CN113364078B - Low-temperature environment robot charging control system - Google Patents

Low-temperature environment robot charging control system Download PDF

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Publication number
CN113364078B
CN113364078B CN202110525652.7A CN202110525652A CN113364078B CN 113364078 B CN113364078 B CN 113364078B CN 202110525652 A CN202110525652 A CN 202110525652A CN 113364078 B CN113364078 B CN 113364078B
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resistor
circuit
control circuit
triode
electrode
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CN113364078A (en
Inventor
刘宗敏
敖文刚
李祖锋
张会焱
杨帅
王旭东
黄勇刚
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Chongqing Technology and Business University
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Chongqing Technology and Business University
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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
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/007188—Regulation of charging or discharging current or voltage the charge cycle being controlled or terminated in response to non-electric parameters
    • H02J7/007192—Regulation of charging or discharging current or voltage the charge cycle being controlled or terminated in response to non-electric parameters in response to temperature
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
    • H01M10/44—Methods for charging or discharging
    • H01M10/443—Methods for charging or discharging in response to temperature
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/60—Heating or cooling; Temperature control
    • H01M10/61—Types of temperature control
    • H01M10/615—Heating or keeping warm
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/0031—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using battery or load disconnect circuits
    • 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
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • General Chemical & Material Sciences (AREA)
  • Power Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention provides a low-temperature environment robot charging control system, which comprises: the voltage stabilizing circuit is used for stabilizing the voltage of the input direct current and supplying power to the heating control circuit, the detection control circuit and the charging control circuit; the detection control circuit is used for detecting the ambient temperature in the lithium battery pack in the robot and controlling the heating control circuit to be switched on when the temperature is lower than a set value, and the heating control circuit is controlled to be switched off when the ambient temperature in the lithium battery pack reaches the set value; the power supply input end of the heating control circuit is connected with the output end of the voltage stabilizing circuit, and the power supply output end of the heating control circuit is connected with the heating wire and used for receiving a control command output by the detection control circuit to control the on-off of a power supply loop of the heating wire; the charging control circuit is used for keeping a power supply loop of the charging management circuit disconnected when the temperature is lower than a set value, controlling the power supply loop of the charging management circuit to be connected when the temperature is higher than the set value, and preventing electric energy from directly supplying power to the lithium battery when the robot is connected to be charged in a low-temperature environment.

Description

Low-temperature environment robot charging control system
Technical Field
The invention relates to a robot charging control system, in particular to a robot charging control system in a low-temperature environment.
Background
The robot has been widely used in modern life, the power of the robot is generally provided by a storage battery, in the storage battery, the application of the lithium battery is wider, the lithium battery of the robot has an allowable temperature range, when the robot is not used for a long time, the electric quantity of the lithium battery is lost due to the self-discharge characteristic of the battery, when the robot is used again, charging is needed, and in some cold regions, if the environmental temperature of the lithium battery is too low, the lithium battery is irreversibly damaged when being charged, because the lithium battery is charged at low temperature, the lithium battery has a lithium analysis effect on the negative electrode, the capacity of the lithium battery is rapidly attenuated, and serious potential safety hazards exist.
Therefore, in order to solve the above technical problems, it is necessary to provide a new technical means.
Disclosure of Invention
In view of this, an object of the present invention is to provide a low temperature environment robot charging control system, which can prevent electric energy from directly supplying power to a lithium battery when a robot is switched in for charging in a low temperature environment, and can heat an internal environment of a battery pack of the lithium battery before charging, so that the internal environment of the lithium battery pack reaches an appropriate temperature and then the lithium battery is charged, thereby performing good protection on the lithium battery of the robot and effectively avoiding potential safety hazards caused by low temperature charging.
