CN112398180A - Power supply loop, carrying equipment and power supply control method - Google Patents
Power supply loop, carrying equipment and power supply control method Download PDFInfo
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- CN112398180A CN112398180A CN201910743993.4A CN201910743993A CN112398180A CN 112398180 A CN112398180 A CN 112398180A CN 201910743993 A CN201910743993 A CN 201910743993A CN 112398180 A CN112398180 A CN 112398180A
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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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Abstract
The application discloses power supply circuit, carrying equipment and power supply control method, because the power supply circuit that this specification provided carries out power supply control to the motor and the host system of carrying equipment through first on-off control circuit and second on-off control circuit respectively, realized the independent power supply control to carrying equipment motor and host system, can only independently supply power to motor or power module under the applied scene of difference, consequently improved the flexibility to carrying equipment power supply control.
Description
Technical Field
The application relates to the technical field of robots, in particular to a power supply loop, a carrying device and a power supply control method.
Background
At present, Automated handling equipment such as Automated Guided Vehicles (AGVs) is widely used in the fields of warehousing, logistics and the like for realizing Automated transportation of goods.
Generally, the power supply for the handling equipment can be provided by a battery (such as a lithium battery), and the power supply control is performed by a power supply loop. In the prior art, the power supply circuit in the handling apparatus is shown in fig. 1.
In fig. 1, the positive terminal of the battery is connected to the drain (D-pole) of a field effect transistor (MOS transistor) Q1, and the source (S-pole) of Q1 provides the positive voltage output terminal. The negative terminal of the battery is grounded through FUSE1 to provide a ground terminal. The whole power supply loop supplies power to the carrying equipment through the forward voltage output end and the grounding end. The gate (G pole) of Q1 is connected to one end of a MOS Driver, and the other end of the MOS Driver is connected to a controller, and the controller shown in fig. 1 is described by taking a Micro Controller Unit (MCU) as an example. The MCU is used for controlling whether the Q1 provides a forward voltage or not through the MOS Driver so as to control whether the power supply loop supplies power to the carrying equipment or not.
However, the transportation equipment includes a motor for providing power to perform movement, transportation, and other operations, and also includes a main control module for controlling how the transportation equipment performs the operations and communicating with the outside. Obviously, with the power supply circuit shown in fig. 1 in the prior art, only the motor and the main control module can be powered on or powered off at the same time, which results in inflexible control of the handling equipment.
Disclosure of Invention
The embodiment of the specification provides a power supply loop, a carrying device and a power supply control method, and is used for solving the problem that the control flexibility of a motor and a main control module of the carrying device in the prior art is low.
The embodiment of the specification adopts the following technical scheme:
this specification provides a power supply circuit, power supply circuit is used for haulage equipment power supply, power supply circuit includes: the power supply, the first on-off control circuit and the second on-off control circuit; wherein:
the first on-off control circuit is connected with the positive terminal of the power supply and is used for providing a first forward voltage output terminal and controlling whether the first forward voltage output terminal outputs a first forward voltage or not;
the second on-off control circuit is connected with the positive terminal of the power supply and is used for providing a second forward voltage output terminal and controlling whether the second forward voltage output terminal outputs a second forward voltage or not;
the negative end of the power supply is grounded and is used for providing a grounding end;
the first forward voltage output end and the grounding end are connected with a motor in the carrying equipment and used for supplying power to the motor;
and the second forward voltage output end and the grounding end are connected with a main control module in the carrying equipment and used for supplying power to the main control module.
Optionally, the second on-off control circuit comprises a first current detector;
the first current detector is used for detecting the current of the second forward voltage output end.
Optionally, the negative terminal of the power supply is connected to a second current detector, and the second current detector is grounded;
the second current detector is used for detecting the current of the grounding terminal.
Optionally, the power supply circuit further comprises a battery detector;
the battery detector is respectively connected with the first on-off control circuit and the second on-off control circuit and is used for detecting the state of the battery;
the first on-off control circuit is specifically configured to control whether the first forward voltage output end outputs a first forward voltage or not according to the state of the battery detected by the battery detector;
the second on-off control circuit is specifically configured to control whether the second forward voltage output terminal outputs the second forward voltage according to the state of the battery detected by the battery detector.
Optionally, the first on-off control circuit comprises: the device comprises a first field effect transistor, a first driver and a first controller; wherein: the positive end of the power supply is connected with the first field effect transistor, the first field effect transistor is connected with the first driver, and the first driver is connected with the first controller; the first controller is used for controlling whether the first field effect transistor outputs a first forward voltage or not through the first driver;
the second on/off control circuit includes: the second field effect transistor, the second driver and the second controller; wherein: the positive end of the power supply is connected with the second field effect transistor, the second field effect transistor is connected with the second driver, and the second driver is connected with the second controller; the second controller is used for controlling whether the second field effect transistor outputs a second forward voltage or not through the second driver.
