CN114488910A - Restart control device and robot - Google Patents
Restart control device and robot Download PDFInfo
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- CN114488910A CN114488910A CN202210150968.7A CN202210150968A CN114488910A CN 114488910 A CN114488910 A CN 114488910A CN 202210150968 A CN202210150968 A CN 202210150968A CN 114488910 A CN114488910 A CN 114488910A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
The invention discloses a restarting control device and a robot, wherein when a user controls a first controllable switch module to be switched on through a communication processing module, a driving switch module is switched off, and meanwhile, a feedback module sends a second signal representing that the robot is to be restarted to a control module, at the moment, a main power supply can not supply power to all power utilization modules any more, so that the complete machine power failure of the robot is realized, and the control module can keep controlling the driving switch module to be switched off when receiving the second signal until a preset time length is reached and then controls the driving switch module to be switched on to recover the power supply of the main power supply to all the power utilization modules, so that the complete machine is restarted. Compared with the prior art, the scheme does not need to adopt a manual restarting mode, does not need to go to a stagnation position of the robot, realizes remote reliable restarting control on the robot on the basis of combining an original hardware circuit of the power module, is more convenient to control, and has quick response to the robot when needing to restart.
Description
Technical Field
The invention relates to the field of robot control, in particular to a restart control device and a robot.
Background
Compared with the traditional manual robot, the robot has the advantages of convenience, rapidness, inexperience and high efficiency, and different types of robots are widely applied to multiple fields, such as family service robots, industrial automation robots and the like. The robot motion control includes positioning, navigation, perception, decision-making, tracking, and the like, and in order to realize the motion control of the robot, the robot hardware control device generally includes a basic motion control device (including mechanical structures such as a motion base and the like), a robot hardware control device, a software control device and a cloud service device, and the robot hardware control device can be further divided into a power module, a motion control module, a navigation industrial control module and a communication module, wherein the communication module, the navigation industrial control module and the motion control module are sequentially connected, the power module is used for supplying power to each module, and the navigation industrial control module is used for processing various information including communication information transmitted by the communication module.
However, during the automatic driving of the robot, some abnormal situations may occur, and the robot needs to be restarted. In the prior art, in order to restart the whole machine, a developer or a user needs to go to a position where the robot is currently stopped and manually press a start-up button for restarting, wherein the start-up button is a normally open button. Specifically, referring to fig. 1, fig. 1 is a schematic structural diagram of a power module in the prior art, when a switch button is pressed, a main switch is turned on, so that a main power supply supplies power to each load, where the load includes a communication module, a navigation industrial control module, a motion control module, and other devices. Therefore, when a developer or a user wants to restart the robot, the operating robot is first pressed to turn off the robot, and then the operating robot is pressed again to turn on the robot again, thereby completing the restart. However, the manual restart is very inconvenient and wastes manpower.
Disclosure of Invention
The invention aims to provide a restarting control device and a robot, which do not need manual restarting or going to a position where the robot is stopped, realize remote reliable restarting control on the robot, have more convenient control mode and have quick response to the restarting of the robot.
In order to solve the technical problem, the invention provides a restart control device which is applied to a power module, wherein the power module further comprises a main power supply, a manual switch module and a driving switch module; the main power supply is used for supplying power to each power utilization module in the robot through the driving switch module; the restarting control device comprises a communication processing module, a first controllable switch module, a feedback module and a control module;
the manual switch module is connected with the feedback module in series, one end of a circuit after the circuit is connected with a first power supply in series is connected, the other end of the circuit after the circuit is connected with the first end of the first controllable switch module, the control module and the control end of the driving switch module respectively, and the feedback module is also connected with the control module;
the control end of the first controllable switch module is connected with the communication processing module, and the second end of the first controllable switch module is grounded and used for being conducted to enable the driving switch module to be turned off when a first signal which is sent by a user through the communication processing module and represents that the robot is to be restarted is received; turning off when the first signal is not received to turn on the driving switch module;
the feedback module is used for sending a second signal representing that the robot is to be restarted to the control module when the first controllable switch module is conducted; the control module is used for controlling the driving switch module to be switched on after being switched off for a preset time length when the second signal is received.
Preferably, the communication processing module comprises a communication module, a navigation industrial control module and a motion control module which form the robot;
the communication module, the navigation industrial control module and the motion control module are sequentially connected;
the communication module is used for receiving a third signal which is sent by the user and represents that the robot is to be restarted;
and the navigation industrial control module is used for transmitting the first signal to the control end of the first controllable switch module through the motion control module after the third signal is subjected to signal conversion, wherein the motion control module is used for transmitting the first signal.
Preferably, the driving switch module includes a first MOSFET, a first resistor, and a second controllable switch module;
a common end of a grid electrode of the first MOSFET and one end of the first resistor are connected and used as a control end of the driving switch module, a source electrode of the first MOSFET and the other end of the first resistor are connected and the connected common end is grounded, and a drain electrode of the first MOSFET is connected with a control end of the second controllable switch module;
the first end of the second controllable switch module is connected with the main power supply, and the second end of the second controllable switch module is connected with each power utilization module;
when the second signal is received, the driving switch module is controlled to be switched on after being switched off for a preset time, and the method comprises the following steps:
and when the second signal is received, the first MOSFET is controlled to be turned off for a preset time length to control the second controllable switch module to be turned off, and after the preset time length is reached, the first MOSFET is controlled to be turned on to control the second controllable switch module to be turned on.