The invention provides a low-temperature environment robot charging control system which comprises a voltage stabilizing circuit, a detection control circuit, a heating wire, a heating control circuit and a charging control circuit, wherein the voltage stabilizing circuit is connected with the detection control circuit;
the voltage stabilizing circuit is used for performing voltage stabilizing treatment on the input direct current and supplying power to the heating control circuit, the detection control circuit and the charging control circuit;
the detection control circuit is used for detecting the ambient temperature in the lithium battery pack in the robot and controlling the heating control circuit to be switched on when the temperature is lower than a set value, and the heating control circuit is controlled to be switched off when the ambient temperature in the lithium battery pack reaches the set value;
the power supply input end of the heating control circuit is connected with the output end of the voltage stabilizing circuit, and the power supply output end of the heating control circuit is connected with the heating wire and used for receiving a control command output by the detection control circuit to control the on-off of a power supply loop of the heating wire;
the power input end of the charging control circuit is connected with the output end of the voltage stabilizing circuit, the power output end of the charging control circuit is connected with the input end of the charging management circuit of the lithium battery, and the control input end of the charging control circuit is connected with the detection output end of the detection control circuit and used for keeping the power supply loop of the charging management circuit disconnected when the temperature is lower than a set value and controlling the power supply loop of the charging management circuit to be connected when the temperature is higher than the set value.
Further, the detection control circuit comprises a resistor R2, a voltage reduction circuit U1, a resistor R3, a thermistor R7, a first comparison circuit, a second comparison circuit and an AND gate circuit U2;
the thermistor R7 is a negative temperature coefficient thermistor;
one end of the resistor R2 is connected to the output end of the voltage stabilizing circuit, the other end of the resistor R2 is connected to the input end of the voltage reducing circuit, the output end of the voltage reducing circuit is connected with one end of the resistor R3, and the other end of the resistor R3 is grounded through the thermistor R7;
the detection input end of the first comparison circuit is connected to a common connection point between the resistor R3 and the thermistor R7, the input end of the first comparison circuit is connected to the output end of the voltage reduction circuit, and the output end of the first comparison circuit is used as a first control end of the detection control circuit and is connected with a first input end of the AND circuit U2;
the detection input end of the second comparison circuit is connected to a common connection point between the resistor R3 and the thermistor R7, the input end of the second comparison circuit is connected to the output end of the voltage reduction circuit, and the output end of the second comparison circuit is used as a second control end of the detection control circuit and is connected with a second input end of the AND gate circuit U2;
and the output end of the AND gate circuit U2 is used as a third control end of the detection control circuit.
Further, the first comparison circuit comprises a resistor R4, a resistor R5, a resistor R6, a capacitor C2 and a comparator UA;
the inverting terminal of the comparator UA is connected to the output end of the voltage reduction circuit through a resistor R4, the inverting terminal of the comparator UA is grounded through a resistor R5, the non-inverting terminal of the comparator UA is grounded through a capacitor C2, and the non-inverting terminal of the comparator UA is connected to a common connection point between a resistor R3 and a thermistor R7 through a resistor R6.
Further, the second comparison circuit comprises a resistor R8, a resistor R9, a resistor R10, a capacitor C3 and a comparator UB;
the inverting terminal of the comparator UB is connected to the output end of the voltage reduction circuit through a resistor R8, the inverting terminal of the comparator UB is grounded through a resistor R9, the non-inverting terminal of the comparator UB is grounded through a capacitor C3, and the non-inverting terminal of the comparator UB is connected to a common connection point between the resistor R3 and the thermistor R7 through a resistor R10.