Optionally, the first on-off control circuit comprises: the device comprises a first field effect transistor, a driver and a controller; wherein: the positive end of the power supply is connected with the first field effect transistor, the first field effect transistor is connected with the driver, and the driver is connected with the controller; the controller is used for controlling whether the first field effect transistor outputs a first forward voltage or not through the driver;
the second on/off control circuit includes: the second field effect transistor, the driver and the controller; wherein: the positive end of the power supply is connected with the second field effect transistor, the second field effect transistor is connected with the driver, and the driver is connected with the controller; the controller is used for controlling whether the second field effect transistor outputs a second forward voltage or not through the driver.
The carrying equipment provided by the specification comprises a power supply loop, a motor and a main control module; wherein:
the motor is used for providing power for the carrying equipment;
the main control module is used for controlling the carrying equipment to execute a specified action;
the power supply loop comprises a power supply, a first on-off control circuit and a second on-off control circuit;
the first on-off control circuit is connected with the positive terminal of the power supply and is used for providing a first forward voltage output end and controlling whether the first forward voltage output end outputs a first forward voltage or not according to a control instruction of the main control module;
the second on-off control circuit is connected with the positive terminal of the power supply and is used for providing a second forward voltage output end and controlling whether the second forward voltage output end outputs a second forward voltage or not according to a control instruction of the main control module;
the negative end of the power supply is grounded and is used for providing a grounding end;
the first forward voltage output end and the grounding end are connected with a motor in the carrying equipment and used for supplying power to the motor;
and the second forward voltage output end and the grounding end are connected with a main control module in the carrying equipment and used for supplying power to the main control module.
Optionally, the first on-off control circuit comprises: the device comprises a first field effect transistor, a driver and a controller; wherein: the positive end of the power supply is connected with the first field effect transistor, the first field effect transistor is connected with the driver, and the driver is connected with the controller; the controller is used for receiving a control instruction of the main control module and controlling whether the first field effect transistor outputs a first forward voltage or not through the driver according to the control instruction;
the second on/off control circuit includes: the second field effect transistor, the driver and the controller; wherein: the positive end of the power supply is connected with the second field effect transistor, the second field effect transistor is connected with the driver, and the driver is connected with the controller; the controller is used for receiving a control instruction of the main control module and controlling whether the second field effect transistor outputs a second forward voltage or not through the driver according to the control instruction.
Optionally, the second on-off control circuit further comprises a first current detector;
the first current detector is used for detecting the current of the second forward voltage output end;
the controller is configured to report the current of the second forward voltage output terminal detected by the first current detector to the main control module;
the main control module is used for generating a control instruction according to the received current of the second forward voltage output end and sending the control instruction to the controller.
Optionally, the discharge circuit further includes a second current detector, the negative terminal of the power supply is connected to the second current detector, and the second current detector is grounded;
the second current detector is used for detecting the current of the grounding terminal;
the controller is used for reporting the current of the grounding terminal detected by the second current detector to the main control module;
the main control module is used for generating a control instruction according to the received current of the grounding terminal and sending the control instruction to the controller.
Optionally, the power supply circuit further comprises a battery detector;
the battery detector is connected with the controller and used for detecting the state of the battery;
the controller is used for reporting the state of the battery detected by the battery detector to the main control module;
and the main control module is used for generating a control instruction according to the received state of the battery and sending the control instruction to the controller.
The power supply control method is applied to a power supply loop in a handling device, wherein the power supply loop comprises a first on-off control circuit and a second on-off control circuit, the first on-off control circuit is used for controlling whether the power supply loop supplies power to a motor of the handling device, and the second on-off control circuit is used for controlling whether the power supply loop supplies power to a main control module of the handling device; the method comprises the following steps:
detecting a state of the power supply loop, the state of the power supply loop including: at least one of a current of a ground terminal of the power supply circuit, a current of the second turn-on control circuit, and a state of a battery in the power supply circuit;
generating a control instruction according to the state of the power supply loop;
and sending the control instruction to the power supply loop so that the power supply loop controls the first on-off control circuit and/or the second on-off control circuit to output voltage according to the control instruction.
Optionally, detecting the state of the power supply loop specifically includes:
receiving the state of the power supply loop reported by a controller in the power supply loop;
sending the control instruction to the power supply loop, specifically including:
and sending the control instruction to the controller in the power supply loop.