Preferably, the manual switch module comprises a manual power-on button and a first current-limiting resistor;
the feedback module comprises a pull-up resistor and an optocoupler;
the anode of a light emitting diode of the optocoupler is used as one end of the circuit after series connection, the cathode of the light emitting diode is connected with the first end of the manual start-up button, the second end of the manual start-up button is connected with one end of the first current-limiting resistor, and the other end of the first current-limiting resistor is used as the other end of the circuit after series connection, wherein the manual start-up button is a normally open button;
a collector of a phototriode of the optocoupler is connected with one end of the pull-up resistor, a public end of the phototriode is connected with the control module, and an emitter of the phototriode is grounded;
the other end of the pull-up resistor is connected with a second power supply;
the light emitting diode is used for being switched on when the first controllable switch module is switched on and being switched off when the first controllable switch module is switched off; the phototriode is used for conducting when the light emitting diode is conducted and shutting off when the light emitting diode is shut off.
Preferably, the feedback module further comprises a diode;
the cathode of the diode is connected with the first power supply and the anode of the photosensitive diode respectively, and the anode of the diode is connected with the cathode of the photosensitive diode and the first end of the manual starting button respectively and used for protecting the optocoupler.
Preferably, the feedback module further includes a second current limiting resistor and a filter capacitor;
one end of the second current-limiting resistor is connected with the control module, and the other end of the second current-limiting resistor is respectively connected with a collector of the phototriode, one end of the filter capacitor and one end of the pull-up resistor and used for limiting current;
and the other end of the filter capacitor is connected with the emitter of the phototriode, and the connected public end of the filter capacitor is grounded and used for filtering.
Preferably, the control module comprises an MCU;
the MCU is connected with a third power supply, and the third power supply is used for supplying power to the MCU.
Preferably, the first controllable switch module comprises a second MOSFET;
the gate of the second MOSFET serves as the control terminal of the first controllable switch module, the drain of the second MOSFET serves as the first terminal of the first controllable switch module, and the source of the second MOSFET serves as the second terminal of the first controllable switch module.
Preferably, the first controllable switch module further includes a third current limiting resistor;
one end of the third current limiting resistor is connected with the grid electrode of the second MOSFET, and the other end of the third current limiting resistor is connected with the communication control module and used for limiting current.
In order to solve the technical problem, the invention also provides a robot, which comprises a power supply module, wherein the power supply module comprises a main power supply, a manual switch module and a driving switch module, and the main power supply is used for supplying power to each power utilization module in the robot through the driving switch module; the power module further comprises a restart control device as described above;
the driving switch module is respectively connected with the main power supply, the manual switch module and the restarting control device.
The invention provides a restarting control device and a robot, wherein the restarting control device comprises a communication processing module, a first controllable switch module, a feedback module and a control module, when a user controls the first controllable switch module to be conducted through the communication processing module, the driving switch module is turned off, meanwhile, the feedback module sends a second signal representing that the robot is to be restarted to the control module, at the moment, a main power supply can not supply power to all power utilization modules, the whole machine power failure of the robot is further realized, the control module can keep controlling the driving switch module to be turned off when receiving the second signal, and the driving switch module is controlled to be conducted until a preset time length is reached so as to recover the power supply of the main power supply to all the power utilization modules, and further, the whole machine is restarted. Compared with the prior art, the scheme does not need to adopt a manual restarting mode, does not need to go to a position where the robot is stagnated, and realizes remote reliable restarting control on the robot on the basis of combining an original hardware circuit of the power module, and the control mode is more convenient and quick in response to the robot when needing to be restarted.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a power module in the prior art;
fig. 2 is a schematic structural diagram of a restart control apparatus according to the present invention;
FIG. 3 is a schematic structural diagram of a USB-to-serial port circuit according to the present invention;
FIG. 4 is a schematic structural diagram of another USB-to-serial port circuit according to the present invention;
fig. 5 is a schematic structural diagram of another restart control apparatus provided in the present invention.
Detailed Description
The core of the invention is to provide the restart control device and the robot, manual restart is not needed, and the robot does not need to go to a position where the robot is stopped, so that the remote reliable restart control of the robot is realized, the control mode is more convenient and the response to the restart of the robot is rapid.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a restart control apparatus according to the present invention.