Further, the heating control circuit comprises an NMOS tube Q2, a PMOS tube Q3, a resistor R11, a resistor R12, a resistor R13, a resistor R14, a triode Q4, a triode Q5 and a resistor R15;
the drain electrode of the NMOS tube Q2 is connected with the source electrode of the PMOS tube Q3, the source electrode of the NMOS tube Q2 is connected with the drain electrode of the PMOS tube Q3, the source electrode of the PMOS tube Q3 is used as the power supply input end of the heating control circuit, the drain electrode of the PMOS tube Q3 is used as the power supply output end of the heating control circuit and is connected with the heating wire, the grid electrode of the NMOS tube Q2 is connected with one end of a resistor R11, the other end of the resistor R11 is used as the first control end of the heating control circuit and is connected with the common connection point between the resistor R3 and the thermistor R7;
the source electrode of the PMOS tube Q3 is connected to the grid electrode of the PMOS tube Q3 through a resistor R12, the grid electrode of the PMOS tube Q3 is connected to the collector electrode of the triode Q4 through a resistor R13, the emitting electrode of the triode Q4 is grounded, the base electrode of the triode Q4 is connected to one end of a resistor R14, and the other end of the resistor R14 serves as the second control end of the heating control circuit and is connected to the output end of the first comparison circuit;
the collector of the triode Q5 is connected to the output end of the first comparison circuit, the emitter of the triode Q5 is grounded, the base of the triode Q5 is connected to one end of the resistor R15, and the other end of the resistor R15 is connected to the output end of the AND circuit U2 as the third control end of the heating control circuit.
Further, the charging control circuit comprises a PMOS tube Q6, a triode Q8, a triode Q7, a resistor R16, a resistor R17, a resistor R18, a resistor R19, a resistor R20 and a voltage regulator tube ZD3;
the source electrode of the PMOS tube Q6 is used as the input end of the charging control circuit, and the drain electrode of the PMOS tube Q6 is used as the output end of the charging control circuit;
the source electrode of the PMOS pipe Q6 is connected to the grid electrode of the PMOS pipe Q6 through a resistor R18, the grid electrode of the PMOS pipe Q6 is connected to the collector electrode of the triode Q8 through a resistor R19, and the emitter electrode of the triode Q8 is grounded;
the base electrode of the triode Q8 is connected to the collector electrode of the triode Q7 through a resistor R20, the emitter electrode of the triode Q7 is connected to the source electrode of the PMOS tube Q6 through a resistor R17, the base electrode of the triode Q7 is connected with the negative electrode of the voltage regulator tube ZD3, the positive electrode of the voltage regulator tube ZD3 is grounded, the base electrode of the triode Q7 is connected to one end of a resistor R16, and the other end of the resistor R16 is used as the control end of the charging control circuit and is connected to the common connection point of the resistor R3 and the thermistor R7;
the triode Q7 is a P-type triode.
Further, the voltage stabilizing circuit comprises a resistor R1, a voltage stabilizing tube ZD1, a capacitor C1, a voltage stabilizing tube ZD2 and a triode Q1;
the collector of triode Q1 is connected with one end of resistor R1, the other end of resistor R1 is connected with the negative pole of voltage regulator tube ZD1, the positive pole ground connection of voltage regulator tube ZD1, the base of triode Q1 is connected with the negative pole of voltage regulator tube ZD1, the base of triode Q1 is passed through electric capacity C1 ground connection, the collector of triode Q1 is as the input of voltage stabilizing circuit, the projecting pole of triode Q1 is connected in the negative pole of voltage regulator tube ZD2, the positive pole ground connection of voltage regulator tube ZD2, the common connection point between the projecting pole of triode Q1 and the negative pole of voltage regulator tube ZD2 is as the output of voltage stabilizing circuit.
The invention has the beneficial effects that: according to the invention, when the robot is charged in an access manner in a low-temperature environment, electric energy can be prevented from directly supplying power to the lithium battery, and the internal environment of the battery pack of the lithium battery can be heated before charging, so that the lithium battery is charged after the internal environment of the lithium battery pack reaches an appropriate temperature, thereby well protecting the lithium battery of the robot and effectively avoiding potential safety hazards caused by low-temperature charging.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic view of the present invention.
Fig. 2 is a schematic diagram of a specific circuit of the present invention.