Optionally, generating a control instruction according to the state of the power supply loop specifically includes:
and when the voltage of the battery electric core is lower than a first voltage threshold value, generating a first control instruction, wherein the first control instruction is used for controlling the first on-off control circuit to be powered off and controlling the second on-off control circuit to output voltage.
Optionally, generating a control instruction according to the state of the power supply loop specifically includes:
when the voltage of the battery electric core is lower than a second voltage threshold value, generating a second control instruction, wherein the second control instruction is used for controlling the first on-off control circuit and the second on-off control circuit to be powered off; wherein the second voltage threshold is lower than the first voltage threshold.
Optionally, generating a control instruction according to the state of the power supply loop specifically includes:
and when the current of the grounding end is detected to be higher than a first current threshold, generating a first control instruction, wherein the first control instruction is used for controlling the first on-off control circuit to be powered off and controlling the second on-off control circuit to output voltage.
Optionally, generating a control instruction according to the state of the power supply loop specifically includes:
and when the current of the second on-off control circuit is higher than a second current threshold value, generating a second control instruction, wherein the second control instruction is used for controlling the first on-off control circuit and the second on-off control circuit to be powered off.
Optionally, the method further comprises:
when a standby instruction which is input by a user and used for enabling the carrying equipment to be in a standby state is received, a first control instruction is generated and used for controlling the first on-off control circuit to be powered off and controlling the second on-off control circuit to output voltage.
The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects:
the power supply loop provided by the specification respectively controls the power supply of the motor and the main control module of the carrying equipment through the first on-off control circuit and the second on-off control circuit, so that the motor and the main control module of the carrying equipment are independently controlled in power supply, and the motor or the power supply module can be independently powered under different application scenes, so that the flexibility of power supply control of the carrying equipment is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a circuit diagram of a prior art power supply circuit;
fig. 2 is a schematic diagram of a power supply circuit provided in an embodiment of the present disclosure;
fig. 3 is a circuit diagram of a first power supply circuit provided in an embodiment of the present disclosure;
fig. 4 is a circuit diagram of a second power supply circuit provided in an embodiment of the present disclosure;
fig. 5 is a schematic flow chart of power supply control in the case of under-voltage protection according to the embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more apparent, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person skilled in the art without making any inventive step based on the embodiments in the description belong to the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
In the embodiment of the present specification, the automated handling equipment at least includes a motor, a main control module and a power supply loop. The motor is used for providing power for the carrying equipment, the main control module is used for controlling the carrying equipment to execute a specified action (for example, the motor is controlled so that the carrying equipment can execute movement or carrying action, and the like), and the power supply loop is used for supplying power for the motor and the main control module.
In order to enable the motor and the main control module to be controlled independently, the embodiment of the present specification provides a power supply loop including at least two on-off control circuits, which are respectively used for controlling power supply to the motor and power supply to the main control module. The power supply circuit provided in the embodiments of the present disclosure is described in detail below.
Fig. 2 is a schematic diagram of a power supply circuit provided in an embodiment of the present disclosure, and as shown in fig. 2, the power supply circuit has two forward voltage output terminals, namely a first forward voltage output terminal and a second forward voltage output terminal. The supply loop also has a common ground.
The first forward voltage output end and the grounding end are connected with a motor in the carrying equipment, the first forward voltage output by the first forward voltage output end is controlled by a first on-off control circuit in the power supply loop, and the first forward voltage is strong voltage and is used for supplying power to the motor.
The second forward voltage output end and the grounding end are connected with the main control module in the carrying equipment, the second forward voltage output by the second forward voltage output end is controlled by a second on-off control circuit in the power supply loop, and the second forward voltage is weak current voltage and is used for supplying power for the main control module.
Specifically, the first on-off control circuit is connected with the positive terminal of the power supply and is used for providing a first forward voltage output terminal and controlling whether the first forward voltage output terminal outputs a first forward voltage or not. The second on-off control circuit is connected with the positive terminal of the power supply and is used for providing a second forward voltage output terminal and controlling whether the second forward voltage output terminal outputs a second forward voltage or not. The first on-off control circuit and the second on-off control circuit are in parallel connection and are used for independently controlling the motor and the main control module in the carrying equipment.
Further, since the second forward voltage output by the second forward voltage output terminal is a weak voltage, in order to ensure that the main control module powered by the second forward voltage output terminal is not burned out by a large current, a first current detector (not shown in fig. 2) may be further disposed in the second on-off control circuit, for detecting the current at the second forward voltage output terminal.
