CN113991828A - Pipe-penetrating robot and dual-power system power supply circuit thereof - Google Patents
Pipe-penetrating robot and dual-power system power supply circuit thereof Download PDFInfo
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- CN113991828A CN113991828A CN202111245164.7A CN202111245164A CN113991828A CN 113991828 A CN113991828 A CN 113991828A CN 202111245164 A CN202111245164 A CN 202111245164A CN 113991828 A CN113991828 A CN 113991828A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000009977 dual effect Effects 0.000 claims description 25
- 238000011084 recovery Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000007689 inspection Methods 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 4
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- 238000013473 artificial intelligence Methods 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
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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
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
- H02J9/061—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems for DC powered loads
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
- H02G1/08—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle through tubing or conduit, e.g. rod or draw wire for pushing or pulling
- H02G1/088—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle through tubing or conduit, e.g. rod or draw wire for pushing or pulling using pulling devices movable inside conduits
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Abstract
The utility model discloses a pipe-penetrating robot and a dual-power system power supply circuit thereof, wherein the dual-power system power supply circuit comprises: the power supply device comprises a first power transmission circuit, a power supply judging circuit and a switching circuit; the first power transmission circuit is electrically connected between the first power supply and the load; the first power transmission circuit is used for transmitting a voltage signal of the first power supply to the load when the voltage of the first power supply is greater than the voltage of the load end; the power supply judging circuit is respectively electrically connected with the first power supply and the control end of the switch circuit; the power supply judging circuit is used for controlling the switching circuit to be switched on or switched off according to the voltage signal of the first power supply; the switch circuit is electrically connected between the second power supply and the load, and the switch circuit is used for transmitting a voltage signal of the second power supply to the load when the switch circuit is conducted. According to the embodiment of the utility model, when the electric quantity of the first power supply is too low or the power supply is stopped, the second power supply is used for supplying power to the load, so that the recovery of the robot is realized, and the robot is prevented from being out of control to become an obstacle of a cable pipeline or a circuit.
Description
Technical Field
The embodiment of the utility model relates to the technical field of robot power supply, in particular to a pipe-penetrating robot and a power supply circuit of a dual-power system of the pipe-penetrating robot.
Background
With the rapid development of urban power cable power supply networks, the pressure of power grid construction and operation safety is multiplied, so that the development of environmental monitoring of cable channels is an important guarantee for the safe production and stable operation of a power system.
With the development of artificial intelligence, robots are now commonly used to replace manual inspection and maintenance on lines or cable ducts. The pipe-penetrating robot is generally powered by a single power supply, inspection and maintenance of the pipe-penetrating robot are non-visual control, abnormal conditions such as locked rotor and the like easily occur to a motor in an internal driving system of the pipe-penetrating robot in the running process of the pipe-penetrating robot, and large current can occur to the motor in the locked rotor process, so that short-circuit protection is performed inside a power supply, power supply is stopped, the robot is out of control, inspection tasks cannot be completed, even the robot is retained in a pipeline and cannot be recovered, and the problem becomes an obstacle on a line or in a small-diameter pipeline, and serious consequences are caused.
Disclosure of Invention
The utility model provides a pipe-penetrating robot and a dual-power-supply-system power supply circuit thereof, which can use a second power supply to continuously supply power to the pipe-penetrating robot after a first power supply stops supplying power.
In a first aspect, an embodiment of the present invention provides a dual power supply system power supply circuit, including: the power supply device comprises a first power transmission circuit, a power supply judging circuit and a switching circuit;
the first power transmission circuit is electrically connected between a first power source and a load; the first power transmission circuit is used for transmitting a voltage signal of the first power supply to the load when the voltage of the first power supply is greater than the voltage of the load end;
the power supply judging circuit is respectively electrically connected with the first power supply and the control end of the switch circuit; the power supply judging circuit is used for controlling the switching circuit to be switched on or switched off according to the voltage signal of the first power supply;
the switch circuit is electrically connected between the second power supply and the load, and is used for transmitting a voltage signal of the second power supply to the load when the switch circuit is conducted.
Optionally, the first power transmission circuit includes a diode;
an anode of the diode is electrically connected to the first power source and a cathode of the diode is electrically connected to the load.