Fig. 3 is a schematic diagram of a charging management circuit according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings of the specification:
the invention provides a low-temperature environment robot charging control system, which comprises a voltage stabilizing circuit, a detection control circuit, a heating wire, a heating control circuit and a charging control circuit, wherein the voltage stabilizing circuit is connected with the detection control circuit;
the voltage stabilizing circuit is used for performing voltage stabilizing treatment on the input direct current and supplying power to the heating control circuit, the detection control circuit and the charging control circuit;
the detection control circuit is used for detecting the ambient temperature in the lithium battery pack in the robot and controlling the heating control circuit to be switched on when the temperature is lower than a set value, and the heating control circuit is controlled to be switched off when the ambient temperature in the lithium battery pack reaches the set value;
the power supply input end of the heating control circuit is connected with the output end of the voltage stabilizing circuit, and the power supply output end of the heating control circuit is connected with the heating wire and used for receiving a control command output by the detection control circuit to control the on-off of a power supply loop of the heating wire;
the charging control circuit is characterized in that a power input end of the charging control circuit is connected with an output end of the voltage stabilizing circuit, a power output end of the charging control circuit is connected with an input end of a charging management circuit of the lithium battery, a control input end of the charging control circuit is connected with a detection output end of the detection control circuit, the power supply circuit is used for keeping the power supply circuit of the charging management circuit disconnected when the temperature is lower than a set value, the power supply circuit of the charging management circuit is controlled to be connected when the temperature is higher than the set value, through the structure, when the robot is connected and charged in a low-temperature environment, electric energy can be prevented from being directly supplied to the lithium battery, the internal environment of a battery pack of the lithium battery can be heated before charging, the lithium battery charging is carried out after the internal environment of the lithium battery pack reaches the appropriate temperature, the lithium battery of the robot is well protected, and potential safety hazards caused by low-temperature charging are effectively avoided. The charging management circuit is shown in fig. 3, which is a prior art, and the circuit principle of the charging management circuit is not described here, and the heating wire is disposed inside the lithium battery pack and used for heating the internal environment of the whole lithium battery pack.
In this embodiment, the detection control circuit includes a resistor R2, a voltage reduction circuit U1, a resistor R3, a thermistor R7, a first comparison circuit, a second comparison circuit, and an and circuit U2;
the thermistor R7 is a negative temperature coefficient thermistor;
one end of the resistor R2 is connected to the output end of the voltage stabilizing circuit, the other end of the resistor R2 is connected to the input end of the voltage reducing circuit, the output end of the voltage reducing circuit is connected with one end of the resistor R3, the other end of the resistor R3 is grounded through the thermistor R7, and the resistor R3 and the resistor R7 form a temperature sampling circuit;
the detection input end of the first comparison circuit is connected to a common connection point between the resistor R3 and the thermistor R7, the input end of the first comparison circuit is connected to the output end of the voltage reduction circuit, and the output end of the first comparison circuit is used as a first control end of the detection control circuit and is connected with a first input end of the AND circuit U2;
the detection input end of the second comparison circuit is connected to a common connection point between the resistor R3 and the thermistor R7, the input end of the second comparison circuit is connected to the output end of the voltage reduction circuit, and the output end of the second comparison circuit is used as a second control end of the detection control circuit and is connected with a second input end of the AND gate circuit U2;
and the output end of the AND gate circuit U2 is used as a third control end of the detection control circuit.
Specifically, the method comprises the following steps: the first comparison circuit comprises a resistor R4, a resistor R5, a resistor R6, a capacitor C2 and a comparator UA;
the inverting terminal of the comparator UA is connected to the output end of the voltage reduction circuit through a resistor R4, the inverting terminal of the comparator UA is grounded through a resistor R5, the non-inverting terminal of the comparator UA is grounded through a capacitor C2, and the non-inverting terminal of the comparator UA is connected to a common connection point between a resistor R3 and a thermistor R7 through a resistor R6.
The second comparison circuit comprises a resistor R8, a resistor R9, a resistor R10, a capacitor C3 and a comparator UB;
the inverting terminal of the comparator UB is connected to the output end of the voltage reduction circuit through a resistor R8, the inverting terminal of the comparator UB is grounded through a resistor R9, the non-inverting terminal of the comparator UB is grounded through a capacitor C3, and the non-inverting terminal of the comparator UB is connected to a common connection point between the resistor R3 and the thermistor R7 through a resistor R10. Through above-mentioned circuit structure, can carry out inboard and can accurate control heating control circuit and the work of charging control circuit to the ambient temperature in the lithium cell package.