Similarly, in order to ensure that the whole power supply loop is not burned by a large current, a second current detector may be connected to the negative terminal of the power supply in the power supply loop, and when the power supply loop is grounded through the second current detector, the second current detector is used to detect the current of the ground terminal, that is, the total current of the whole power supply loop.
In addition, the power supply for supplying power to the handling apparatus is generally a battery (such as a lithium battery, etc.), and in order to monitor the state of the power supply in the power supply loop, a battery detector may be further disposed in the power supply loop, and the battery detector is respectively connected to the first on-off control circuit and the second on-off control circuit and is used for detecting the state of the battery, such as the voltage, the temperature, etc. of the battery cell.
Correspondingly, the first on-off control circuit and the second on-off control circuit can correspondingly control whether the first forward voltage output end and the second forward voltage output end output voltage or not according to at least one of the current of the second forward voltage output end, the current of the grounding end and the state of the battery.
In the embodiment of the present specification, the first on-off control circuit mainly includes a first field effect transistor (i.e., MOS transistor), a driver (i.e., MOS transistor driver), and a controller, and the second on-off control circuit mainly includes a second field effect transistor, a driver, and a controller. Therefore, the drivers and the controllers in the first on-off control circuit and the second on-off control circuit can be separated and independent, or can be shared by two circuits, so that the embodiments of the present specification provide circuit diagrams of two power supply loops, as shown in fig. 3 and fig. 4, respectively.
Fig. 3 is a circuit diagram of a first power supply circuit provided in an embodiment of the present specification, and in fig. 3, drivers and controllers of a first on-off control circuit and a second on-off control circuit are separated and independent.
Specifically, the first on-off control circuit includes: the device comprises a first MOS (metal oxide semiconductor) tube (Q1), a first Driver (MOS Driver1) and a first controller (MCU 1); wherein: the positive electrode end of the power supply is connected with the D electrode of the Q1, the S electrode of the Q1 provides a first positive voltage output end, the G electrode of the Q1 is connected with the MOS Driver1, and the MOS Driver1 is connected with the MCU 1; the MCU1 is used for controlling whether the S pole of the Q1 outputs the first forward voltage or not through the MOS Driver 1.
Accordingly, the second on/off control circuit includes: the second MOS tube (Q2), the second Driver (MOS Driver2) and the second controller (MCU 2); wherein: the positive electrode end of the power supply is connected with the D electrode of the Q2, the S electrode of the Q2 provides a second positive voltage output end, the G electrode of the Q2 is connected with the MOS Driver2, and the MOS Driver2 is connected with the MCU 2; the MCU2 is used to control whether the S pole of Q2 outputs the second forward voltage through the MOS Driver 2.
As can be seen from fig. 3, the whole first on-off control circuit and the whole second on-off control circuit in the power supply loop are in a parallel connection relationship to realize independent control of the first forward voltage and the second forward voltage, and further realize independent control of the motor and the main control module in the handling equipment.
Fig. 4 is a circuit diagram of a second power supply circuit provided in an embodiment of the present specification, and in fig. 4, drivers and controllers of the first on-off control circuit and the second on-off control circuit are shared.
Specifically, the first on-off control circuit includes: the device comprises a first MOS (metal oxide semiconductor) tube (Q1), a Driver (MOS Driver) and a controller (MCU); wherein: the positive electrode end of the power supply is connected with the D electrode of the Q1, the S electrode of the Q1 provides a first positive voltage output end, the G electrode of the Q1 is connected with the MOS Driver, and the MOS Driver is connected with the MCU; the MCU is used for controlling whether the S pole of the Q1 outputs a first forward voltage or not through the MOS Driver.
Accordingly, the second on/off control circuit includes: the second MOS tube (Q2), the Driver (MOS Driver) and the controller (MCU); wherein: the positive electrode end of the power supply is connected with the D electrode of the Q2, the S electrode of the Q2 provides a second positive voltage output end, the G electrode of the Q2 is connected with the MOS Driver, and the MOS Driver is connected with the MCU; the MCU is used for controlling whether the S pole of the Q2 outputs the second forward voltage or not through the MOS Driver.
As shown in fig. 4, Q1 and Q2 in the power supply circuit are in a parallel connection relationship to realize independent control of the first forward voltage and the second forward voltage, and further realize independent control of the motor and the main control module in the handling equipment.