Optionally, the switch circuit includes a first transistor and a first voltage dividing resistor;
a first pole of the first transistor is electrically connected with the second power supply, and a second pole of the first transistor is electrically connected with the load; the control electrode of the first transistor is electrically connected with the power supply judging circuit;
the first voltage dividing resistor is electrically connected between the first electrode of the first transistor and the control electrode of the first transistor.
Optionally, the power supply judging circuit includes a comparing module and a switch module;
the input end of the comparison module is electrically connected with the first power supply, and the output end of the comparison module is electrically connected with the control end of the switch module; the comparison module is used for providing a switch control signal for the switch module according to the voltage signal of the first power supply;
the first end of the switch module is electrically connected with the control end of the switch circuit, and the second end of the switch module is grounded; the switch module is used for controlling the switch circuit to be switched on or switched off according to the switch control signal.
Optionally, the comparison module includes a first resistor, a second resistor, and a comparator;
the first end of the first resistor is electrically connected with the first power supply, the second end of the first resistor is grounded through the second resistor, and the second end of the first resistor is also electrically connected with the non-inverting input end of the comparator; the inverting input end of the comparator is electrically connected with the reference power supply, and the output end of the comparator is electrically connected with the control end of the switch module.
Optionally, the first resistor is a variable resistor or a digital potentiometer.
Optionally, the switch module includes a third resistor and a second transistor;
the control electrode of the second transistor is electrically connected with the output end of the comparator, the first electrode of the second transistor is electrically connected with the control end of the switch circuit, and the second electrode of the second transistor is grounded;
the third resistor is electrically connected between the control electrode of the second transistor and the second electrode of the second transistor.
Optionally, the dual power supply system power supply circuit further includes: a second voltage dividing resistor and a third voltage dividing resistor;
the second voltage-dividing resistor is electrically connected between the output end of the comparator and the control electrode of the second transistor; the third voltage dividing resistor is electrically connected between the first pole of the second transistor and the control end of the switch circuit.
In a second aspect, an embodiment of the present invention further provides a tube threading robot, including: the dual power supply system power supply circuit of any one of the above.
Optionally, the tube threading robot further comprises: a first battery and a second battery;
the first storage battery is used for providing a first power supply; the second storage battery is used for providing a second power supply;
wherein the first battery has a larger capacity than the second battery.
According to the power supply circuit of the dual power supply system provided by the embodiment of the utility model, when the first power supply can normally supply power, the first power supply supplies power to the load through the first power supply transmission circuit, and when the electric quantity of the first power supply is too low or the power supply is stopped, the power supply judgment circuit controls the switch circuit to be switched on, so that the second power supply supplies power to the load. So, when the load is for the power consumption system of poling robot, when unexpected circumstances such as locked-rotor appear in the motor among the power consumption system, first power can stop the power supply, can supply power to the power consumption system through the second power this moment, until shifting out the key position of cable duct or circuit to realize the recovery of robot, avoid the robot to be out of control and become the obstacle of cable duct or circuit. The power supply circuit of the dual-power system provided by the embodiment of the utility model has the advantages of simple structure, easiness in realization and capability of being widely applied.
Drawings
Fig. 1 is a schematic structural diagram of a power supply circuit of a dual power supply system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another dual power supply system power supply circuit provided in the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a power supply circuit of a dual power supply system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting of the utility model. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic structural diagram of a dual power supply system power supply circuit provided in an embodiment of the present invention, and as shown in fig. 1, the dual power supply system power supply circuit includes: a first power transmission circuit 10, a power supply judgment circuit 20, and a switch circuit 30; the first power transmission circuit 10 is electrically connected between the first power source E1 and the load 40; the first power transmission circuit 10 is configured to transmit a voltage signal of the first power source E1 to the load 40 when the voltage of the first power source E1 is greater than the voltage at the end of the load 40; the power supply judging circuit 20 is electrically connected with the first power supply E1 and the control end of the switch circuit 30 respectively; the power supply judging circuit 20 is configured to control the switching circuit 30 to be turned on or off according to a voltage signal of the first power supply E1; the switch circuit 30 is electrically connected between the second power source E2 and the load 40, and the switch circuit 30 is configured to transmit a voltage signal of the second power source E2 to the load 40 when conducting.