In this embodiment, the heating control circuit includes an NMOS transistor Q2, a PMOS transistor Q3, a resistor R11, a resistor R12, a resistor R13, a resistor R14, a transistor Q4, a transistor Q5, and a resistor R15;
the drain electrode of the NMOS tube Q2 is connected with the source electrode of the PMOS tube Q3, the source electrode of the NMOS tube Q2 is connected with the drain electrode of the PMOS tube Q3, the source electrode of the PMOS tube Q3 is used as the power supply input end of the heating control circuit, the drain electrode of the PMOS tube Q3 is used as the power supply output end of the heating control circuit and is connected with the heating wire, the grid electrode of the NMOS tube Q2 is connected with one end of a resistor R11, the other end of the resistor R11 is used as the first control end of the heating control circuit and is connected with the common connection point between the resistor R3 and the thermistor R7;
the source electrode of the PMOS tube Q3 is connected to the grid electrode of the PMOS tube Q3 through a resistor R12, the grid electrode of the PMOS tube Q3 is connected to the collector electrode of the triode Q4 through a resistor R13, the emitting electrode of the triode Q4 is grounded, the base electrode of the triode Q4 is connected to one end of a resistor R14, and the other end of the resistor R14 serving as the second control end of the heating control circuit is connected to the output end of the first comparison circuit;
the collector of the triode Q5 is connected with the output end of the first comparison circuit, the emitter of the triode Q5 is grounded, the base of the triode Q5 is connected with one end of the resistor R15, and the other end of the resistor R15 is used as the third control end of the heating control circuit and is connected with the output end of the AND gate circuit U2.
In this embodiment, the charging control circuit includes a PMOS transistor Q6, a triode Q8, a triode Q7, a resistor R16, a resistor R17, a resistor R18, a resistor R19, a resistor R20, and a voltage regulator ZD3;
the source electrode of the PMOS tube Q6 is used as the input end of the charging control circuit, and the drain electrode of the PMOS tube Q6 is used as the output end of the charging control circuit;
the source electrode of the PMOS pipe Q6 is connected to the grid electrode of the PMOS pipe Q6 through a resistor R18, the grid electrode of the PMOS pipe Q6 is connected to the collector electrode of the triode Q8 through a resistor R19, and the emitter electrode of the triode Q8 is grounded;
the base electrode of the triode Q8 is connected to the collector electrode of the triode Q7 through a resistor R20, the emitter electrode of the triode Q7 is connected to the source electrode of the PMOS tube Q6 through a resistor R17, the base electrode of the triode Q7 is connected with the negative electrode of the voltage regulator tube ZD3, the positive electrode of the voltage regulator tube ZD3 is grounded, the base electrode of the triode Q7 is connected to one end of a resistor R16, and the other end of the resistor R16 is used as the control end of the charging control circuit and is connected to the common connection point of the resistor R3 and the thermistor R7;
the triode Q7 is a P-type triode.
In the embodiment, the voltage stabilizing circuit comprises a resistor R1, a voltage stabilizing tube ZD1, a capacitor C1, a voltage stabilizing tube ZD2 and a triode Q1;
the collector of the triode Q1 is connected with one end of the resistor R1, the other end of the resistor R1 is connected with the negative electrode of the voltage-stabilizing tube ZD1, the positive electrode of the voltage-stabilizing tube ZD1 is grounded, the base of the triode Q1 is connected with the negative electrode of the voltage-stabilizing tube ZD1, the base of the triode Q1 is grounded through a capacitor C1, the collector of the triode Q1 serves as the input end of the voltage-stabilizing circuit, the emitter of the triode Q1 is connected with the negative electrode of the voltage-stabilizing tube ZD2, the positive electrode of the voltage-stabilizing tube ZD2 is grounded, and the common connection point between the emitter of the triode Q1 and the negative electrode of the voltage-stabilizing tube ZD2 serves as the output end of the voltage-stabilizing circuit; although, in the lithium battery charging, if the charging is wired, the charging device is provided with a rectifying and voltage-stabilizing circuit, and if the charging device is wireless, the charging device is provided with a rectifying, voltage-stabilizing and adjusting circuit and a transmitting circuit at a transmitting end; the receiving end is provided with a receiving circuit, a voltage stabilizing circuit and the like; however, in order to ensure the operation stability of the present invention, the voltage stabilizing adjustment is performed again by the voltage stabilizing circuit.