Further, since the controller in the power supply circuit in the embodiment of the present disclosure is mainly implemented by an MCU, and the function of the MCU is relatively simple, in the embodiment of the present disclosure, the main control module in the handling device may generate a control instruction according to the state of the power supply circuit (e.g., current, temperature, voltage of the battery cell, etc.), and send the control instruction to the MCUs in the first on-off control circuit and the second on-off control circuit, so that the MCUs in the first on-off control circuit and the second on-off control circuit control Q1 and Q2 through the driver according to the received control instruction. A communication link is arranged between the main control module and the MCU, and the communication link is not shown in figures 2-4.
Taking fig. 4 as an example for illustration, the MCU may report the current of the second forward voltage output terminal detected by the first current detector to the main control module, the main control module generates a control command according to the received current of the second forward voltage output terminal and sends the control command to the MCU, and the MCU may control whether the Q2 outputs the second forward voltage through the driver according to the control command.
The MCU can also report the current of the grounding terminal detected by the second current detector to the main control module, the main control module generates a control instruction according to the received current of the grounding terminal and sends the control instruction to the MCU, and the MCU can control whether the Q1 and the Q2 output the first forward voltage and the second forward voltage or not through the driver according to the control instruction.
The MCU can also report the state of the battery detected by the battery detector to the main control module, the main control module generates a control instruction according to the received state of the battery and sends the control instruction to the MCU, and the MCU can control whether the Q1 and the Q2 output the first forward voltage and the second forward voltage or not through the driver according to the control instruction.
The MCU described above with reference to fig. 4 reports the state of the power supply loop to the main control module, and controls power supply according to the control instruction returned by the main control module, when the drivers in the first on-off control circuit and the second on-off control circuit and the MCU are independent as shown in fig. 3, any one of the MCU1 and the MCU2 may report the state of the power supply loop to the main control module, the main control module may simultaneously send the generated control instruction to the MCU1 and the MCU2, and the MCU1 and the MCU2 respectively control the Q1 and the Q2, which is not described herein.
Further, in the embodiment of the present disclosure, a control logic for controlling the power supply of the power supply loop by the main control module may be set according to different scenes, and a control flow in the case of the under-voltage protection is taken as an example to describe, as shown in fig. 5.
Fig. 5 is a schematic flow chart of power supply control in the case of under-voltage protection provided in the embodiment of the present specification, which specifically includes the following steps:
s500: the MCU detects the voltage of the battery cell through the battery detector.
S502: and the MCU reports the monitored voltage of the battery cell to the main control module.
S504: the main control module determines whether the voltage of the battery electric core is lower than a first voltage threshold, if so, step S506 is executed, otherwise, step S514 is executed.
S506: the main control module determines whether the voltage of the battery electric core is lower than a second voltage threshold, if so, step S508 is executed, otherwise, step S510 is executed.
Wherein the second voltage threshold is lower than the first voltage threshold. The first voltage threshold and the second voltage threshold can be set as required, for example, the first voltage threshold is 3.2V, and the second voltage threshold is 3.0V.
S508: and generating a control instruction for powering off the first on-off control circuit and the second on-off control circuit, returning the control instruction to the MCU, and executing the step S512.
In this specification, a control command for powering off both the first on-off control circuit and the second on-off control circuit is referred to as a second control command.
S510: and generating a control instruction for powering off the first on-off control circuit and continuously outputting the voltage by the second on-off control circuit, returning the control instruction to the MCU, and executing the step S512.
In this specification, a control command for powering off the first on-off control circuit and continuously outputting the second forward voltage by the second on-off control circuit is referred to as a first control command.
S512: the MCU controls Q1 and/or Q2 via the drivers in accordance with received control instructions.
S514: no control instruction is sent.
The power supply control method described above is exemplified in the case of the under-voltage protection, and the power supply control method in other cases is similar. For example, when it is detected that the current of the ground terminal is higher than the first current threshold, it indicates that the current of the entire power supply loop is too large, and since the second forward voltage output terminal supplies power to the main control module and provides a weak current voltage, the first forward voltage output terminal supplies power to the motor and provides a strong current voltage, it can be considered that the current of the second forward voltage output terminal is not the cause of the current of the entire power supply loop being too large, and the current from the first forward voltage output terminal is the cause of the current of the entire power supply loop being too large, that is, the current of the first forward voltage output terminal is too large, so the main control module can generate a first control instruction, so that the MCU controls the first on-off control circuit to be powered off, and controls the second on-off control circuit to output voltage.
For another example, when it is detected that the current of the second on-off control circuit is higher than the second current threshold, it is indicated that the current of the second forward voltage output terminal for providing a weak current voltage to the main control module is too large, and the main control module is easily burned out.
