin 2 of the terminal tri P7 through the resistor R28, the pin 6 of the electromagnetic isolation chip U4 is connected to the pin 3 of the terminal tri P7 through the resistor R30, the pin 2 and the pin 3 of the terminal tri P7 are respectively connected to the communication port of the wireless charging module, and the pin 1 of the terminal tri P7 is connected to the pin 4 through the capacitor C29 and the capacitor C42 which are connected in parallel.
As shown in fig. 6, the voltage signal POWER _ P and the voltage signal POWER _ N of the pin 2 and the pin 1 of the second collecting terminal P2 are used as voltage signals of an output part, and after passing through the resistor R23 and the resistor R24 respectively, the voltage signals are subjected to differential operation by the operational amplifier to generate a signal PowerVoltage of a voltage value of the corresponding second terminal P2, and the signal PowerVoltage is output to the pin 10 of the single chip microcomputer. The model of the operational amplifier is LM 358.
As shown in fig. 7, the voltage signal POWER _ C and the ground terminal signal at two ends of the resistor R16 and the resistor R17 connected in parallel are used as voltage signals of an output part, and are respectively passed through the resistor R5 and the resistor R15, and then subjected to differential operation by the operational amplifier to generate a corresponding signal PowerrCurrent of a current value flowing through the terminal two P2, and the signal PowerrCurrent is output to the single chip microcomputer pin 11 to be connected. The model of the operational amplifier is LM 358.
It is well known that current flows from a high potential to a low potential. In the circuit shown in fig. 3, a terminal J1 is connected to a DC power supply and a voltage of 48V is present, and when a MOS transistor Q1 is turned on, the circuit is turned on to form a loop. The current flows from the DC power supply and finally to 0V ground.
When the MOS transistor Q1 is turned on, the current between the first terminal J1 and the ground terminal is divided into 5 paths, i.e., the current I1, the current I2, the current I3, the current I4, and the current I5, and then the current is summed up to form a total current I at the MOS transistor Q1, and the total current I flows to the ground terminal through the resistor R16 and the resistor R17 which are connected in parallel. These currents I1, I2, I3, I4 and I5 are analyzed with the total current I, respectively, as follows:
(1) currents i1 and i2
Since the diode D1 and the diode group U10 are diode devices, the diodes have a unidirectional conductivity, and current can only flow from the positive pole to the negative pole. In this circuit, the cathodes of the two diodes are connected to a DC power supply, and because of the intrinsic characteristics of the diode devices, the reverse withstand voltage values of the two diodes are both > 48V, so that when Q1 is turned on, it is almost impossible for current to flow through the diode D1 and the diode group U10, i.e., i1 and i2 are both almost 0A.
(2) Current i4
Due to the presence of the capacitor C147, the most typical characteristic of the capacitor is that it is ac-DC blocked, and since the DC power supply and the ground are DC, the shunt is not conductive, i4 can also be considered to be 0A.
(3) Current i3 and current i5
The current i3 is passed through by the resistor R135 according to ohm's law i3=48V/30k Ω =1.6 mA.
The current i5 is connected to the wireless charging module through the second terminal P2, and the voltage of the wireless charging module is 48V when the wireless charging module normally operates. The power is 150W at this time, so we know the current is 3.125A at normal operation through calculation. Since 3.125A 1.6 mA. The current detection range of the circuit is designed to be 0.1A-5A, so that the current value of i3 is often ignored.
From the above analysis, it can be concluded that the total current I flows at I5, I = I5. Therefore, i5 is the current value of the wireless charging module and is the current value to be monitored.
As shown in fig. 9, which is a simplified circuit diagram of fig. 3, when the MOS transistor Q1 is turned on, the current I flows to the ground through the second terminal P2, the MOS transistor Q1, the parallel resistor R16 and the resistor R17.
The resistor R16 and the resistor R17 have the same parameters, the resistance value is 0.02 omega, and the precision is 0.1%. And the two are connected in parallel, and can be considered as a 0.01 omega resistor. According to ohm's law, the value of the current flowing through the resistor is equal to the ratio of the voltage across the resistor to the resistance of the resistor, and the following conclusions can be drawn:
Namely, it is
..
Can also be obtained by the formula 2
..
Defining the voltage of PowerCurrent as VPowerCurrent; define the voltage of POWER _ C as VPOWER_C(ii) a The voltage at ground is defined as VIN_GND；
VPowerCurrent=
..
VPowerCurrent=
..
Substituting equation 3 into equation 5 yields an equation
..
Therefore, the current value i5 of the wireless charging module, namely the current value VPowerCurrent of the signal PowerrCurrent, which is generated by carrying out differential operation on the voltage signal POWER _ C and the grounding end signal at two ends of the resistor R16 and the resistor R17 which are connected in parallel through the operational amplifier to generate the corresponding current value flowing through the terminal two P2, is measured
...