With respect to the above structure of the present invention, the following is further elaborated:
in the invention, the sensor for sensing the temperature in the battery pack adopts the negative temperature coefficient thermistor, namely, the thermistor is in a high resistance state at low temperature, and the resistance value of the thermistor is reduced in an exponential mode along with the temperature rise.
When the charging power supply is connected, the voltage stabilizing circuit performs voltage stabilization adjustment again on input direct current, the voltage reducing circuit U1 adopts an existing circuit, and in order to ensure power supply of the lithium battery, generally, the output voltage of the voltage stabilizing circuit is about 14V, so that voltage reduction needs to be performed through the voltage reducing circuit U1, so that the comparator UA, the comparator UB, and the and gate circuit U2 can stably work, wherein the comparator UA, the comparator UB, and the and gate circuit U2 adopt existing circuits, which are not described herein again, and the voltage reducing circuit is selected according to subsequent comparators and gate circuits, such as LM7805, LM7812, and the like.
Because the temperature in the lithium battery pack is low, the thermistor R7 is in a high-impedance state, and at the moment, the voltage output by the voltage reduction circuit U1 is basically applied to the resistor R7, the triode Q7 is ensured to be in a cut-off state at the moment by setting the resistance values of the resistor R16 and the resistor R17, so that the PMOS tube Q6 is cut off, and the charging management circuit cannot be powered;
meanwhile, the detection voltage input by the in-phase end of the comparator UA is higher than the set voltage of the inverting end of the comparator UA, the output of the comparator UA is low level, and the comparator UB outputs low level as well (it needs to be noted that the reference voltage of the inverting end of the comparator UB is smaller than the reference voltage of the inverting end of the comparator UA); triode Q4 ends, and PMOS pipe Q3 ends, and the heater strip can not be with electrical heating this moment, then, supplies power to the heater strip through the bypass that NMOS pipe Q2 formed, heats in wrapping the lithium cell.
With the temperature rise in the lithium battery pack, the resistance value of the thermistor R7 is reduced until the voltage of the in-phase end of the comparator UA is equal to or less than the voltage of the out-phase end, at the moment, the comparator UA outputs a high level, and because the reference voltage of the comparator UB is less than the reference voltage of the comparator UA, the UB still outputs a low level at the moment; at the moment, the AND circuit U1 keeps a low level state, the triode Q4 is conducted, and therefore the PMOS tube Q3 is conducted, at the moment, the resistance value of the R7 is reduced, the grid voltage of the NMOS tube Q2 is smaller than the conducting voltage, and the NMOS tube Q2 is converted into a cut-off state; the heating wire is kept heated at this time.
With the further temperature rise, the resistance value of the resistor R7 is further reduced, so that the voltage of the inverting terminal of the comparator UB is larger than or equal to the voltage of the non-inverting terminal, the comparator UB outputs a high level, the high level is simultaneously input into the two input terminals of the AND circuit U2, the AND circuit U2 outputs the high level, the triode Q5 is conducted, the base voltage of the triode Q4 is reduced, the triode Q4 is cut off, the PMOS tube Q3 is cut off, and heating is stopped; during the period from the high level output of the comparator UA to the high level output of the comparator UB, if only the reference environmental temperature is adopted, the charging can be carried out at the moment, but the internal temperature of the lithium battery cell does not keep a linear relation with the internal environmental temperature of the lithium battery pack due to the long-time low-temperature environment, so that the lithium battery can be fully preheated under the structure, and the charging safety of the lithium battery is ensured.