In addition, the main control module can generate a control instruction according to the state of the power supply loop reported by the MCU, and can also generate a control instruction according to other factors, for example, when a standby instruction for enabling the carrying device to be in a standby state is received, the first control instruction is generated, so that the MCU controls the first on-off control circuit to be powered off, and controls the second on-off control circuit to output voltage.
Certainly, for some control with simpler logic, the MCU can also control whether the first on-off control circuit and the second on-off control circuit are powered off according to the detected state of the power supply loop without reporting to the main control module.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
The invention comprises A1, a power supply loop, the power supply loop is used for supplying power for the handling equipment, the power supply loop comprises: the power supply, the first on-off control circuit and the second on-off control circuit; wherein:
the first on-off control circuit is connected with the positive terminal of the power supply and is used for providing a first forward voltage output terminal and controlling whether the first forward voltage output terminal outputs a first forward voltage or not;
the second on-off control circuit is connected with the positive terminal of the power supply and is used for providing a second forward voltage output terminal and controlling whether the second forward voltage output terminal outputs a second forward voltage or not;
the negative end of the power supply is grounded and is used for providing a grounding end;
the first forward voltage output end and the grounding end are connected with a motor in the carrying equipment and used for supplying power to the motor;
and the second forward voltage output end and the grounding end are connected with a main control module in the carrying equipment and used for supplying power to the main control module.
A2, the power supply loop of claim a1, the second turn-on control circuit including a first current detector;
the first current detector is used for detecting the current of the second forward voltage output end.
A3, the power supply circuit of claim A1, the negative terminal of the power supply is connected with a second current detector, and the second current detector is grounded;
the second current detector is used for detecting the current of the grounding terminal.
A4, the power supply circuit of claim a1, the power supply circuit further comprising a battery detector;
the battery detector is respectively connected with the first on-off control circuit and the second on-off control circuit and is used for detecting the state of the battery;
the first on-off control circuit is specifically configured to control whether the first forward voltage output end outputs a first forward voltage or not according to the state of the battery detected by the battery detector;
the second on-off control circuit is specifically configured to control whether the second forward voltage output terminal outputs the second forward voltage according to the state of the battery detected by the battery detector.
A5, the power supply circuit of any one of claims a 1-a 4, wherein the first on-off control circuit comprises: the device comprises a first field effect transistor, a first driver and a first controller; wherein: the positive end of the power supply is connected with the first field effect transistor, the first field effect transistor is connected with the first driver, and the first driver is connected with the first controller; the first controller is used for controlling whether the first field effect transistor outputs a first forward voltage or not through the first driver;
the second on/off control circuit includes: the second field effect transistor, the second driver and the second controller; wherein: the positive end of the power supply is connected with the second field effect transistor, the second field effect transistor is connected with the second driver, and the second driver is connected with the second controller; the second controller is used for controlling whether the second field effect transistor outputs a second forward voltage or not through the second driver.
The invention comprises A7 and a carrying device, wherein the carrying device comprises a power supply loop, a motor and a main control module; wherein:
the motor is used for providing power for the carrying equipment;
the main control module is used for controlling the carrying equipment to execute a specified action;
the power supply loop comprises a power supply, a first on-off control circuit and a second on-off control circuit;
the first on-off control circuit is connected with the positive terminal of the power supply and is used for providing a first forward voltage output end and controlling whether the first forward voltage output end outputs a first forward voltage or not according to a control instruction of the main control module;
the second on-off control circuit is connected with the positive terminal of the power supply and is used for providing a second forward voltage output end and controlling whether the second forward voltage output end outputs a second forward voltage or not according to a control instruction of the main control module;
the negative end of the power supply is grounded and is used for providing a grounding end;
the first forward voltage output end and the grounding end are connected with a motor in the carrying equipment and used for supplying power to the motor;
and the second forward voltage output end and the grounding end are connected with a main control module in the carrying equipment and used for supplying power to the main control module.
A8, the transfer apparatus of claim a7, the first on-off control circuit comprising: the device comprises a first field effect transistor, a driver and a controller; wherein: the positive end of the power supply is connected with the first field effect transistor, the first field effect transistor is connected with the driver, and the driver is connected with the controller; the controller is used for receiving a control instruction of the main control module and controlling whether the first field effect transistor outputs a first forward voltage or not through the driver according to the control instruction;
the second on/off control circuit includes: the second field effect transistor, the driver and the controller; wherein: the positive end of the power supply is connected with the second field effect transistor, the second field effect transistor is connected with the driver, and the driver is connected with the controller; the controller is used for receiving a control instruction of the main control module and controlling whether the second field effect transistor outputs a second forward voltage or not through the driver according to the control instruction.