In the embodiment of the present invention, the load 40 may be an electric system of the pipe penetrating robot, and the electric system may include, for example, a control system, a driving system, and the driving system may include a dc speed reduction motor, a stepping motor, a gyroscope, and the like. When abnormal faults such as motor stalling occur in the process of inspection of the pipe-threading robot, a power supply supplying power to an electricity utilization system of the pipe-threading robot can carry out short-circuit protection, and signal output is stopped.
Specifically, when the poling robot works normally, the first power supply E1 is used for supplying power, the first power transmission circuit 10 transmits the voltage signal provided by the first power supply E1 to the load 40, so that the poling robot can perform inspection work, and at this time, the power supply judgment circuit 20 controls the switch circuit 30 to be in the off state according to the voltage signal provided by the first power supply E1, so that only the first power supply E1 supplies power to the load 40. When the poling robot has an accident situation such as motor stalling, the first power supply E1 supplying power to the power system stops supplying power due to the protection of circuit breaking, which is equivalent to that the first power supply E1 provides an abnormal voltage signal, the power supply judging circuit 20 controls the switch circuit 30 to be in a conducting state according to the abnormal voltage signal provided by the first power supply E1, so that the voltage signal provided by the second power supply E2 can be transmitted to the load through the switch circuit 30 to continue supplying power to the load, the poling robot can continue to work for a period of time until the key position of the pipeline or line is moved out, the poling robot is recycled, and the robot is prevented from being out of control to become an obstacle of a cable pipeline or line.
According to the power supply circuit of the dual power supply system provided by the embodiment of the utility model, when the first power supply can normally supply power, the first power supply supplies power to the load through the first power supply transmission circuit, and when the electric quantity of the first power supply is too low or the power supply is stopped, the power supply judgment circuit controls the switch circuit to be switched on, so that the second power supply continues to supply power to the load. When the load is the power consumption system of poling robot, can be when first power stops the power supply, continue to supply power for the poling robot through the second power, for the poling robot provides sufficient electric quantity in order to carry out follow-up task or operation to circuit structure is simple, easily realizes, can the wide application.
Optionally, fig. 2 is a schematic structural diagram of another dual power supply system power supply circuit provided in the embodiment of the present invention, and as shown in fig. 2, the first power transmission circuit 10 includes a diode D1; an anode of the diode D1 is electrically connected to the first power source E1, and a cathode of the diode D1 is electrically connected to the load 40.
Specifically, when the first power source E1 supplies power normally, the voltage signal provided by the first power source E1 is transmitted to the load 40 through the diode D1 to supply power to the load, and when the first power source E1 is too low or stops supplying power due to short-circuit protection, the voltage signal output by the first power source E1 has a lower potential, and since the second power source E2 continues to supply power to the load 40 at this time, the potential at the end of the load 40 is higher than the potential at the position of the first power source E1, so that the diode D1 is turned off in the reverse direction, which is equivalent to an open circuit, and the electrical signal provided by the second power source E2 is prevented from being transmitted from the end of the load 40 to the first power source E1 through the first power transmission circuit 10 in the reverse direction.
Alternatively, referring to fig. 2, the switching circuit 30 includes a first transistor T1 and a first voltage dividing resistor R0; a first pole of the first transistor T1 is electrically connected to the second power source E2, and a second pole of the first transistor T1 is electrically connected to the load 40; the control electrode of the first transistor T1 is electrically connected to the power supply determination circuit 20; the first voltage dividing resistor R0 is electrically connected between the first electrode of the first transistor T1 and the control electrode of the first transistor T1.
Specifically, when the power supply determining circuit 20 controls the first transistor T1 to be in the off state, the second power source E2 is disconnected from the load 40, and the first power source E1 supplies power to the load 40, and when the first power source E1 is too low or stops supplying power, the power supply determining circuit 20 controls the first transistor T1 to be turned on, so that the voltage signal provided by the second power source E2 is transmitted to the load 40 through the turned-on first transistor T1 to supply power to the load 40. For example, the first transistor T1 may be a P-type field effect transistor, and when the first power source E1 supplies power to the load 40, the power supply determining circuit 20 may control the control electrode of the first transistor T1 to be at a high level, that is, the voltage signal provided by the second power source E2 is transmitted to the control electrode of the first transistor T1 through the first voltage dividing resistor R0, so that the first transistor T1 is in an off state; when the first power source E1 stops supplying power, the power supply determining circuit 20 can control the control level of the first transistor T1 to be low, so that the first transistor T1 is in a conducting state, and the second power source E2 supplies power to the load 40. Among them, the resistance value of the first dividing resistor R0 is preferably 47K Ω.