When the comparator UB outputs a high level, the triode Q7 is switched on, the PMOS tube Q6 is switched on, the lithium battery is charged at the moment, the safety of the lithium battery is ensured, the switching-on of the triode Q7 is consistent with the moment when the comparator UB outputs the high level, and the resistance values of the resistor R16 and the resistor R17 can be set.
Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (6)

1. The utility model provides a low temperature environment robot control system that charges which characterized in that: the device comprises a voltage stabilizing circuit, a detection control circuit, a heating wire, a heating control circuit and a charging control circuit;
the voltage stabilizing circuit is used for stabilizing the voltage of the input direct current and supplying power to the heating control circuit, the detection control circuit and the charging control circuit;
the detection control circuit is used for detecting the ambient temperature in the lithium battery pack in the robot and controlling the heating control circuit to be switched on when the temperature is lower than a set value, and the heating control circuit is controlled to be switched off when the ambient temperature in the lithium battery pack reaches the set value;
the power supply input end of the heating control circuit is connected with the output end of the voltage stabilizing circuit, and the power supply output end of the heating control circuit is connected with the heating wire and used for receiving a control command output by the detection control circuit to control the on-off of a power supply loop of the heating wire;
the power supply input end of the charging control circuit is connected with the output end of the voltage stabilizing circuit, the power supply output end of the charging control circuit is connected with the input end of the charging management circuit of the lithium battery, and the control input end of the charging control circuit is connected with the detection output end of the detection control circuit and is used for keeping the power supply loop of the charging management circuit disconnected when the temperature is lower than a set value and controlling the power supply loop of the charging management circuit to be connected when the temperature is higher than the set value;
the detection control circuit comprises a resistor R2, a voltage reduction circuit U1, a resistor R3, a thermistor R7, a first comparison circuit, a second comparison circuit and an AND gate circuit U2;
the thermistor R7 is a negative temperature coefficient thermistor;
one end of the resistor R2 is connected to the output end of the voltage stabilizing circuit, the other end of the resistor R2 is connected to the input end of the voltage reducing circuit, the output end of the voltage reducing circuit is connected with one end of the resistor R3, and the other end of the resistor R3 is grounded through the thermistor R7;
the detection input end of the first comparison circuit is connected to a common connection point between the resistor R3 and the thermistor R7, the input end of the first comparison circuit is connected to the output end of the voltage reduction circuit, and the output end of the first comparison circuit is used as a first control end of the detection control circuit and is connected with a first input end of the AND circuit U2;
the detection input end of the second comparison circuit is connected to a common connection point between the resistor R3 and the thermistor R7, the input end of the second comparison circuit is connected to the output end of the voltage reduction circuit, and the output end of the second comparison circuit is used as a second control end of the detection control circuit and is connected with a second input end of the AND gate circuit U2;
and the output end of the AND gate circuit U2 is used as a third control end of the detection control circuit.
2. The low-temperature environment robot charging control system according to claim 1, characterized in that: the first comparison circuit comprises a resistor R4, a resistor R5, a resistor R6, a capacitor C2 and a comparator UA;
the inverting terminal of the comparator UA is connected to the output end of the voltage reduction circuit through a resistor R4, the inverting terminal of the comparator UA is grounded through a resistor R5, the non-inverting terminal of the comparator UA is grounded through a capacitor C2, and the non-inverting terminal of the comparator UA is connected to a common connection point between a resistor R3 and a thermistor R7 through a resistor R6.
3. The low-temperature environment robot charging control system according to claim 1, characterized in that: the second comparison circuit comprises a resistor R8, a resistor R9, a resistor R10, a capacitor C3 and a comparator UB;
the inverting terminal of the comparator UB is connected to the output end of the voltage reduction circuit through a resistor R8, the inverting terminal of the comparator UB is grounded through a resistor R9, the non-inverting terminal of the comparator UB is grounded through a capacitor C3, and the non-inverting terminal of the comparator UB is connected to a common connection point between the resistor R3 and the thermistor R7 through a resistor R10.