A9, the transfer apparatus of claim A8, the second on/off control circuit further comprising a first current detector;
the first current detector is used for detecting the current of the second forward voltage output end;
the controller is configured to report the current of the second forward voltage output terminal detected by the first current detector to the main control module;
the main control module is used for generating a control instruction according to the received current of the second forward voltage output end and sending the control instruction to the controller.
A10, the handling apparatus of claim A8, the discharging loop further comprising a second current detector, the negative terminal of the power supply is connected to the second current detector, and the second current detector is grounded;
the second current detector is used for detecting the current of the grounding terminal;
the controller is used for reporting the current of the grounding terminal detected by the second current detector to the main control module;
the main control module is used for generating a control instruction according to the received current of the grounding terminal and sending the control instruction to the controller.
A11, the handling apparatus of claim A8, the power supply circuit further comprising a battery detector;
the battery detector is connected with the controller and used for detecting the state of the battery;
the controller is used for reporting the state of the battery detected by the battery detector to the main control module;
and the main control module is used for generating a control instruction according to the received state of the battery and sending the control instruction to the controller.
The invention comprises A12 and a power supply control method, wherein the method is applied to a power supply loop in a carrying device, the power supply loop comprises a first on-off control circuit and a second on-off control circuit, the first on-off control circuit is used for controlling whether the power supply loop supplies power to a motor of the carrying device, and the second on-off control circuit is used for controlling whether the power supply loop supplies power to a main control module of the carrying device; the method comprises the following steps:
detecting a state of the power supply loop, the state of the power supply loop including: at least one of a current of a ground terminal of the power supply circuit, a current of the second turn-on control circuit, and a state of a battery in the power supply circuit;
generating a control instruction according to the state of the power supply loop;
and sending the control instruction to the power supply loop so that the power supply loop controls the first on-off control circuit and/or the second on-off control circuit to output voltage according to the control instruction.
A14, the method of claim a12, wherein the generating the control command according to the state of the power supply loop comprises:
and when the voltage of the battery electric core is lower than a first voltage threshold value, generating a first control instruction, wherein the first control instruction is used for controlling the first on-off control circuit to be powered off and controlling the second on-off control circuit to output voltage.
A15, the method of claim a14, wherein the generating the control command according to the state of the power supply loop comprises:
when the voltage of the battery electric core is lower than a second voltage threshold value, generating a second control instruction, wherein the second control instruction is used for controlling the first on-off control circuit and the second on-off control circuit to be powered off; wherein the second voltage threshold is lower than the first voltage threshold.
A16, the method of claim a12, wherein the generating the control command according to the state of the power supply loop comprises:
and when the current of the grounding end is detected to be higher than a first current threshold, generating a first control instruction, wherein the first control instruction is used for controlling the first on-off control circuit to be powered off and controlling the second on-off control circuit to output voltage.
A17, the method of claim a12, wherein the generating the control command according to the state of the power supply loop comprises:
and when the current of the second on-off control circuit is higher than a second current threshold value, generating a second control instruction, wherein the second control instruction is used for controlling the first on-off control circuit and the second on-off control circuit to be powered off.
Claims (10)
1. A power supply circuit for supplying power to a handling apparatus, the power supply circuit comprising: the power supply, the first on-off control circuit and the second on-off control circuit; wherein:
the first on-off control circuit is connected with the positive terminal of the power supply and is used for providing a first forward voltage output terminal and controlling whether the first forward voltage output terminal outputs a first forward voltage or not;
the second on-off control circuit is connected with the positive terminal of the power supply and is used for providing a second forward voltage output terminal and controlling whether the second forward voltage output terminal outputs a second forward voltage or not;
the negative end of the power supply is grounded and is used for providing a grounding end;
the first forward voltage output end and the grounding end are connected with a motor in the carrying equipment and used for supplying power to the motor;
and the second forward voltage output end and the grounding end are connected with a main control module in the carrying equipment and used for supplying power to the main control module.
2. The power supply circuit of claim 1 wherein said second on-off control circuit comprises a first current detector;
the first current detector is used for detecting the current of the second forward voltage output end.
3. The power supply circuit of claim 1 wherein a negative terminal of said power supply is connected to a second current detector, said second current detector being connected to ground;
the second current detector is used for detecting the current of the grounding terminal.