Optionally, with continued reference to fig. 2, the power supply judging circuit 20 includes a comparing module 21 and a switching module 22; the input end of the comparison module 21 is electrically connected with the first power supply E1, and the output end of the comparison module 21 is electrically connected with the control end of the switch module 22; the comparison module 21 is configured to provide a switch control signal to the switch module 22 according to a voltage signal of the first power source E1; a first end of the switch module 22 is electrically connected with a control end of the switch circuit 30, and a second end of the switch module 22 is grounded GND; the switch module 22 is used for controlling the switch circuit 30 to be switched on or off according to the switch control signal.
Specifically, assuming that a connection node of the first voltage dividing resistor R0, the control electrode of the first transistor T1 and the switch module 22 is a first node a, the comparison module 21 may compare the voltage signal provided by the first power supply E1 with a set reference voltage, and if the voltage signal provided by the first power supply E1 is greater than the reference voltage, the switch control signal output by the comparison module 21 controls the switch module 22 to be turned on, so that the first voltage dividing resistor R0 and the switch module 22 divide the voltage signal provided by the second power supply E2, a voltage Va is generated at the first node a, and it is obvious that the voltage Va at the first node a is at a high level, and the first transistor T1 is controlled to be in an off state; if the voltage signal provided by the first power source E1 is less than the reference voltage, the switch control signal output by the comparison module 21 controls the switch module 22 to be turned off, and at this time, the branch formed by the second power source E2, the first voltage-dividing resistor R0 and the switch module 22 is in an off state, and the first node a is at a low level, so as to control the first transistor T1 to be in an on state, so that the second power source E2 can supply power to the load.
Optionally, fig. 3 is a schematic structural diagram of another dual power supply system power supply circuit provided in the embodiment of the present invention, and as shown in fig. 3, the comparing module 21 includes a first resistor R1, a second resistor R2, and a comparator U1; a first end of the first resistor R1 is electrically connected with a first power supply E1, a second end of the first resistor R1 is grounded to GND through a second resistor R2, and a second end of the first resistor R1 is also electrically connected with a non-inverting input end of the comparator U1; an inverting input terminal of the comparator U1 is electrically connected to the reference power Vref, and an output terminal of the comparator U1 is electrically connected to the control terminal of the switch module 22.
Specifically, assuming that the connection node of the first resistor R1, the second resistor R2 and the non-inverting input terminal of the comparator U1 is the second node b, the voltage signal provided by the first power source E1 is divided by the first resistor R1 and the second resistor R2 to generate a voltage Vb at the second node b, the voltage Vb is provided to the non-inverting input terminal of the comparator U1, the reference voltage provided by the reference power Vref electrically connected to the inverting input terminal of the comparator U1 is compared, according to the characteristics of the comparator U1, when the voltage signal (Vb voltage) received at the non-inverting input terminal of the comparator U1 is greater than the voltage signal (reference voltage) received at the inverting input terminal, the switch control signal provided by the comparator U1 to the control terminal of the switch module 22 is at a high level, and conversely, when the voltage signal (voltage Vb) received at the non-inverting input terminal of the comparator U1 is less than the voltage signal (reference voltage) received at the inverting input terminal, the switch control signal provided by the comparator U1 to the control terminal of the switch module 22 is low.
For example, the first resistor R1 may be a variable resistor or a digital potentiometer, so that the voltage threshold for the first power source E1 to stop supplying power may be set as required; the resistance value of the second resistor R2 can be set according to western medicines; the reference voltage provided by the reference power Vref may be set as needed, and may be 3.3V, for example.
Alternatively, referring to fig. 3, the switch module 22 includes a third resistor R3 and a second transistor T2; a control electrode of the second transistor T2 is electrically connected with the output end of the comparator U1, a first electrode of the second transistor T2 is electrically connected with the control end of the switch circuit 30, and a second electrode of the second transistor T2 is grounded GND; the third resistor R3 is electrically connected between the control electrode of the second transistor T2 and the second electrode of the second transistor.