4. The low-temperature environment robot charging control system according to claim 1, characterized in that: the heating control circuit comprises an NMOS (N-channel metal oxide semiconductor) tube Q2, a PMOS (P-channel metal oxide semiconductor) tube Q3, a resistor R11, a resistor R12, a resistor R13, a resistor R14, a triode Q4, a triode Q5 and a resistor R15;
the drain electrode of the NMOS tube Q2 is connected with the source electrode of the PMOS tube Q3, the source electrode of the NMOS tube Q2 is connected with the drain electrode of the PMOS tube Q3, the source electrode of the PMOS tube Q3 is used as the power supply input end of the heating control circuit, the drain electrode of the PMOS tube Q3 is used as the power supply output end of the heating control circuit and is connected with the heating wire, the grid electrode of the NMOS tube Q2 is connected with one end of a resistor R11, the other end of the resistor R11 is used as the first control end of the heating control circuit and is connected with a common connection point between the resistor R3 and a thermistor R7;
the source electrode of the PMOS tube Q3 is connected to the grid electrode of the PMOS tube Q3 through a resistor R12, the grid electrode of the PMOS tube Q3 is connected to the collector electrode of the triode Q4 through a resistor R13, the emitting electrode of the triode Q4 is grounded, the base electrode of the triode Q4 is connected to one end of a resistor R14, and the other end of the resistor R14 serving as the second control end of the heating control circuit is connected to the output end of the first comparison circuit;
the collector of the triode Q5 is connected to the output end of the first comparison circuit, the emitter of the triode Q5 is grounded, the base of the triode Q5 is connected to one end of the resistor R15, and the other end of the resistor R15 is connected to the output end of the AND circuit U2 as the third control end of the heating control circuit.
5. The low-temperature environment robot charging control system according to claim 1, characterized in that: the charging control circuit comprises a PMOS (P-channel metal oxide semiconductor) tube Q6, a triode Q8, a triode Q7, a resistor R16, a resistor R17, a resistor R18, a resistor R19, a resistor R20 and a voltage regulator tube ZD3;
the source electrode of the PMOS tube Q6 is used as the input end of the charging control circuit, and the drain electrode of the PMOS tube Q6 is used as the output end of the charging control circuit;
the source electrode of the PMOS tube Q6 is connected with the grid electrode of the PMOS tube Q6 through a resistor R18, the grid electrode of the PMOS tube Q6 is connected with the collector electrode of the triode Q8 through a resistor R19, and the emitter electrode of the triode Q8 is grounded;
the base electrode of the triode Q8 is connected to the collector electrode of the triode Q7 through a resistor R20, the emitter electrode of the triode Q7 is connected to the source electrode of the PMOS tube Q6 through a resistor R17, the base electrode of the triode Q7 is connected with the negative electrode of the voltage regulator tube ZD3, the positive electrode of the voltage regulator tube ZD3 is grounded, the base electrode of the triode Q7 is connected to one end of a resistor R16, and the other end of the resistor R16 is used as the control end of the charging control circuit and is connected to the common connection point of the resistor R3 and the thermistor R7;
the triode Q7 is a P-type triode.
6. The low-temperature environment robot charging control system according to claim 1, characterized in that: the voltage stabilizing circuit comprises a resistor R1, a voltage stabilizing tube ZD1, a capacitor C1, a voltage stabilizing tube ZD2 and a triode Q1;
the collector of triode Q1 is connected with one end of resistor R1, the other end of resistor R1 is connected with the negative pole of voltage regulator tube ZD1, the positive pole ground connection of voltage regulator tube ZD1, the base of triode Q1 is connected with the negative pole of voltage regulator tube ZD1, the base of triode Q1 is passed through electric capacity C1 ground connection, the collector of triode Q1 is as the input of voltage stabilizing circuit, the projecting pole of triode Q1 is connected in the negative pole of voltage regulator tube ZD2, the positive pole ground connection of voltage regulator tube ZD2, the common connection point between the projecting pole of triode Q1 and the negative pole of voltage regulator tube ZD2 is as the output of voltage stabilizing circuit.
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