V in the above formulaPOWER_C、VIN_GNDVPoweRCURENT is measured in V (volts) and I5 and I is measured in A (amperes).
The inventive concept is explained in detail herein using specific examples, which are given only to aid in understanding the core concepts of the invention. It should be understood that any obvious modifications, equivalents and other improvements made by those skilled in the art without departing from the spirit of the present invention are included in the scope of the present invention.
Claims (8)
1. A robot wireless charging monitoring module is characterized in that the monitoring module is positioned at the front end of a power supply line of the wireless charging module and comprises a DC power supply, a protective tube, an MOS tube Q1, a single chip microcomputer U3, a temperature sensor U1 and an electromagnetic isolation chip U4 which are sequentially connected; the single chip microcomputer U3 detects whether current, voltage and temperature parameters of the wireless charging module are normal, when the single chip microcomputer U3 detects that at least one parameter is abnormal, the MOS tube Q1 is disconnected, and the DC power supply stops supplying power to the wireless charging module; when the singlechip U3 detects that the parameters are normal, the MOS tube Q1 is conducted, and the DC power supply normally supplies power to the wireless charging module;
the temperature sensor U1 is fixedly connected with a radiating fin of the wireless charging module, and a pin 2 of the temperature sensor U1 is connected with a pin 25 of the singlechip U3;
the DC power supply is connected with the drain electrode of the MOS transistor Q1 through a pin 1 of a first terminal J1, a fuse, a pin 2 of a second terminal P2 and a pin 1 of a second terminal P2 in sequence, and the second terminal P2 is used for providing power for the wireless charging module: when the grid voltage of the MOS transistor Q1 reaches 5V, the MOS transistor is in an open state, and current flows from the drain electrode to the source electrode of the MOS transistor Q1 and flows back to the pin 2 and the pin 3 of the first J1 through the resistor R16 and the resistor R17 which are connected in parallel; when the grid voltage of the MOS tube Q1 is 0V, the MOS tube is in a closed state;
the voltage signal POWER _ P and the voltage signal POWER _ N of the pin 2 and the pin 1 of the second terminal P2 pass through a resistor R23 and a resistor R24 respectively and then are subjected to differential operation through an operational amplifier to generate a signal PowerVoltage of a voltage value of the corresponding second terminal P2, and the signal PowerVoltage is output to a pin 10 of a singlechip U3; the voltage signal POWER _ C and the ground terminal signal at the two ends of the resistor R16 and the resistor R17 which are connected in parallel are subjected to differential operation through the operational amplifier through the resistor R5 and the resistor R15 respectively to generate a corresponding signal PowerCurrent of a current value flowing through the terminal two P2, and the signal PowerCurrent is output to the pin 11 of the single chip microcomputer U3 to be connected.
2. The robot wireless charging monitoring module of claim 1, further comprising a 5V input voltage and an NPN transistor Q4, wherein the pin 42 of the single-chip microcomputer U3 is connected to a first pin of an NPN transistor Q4, the 5V input voltage is connected to a second pin of an NPN transistor Q4 through a resistor R31, and a third pin of the NPN transistor Q4 is connected to a MOS transistor Q1 and is grounded through a resistor R97; when the output signal of the pin 42 of the singlechip U3 is at a high level, the NPN triode Q4 is turned on, and the upper pin of the resistor R97 has a voltage of 5V; when the output signal of the pin 42 of the singlechip U3 is at a low level, the NPN transistor Q4 is turned off, and the upper pin of the resistor R97 has a voltage of 0V.
3. The robot wireless charging monitoring module of claim 1, further comprising an electromagnetic isolation chip U4, wherein the pin 31 of the single chip U3 is connected to the pin 2 of the electromagnetic isolation chip U4 through a resistor R26, the pin 30 of the single chip U3 is connected to the pin 3 of the electromagnetic isolation chip U4 through a resistor R29, the pin 7 of the electromagnetic isolation chip U4 is connected to the pin 2 of the terminal tri P7 through a resistor R28, the pin 6 of the electromagnetic isolation chip U4 is connected to the pin 3 of the terminal tri P7 through a resistor R30, and the terminal tri P7 is connected to a communication port of the wireless charging module.
4. The robot wireless charging monitoring module of claim 1, wherein the single chip microcomputer U3 is STM32F103C8 single chip microcomputer U3.
5. The wireless robot charging monitoring module of claim 1, wherein the MOS transistor Q1 is model IRFP 150M.
6. The robot wireless charging monitoring module of claim 3, wherein the electromagnetic isolation chip U4 is of type ADum 1201.
7. The wireless robot charging monitoring module of claim 1, wherein the operational amplifier is model LM 358.
8. The wireless robot charging monitoring module of claim 1, wherein the temperature sensor is model number DS18b 20.
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Application publication date: 20200424 |
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