Specifically, the third resistor R3 is a voltage dividing resistor, and the switching control signal output by the comparator U1 is grounded to GND through the third resistor R3 on one hand and transmitted to the control electrode of the second transistor T2 on the other hand, so as to prevent the second transistor from being damaged due to an excessively large voltage transmitted to the control electrode of the second transistor T2. Illustratively, the second transistor T2 is preferably an N-type transistor, and when the switching control signal received by the control electrode thereof is at a high level, the second transistor T2 is in a conducting state, and then the voltage signal provided by the second power supply E2 is grounded to GND through the first voltage-dividing resistor R0 and the second transistor T2, and then the voltage Va generated at the first node a is at a high level, so as to control the first transistor T1 to be in a disconnected state; when the switch control signal received by the control electrode of the second transistor T2 is at a low level, the second transistor T2 is in an off state, and at this time, the branch formed by the second power supply E2, the first voltage-dividing resistor R0 and the second transistor T2 is in an off state, and at this time, the voltage Va at the first node a is at a low level, and the first transistor T1 can be controlled to be in an on state. The resistance of the third resistor R3 is preferably 51K Ω.
Optionally, with continued reference to fig. 3, the dual power system supply circuit includes a second voltage dividing resistor R4 and a third voltage dividing resistor R5; the second voltage-dividing resistor R4 is electrically connected between the output terminal of the comparator U1 and the control electrode of the second transistor T2; the third voltage dividing resistor R5 is electrically connected between the first pole of the second transistor T2 and the control terminal of the switch circuit 30.
Specifically, in order to further protect the second transistor T2, a second voltage-dividing resistor R4 may be electrically connected between the output terminal of the comparator U1 and the control electrode of the second transistor T2, so that the switch control signal output by the comparator U1 may be divided by the second voltage-dividing resistor R4 and the third resistor R3, and the voltage at the connection node of the second voltage-dividing resistor R4 and the third resistor R3 is provided to the control electrode of the second transistor T2. Similarly, in order to further protect the first transistor T1, a third voltage dividing resistor R5 may be electrically connected between the first pole of the second transistor T2 and the control terminal of the switch circuit 30, and when the second transistor T2 is turned on, the voltage signal provided by the second power source E2 is grounded to GND through the first pole and the second pole of the first voltage dividing resistor R0, the third voltage dividing resistor R5 and the second transistor T2 connected in series, so that the voltage Va at the first node a is further reduced, and the first transistor T1 is prevented from being damaged due to an excessive voltage.
Based on the same concept, the embodiment of the present invention further provides a poling robot, including the dual power supply system power supply circuit provided in any embodiment of the present invention, so that the poling robot provided in the embodiment of the present invention has the technical features of the dual power supply system power supply circuit provided in any embodiment of the present invention, and can achieve the beneficial effects of the dual power supply system power supply circuit provided in any embodiment of the present invention.
Optionally, the poling robot may include a first battery and a second battery; the first storage battery is used for providing a first power supply; the second storage battery is used for providing a second power supply; wherein the first battery has a larger capacity than the second battery. So, because the volume and the electric capacity of battery become certain positive correlation, consequently make the less capacity electric quantity that can realize the poling robot on the basis of retrieving of second battery, satisfy the small design of robot, when the first power that first battery provided is the load power supply, the poling robot is in normal operating condition, in order to patrol and examine cable duct or circuit, when the second battery is used for providing the second power and supplies power for the load, the poling robot can switch into low-power mode, steerable robot shifts out the key position of pipeline or circuit as soon as possible this moment, realize the recovery of poling robot, and avoid the robot to be detained and become the obstacle in pipeline or circuit.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A dual power supply system power supply circuit, comprising: the power supply device comprises a first power transmission circuit, a power supply judging circuit and a switching circuit;
the first power transmission circuit is electrically connected between a first power source and a load; the first power transmission circuit is used for transmitting a voltage signal of the first power supply to the load when the voltage of the first power supply is greater than the voltage of the load end;
the power supply judging circuit is respectively electrically connected with the first power supply and the control end of the switch circuit; the power supply judging circuit is used for controlling the switching circuit to be switched on or switched off according to the voltage signal of the first power supply;
the switch circuit is electrically connected between the second power supply and the load, and is used for transmitting a voltage signal of the second power supply to the load when the switch circuit is conducted.