4. The power supply circuit of claim 1, wherein said power supply circuit further comprises a battery detector;
the battery detector is respectively connected with the first on-off control circuit and the second on-off control circuit and is used for detecting the state of the battery;
the first on-off control circuit is specifically configured to control whether the first forward voltage output end outputs a first forward voltage or not according to the state of the battery detected by the battery detector;
the second on-off control circuit is specifically configured to control whether the second forward voltage output terminal outputs the second forward voltage according to the state of the battery detected by the battery detector.
5. The power supply circuit according to any one of claims 1 to 4, wherein said first on-off control circuit comprises: the device comprises a first field effect transistor, a driver and a controller; wherein: the positive end of the power supply is connected with the first field effect transistor, the first field effect transistor is connected with the driver, and the driver is connected with the controller; the controller is used for controlling whether the first field effect transistor outputs a first forward voltage or not through the driver;
the second on/off control circuit includes: the second field effect transistor, the driver and the controller; wherein: the positive end of the power supply is connected with the second field effect transistor, the second field effect transistor is connected with the driver, and the driver is connected with the controller; the controller is used for controlling whether the second field effect transistor outputs a second forward voltage or not through the driver.
6. The carrying equipment is characterized by comprising a power supply loop, a motor and a main control module; wherein:
the motor is used for providing power for the carrying equipment;
the main control module is used for controlling the carrying equipment to execute a specified action;
the power supply loop comprises a power supply, a first on-off control circuit and a second on-off control circuit;
the first on-off control circuit is connected with the positive terminal of the power supply and is used for providing a first forward voltage output end and controlling whether the first forward voltage output end outputs a first forward voltage or not according to a control instruction of the main control module;
the second on-off control circuit is connected with the positive terminal of the power supply and is used for providing a second forward voltage output end and controlling whether the second forward voltage output end outputs a second forward voltage or not according to a control instruction of the main control module;
the negative end of the power supply is grounded and is used for providing a grounding end;
the first forward voltage output end and the grounding end are connected with a motor in the carrying equipment and used for supplying power to the motor;
and the second forward voltage output end and the grounding end are connected with a main control module in the carrying equipment and used for supplying power to the main control module.
7. The transfer apparatus of claim 6, wherein the first on-off control circuit comprises: the device comprises a first field effect transistor, a driver and a controller; wherein: the positive end of the power supply is connected with the first field effect transistor, the first field effect transistor is connected with the driver, and the driver is connected with the controller; the controller is used for receiving a control instruction of the main control module and controlling whether the first field effect transistor outputs a first forward voltage or not through the driver according to the control instruction;
the second on/off control circuit includes: the second field effect transistor, the driver and the controller; wherein: the positive end of the power supply is connected with the second field effect transistor, the second field effect transistor is connected with the driver, and the driver is connected with the controller; the controller is used for receiving a control instruction of the main control module and controlling whether the second field effect transistor outputs a second forward voltage or not through the driver according to the control instruction.
8. A power supply control method is applied to a power supply loop in a carrying device, and the power supply loop comprises a first on-off control circuit and a second on-off control circuit, wherein the first on-off control circuit is used for controlling whether the power supply loop supplies power to a motor of the carrying device, and the second on-off control circuit is used for controlling whether the power supply loop supplies power to a main control module of the carrying device; the method comprises the following steps:
detecting a state of the power supply loop, the state of the power supply loop including: at least one of a current of a ground terminal of the power supply circuit, a current of the second turn-on control circuit, and a state of a battery in the power supply circuit;
generating a control instruction according to the state of the power supply loop;
and sending the control instruction to the power supply loop so that the power supply loop controls the first on-off control circuit and/or the second on-off control circuit to output voltage according to the control instruction.
9. The method of claim 8, wherein detecting the state of the power supply loop specifically comprises:
receiving the state of the power supply loop reported by a controller in the power supply loop;
sending the control instruction to the power supply loop, specifically including:
and sending the control instruction to the controller in the power supply loop.
10. The method of claim 8, wherein the method further comprises:
when a standby instruction which is input by a user and used for enabling the carrying equipment to be in a standby state is received, a first control instruction is generated and used for controlling the first on-off control circuit to be powered off and controlling the second on-off control circuit to output voltage.
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| CN201910743993.4A CN112398180B (en) | 2019-08-13 | 2019-08-13 | Power supply loop, carrying equipment and power supply control method |
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| CN201910743993.4A CN112398180B (en) | 2019-08-13 | 2019-08-13 | Power supply loop, carrying equipment and power supply control method |
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| WO2016119694A1 (en) * | 2015-01-29 | 2016-08-04 | 天地融科技股份有限公司 | Battery protection circuit, electrical energy providing device and electronic device |
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