2. The dual power supply system power supply circuit of claim 1, wherein the first power transmission circuit comprises a diode;
an anode of the diode is electrically connected to the first power source and a cathode of the diode is electrically connected to the load.
3. The dual power supply system circuit of claim 1, wherein the switching circuit comprises a first transistor and a first voltage dividing resistor;
a first pole of the first transistor is electrically connected with the second power supply, and a second pole of the first transistor is electrically connected with the load; the control electrode of the first transistor is electrically connected with the power supply judging circuit;
the first voltage dividing resistor is electrically connected between the first electrode of the first transistor and the control electrode of the first transistor.
4. The dual power supply system power supply circuit of claim 1, wherein the power supply judgment circuit comprises a comparison module and a switch module;
the input end of the comparison module is electrically connected with the first power supply, and the output end of the comparison module is electrically connected with the control end of the switch module; the comparison module is used for providing a switch control signal for the switch module according to the voltage signal of the first power supply;
the first end of the switch module is electrically connected with the control end of the switch circuit, and the second end of the switch module is grounded; the switch module is used for controlling the switch circuit to be switched on or switched off according to the switch control signal.
5. The dual power supply system power supply circuit of claim 4, wherein the comparison module comprises a first resistor, a second resistor, and a comparator;
the first end of the first resistor is electrically connected with the first power supply, the second end of the first resistor is grounded through the second resistor, and the second end of the first resistor is also electrically connected with the non-inverting input end of the comparator; the inverting input end of the comparator is electrically connected with the reference power supply, and the output end of the comparator is electrically connected with the control end of the switch module.
6. The dual power supply system of claim 5, wherein the first resistor is a variable resistor or a digital potentiometer.
7. The dual power supply system circuit of claim 4, wherein the switch module comprises a third resistor and a second transistor;
the control electrode of the second transistor is electrically connected with the output end of the comparator, the first electrode of the second transistor is electrically connected with the control end of the switch circuit, and the second electrode of the second transistor is grounded;
the third resistor is electrically connected between the control electrode of the second transistor and the second electrode of the second transistor.
8. The dual power supply system power supply circuit of claim 7, further comprising: a second voltage dividing resistor and a third voltage dividing resistor;
the second voltage-dividing resistor is electrically connected between the output end of the comparator and the control electrode of the second transistor; the third voltage dividing resistor is electrically connected between the first pole of the second transistor and the control end of the switch circuit.
9. A poling robot, comprising: the dual power supply system power supply circuit of any one of claims 1-8.
10. A threading robot according to claim 9, further comprising: a first battery and a second battery;
the first storage battery is used for providing a first power supply; the second storage battery is used for providing a second power supply;
wherein the first battery has a larger capacity than the second battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111245164.7A CN113991828B (en) | 2021-10-26 | 2021-10-26 | Poling robot and dual power supply system power supply circuit thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111245164.7A CN113991828B (en) | 2021-10-26 | 2021-10-26 | Poling robot and dual power supply system power supply circuit thereof |
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| CN113991828A true CN113991828A (en) | 2022-01-28 |
| CN113991828B CN113991828B (en) | 2024-08-30 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006304544A (en) * | 2005-04-22 | 2006-11-02 | Sanyo Electric Co Ltd | Battery charging system for autonomous mobile robot |
| KR20110096191A (en) * | 2010-02-22 | 2011-08-30 | 한전케이피에스 주식회사 | Inspecting robot for power transmission line |
| CN209419314U (en) * | 2019-03-05 | 2019-09-20 | 东莞钜威动力技术有限公司 | A kind of double power supply circuit |
| CN112290525A (en) * | 2020-11-05 | 2021-01-29 | 京东数科海益信息科技有限公司 | Track inspection equipment, power supply management method and storage medium |
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2021
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006304544A (en) * | 2005-04-22 | 2006-11-02 | Sanyo Electric Co Ltd | Battery charging system for autonomous mobile robot |
| KR20110096191A (en) * | 2010-02-22 | 2011-08-30 | 한전케이피에스 주식회사 | Inspecting robot for power transmission line |
| CN209419314U (en) * | 2019-03-05 | 2019-09-20 | 东莞钜威动力技术有限公司 | A kind of double power supply circuit |
| CN112290525A (en) * | 2020-11-05 | 2021-01-29 | 京东数科海益信息科技有限公司 | Track inspection equipment, power supply management method and storage medium |
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