The restart control device is applied to a power module, and the power module also comprises a main power supply, a manual switch module and a drive switch module; the main power supply is used for supplying power to each power utilization module in the robot through the driving switch module; the restarting control device comprises a communication processing module 1, a first controllable switch module 2, a feedback module 3 and a control module 4;
the manual switch module is connected with the feedback module 3 in series, one end of a circuit after the circuit is connected with the first power supply, the other end of the circuit after the circuit is connected with the first end of the first controllable switch module 2, the control module 4 and the control end of the driving switch module respectively, and the feedback module 3 is also connected with the control module 4;
the control end of the first controllable switch module 2 is connected with the communication processing module 1, and the second end of the first controllable switch module 2 is grounded and used for being conducted to enable the driving switch module to be turned off when a first signal which is sent by a user through the communication processing module 1 and represents that the robot is to be restarted is received; when the first signal is not received, the driving switch module is turned off to be conducted;
the feedback module 3 is used for sending a second signal representing that the robot is to be restarted to the control module 4 when the first controllable switch module 2 is switched on; the control module 4 is used for controlling the driving switch module to be switched on after being switched off for a preset time length when receiving the second signal.
In this embodiment, in order to implement restart control of the robot in the prior art, a user or a developer needs to go to a current stop position of the robot, and the complete machine restart of the robot is implemented in a manual manner. In order to solve the above technical problem, the present invention provides a restart control apparatus including a communication processing module 1, a first controllable switch module 2, a feedback module 3, and a control module 4.
Specifically, when a user or a developer wants to restart the whole robot, a first signal representing that the robot is to be restarted may be sent to the first controllable switch module 2 through the communication processing module 1 in the restart control device, so as to turn on the first controllable switch module 2, where the first signal may be at a high level, and for other situations when the user does not send the first signal through the communication processing module 1, the communication processing module 1 may send a signal at a low level to the first controllable switch module 2 to ensure that the first controllable switch module 2 is reliably turned off, which is not particularly limited herein.
The main power supply is used for supplying power to each power utilization module in the robot through the driving switch module, and at the moment, for the driving switch module, as the first controllable switch module 2 is switched off, the driving switch module is switched off, so that the main power supply can not supply power to each power utilization module in the robot, and the power failure of the whole robot is realized; meanwhile, the feedback module 3 sends a second signal representing that the robot is to be restarted to the control module 4 when the first controllable switch module 2 is turned off, and in order to realize the restart, the control module 4 keeps controlling the driving switch module to be turned off when receiving the second signal, and controls the driving switch module to be turned on until a preset time is reached so as to recover the main power supply to supply power to each power utilization module in the robot, thereby realizing the restart of the whole robot. The preset time period here may be two seconds, and the preset time period is not particularly limited herein and may be set according to actual needs.
It should be noted that, the communication processing module 1 herein may multiplex an original communication module, a navigation industrial control module, and a motion control module in the robot, where the navigation industrial control module is configured to process various received information and then control a corresponding module in the robot to perform an action, and then the restart control device may be further configured to perform an intelligent self-check of the whole robot, that is, when the navigation industrial control module determines that the robot fails at present and needs to be restarted, a signal indicating that the robot is to be restarted is sent to the first controllable switch module 2 to control the first controllable switch module 2 to be turned off, and the control module 4 further performs a corresponding process to restart the whole robot.
It should be noted that, when it is determined that the robot is in the non-scheduling state, if the robot is still allowed to remain in the working state or the standby state for a long time, the electric quantity of the robot is greatly consumed, and the cruising ability of the robot is further reduced.
It should be noted that the electric device includes, but is not limited to, a communication module, a navigation industrial control module and a motion control module in the robot, wherein, considering that the navigation industrial control module is a high-speed digital device, an isolation module is required to be set when the power module supplies power to the electric device in actual setting, and an independent power supply is required; and other electricity utilization modules except the navigation industrial control module in the whole robot do not need to be provided with special isolation modules.
In addition, the control module 4 in the restart control device may also record the action of restarting the robot complete machine each time for performing statistical analysis subsequently, which is not particularly limited herein.
Of course, the control module 4 herein may stop sending any signal to the first controllable switch module 2 when the second signal is not received and when the navigation industrial control module determines that the robot is required to be restarted due to a failure occurring in the robot at present, the signal indicating that the robot is to be restarted is sent to the first controllable switch module 2, that is, the control pin of the control module 4 is suspended at this time, which is not particularly limited in this application.
In addition, a controllable switch may be further connected between the control module 4 and the driving switch module, a control end of the controllable switch is connected to the control module 4, a first end of the controllable switch is grounded, and a second end of the controllable switch is connected to the driving switch module, so that the control module 4 may control the controllable switch to turn off when the second signal is not received and when the navigation industrial control module determines that the robot fails at present and needs to be restarted, the signal indicating that the robot is to be restarted is sent to the first controllable switch module 2, which is equivalent to that the control pin of the control module 4 is suspended at this time; when the second signal is received and a signal representing that the robot is to be restarted is sent to the first controllable switch module 2 when the navigation industrial control module determines that the robot is in a fault and the complete machine needs to be restarted, the controllable switch is controlled to be turned on, at this time, the first end and the second end of the controllable switch are turned on, and the control end of the driving switch module is pulled to the ground to be turned off.
It should be noted that the restart control device provided in the present application may also be used to implement remote reliable shutdown control of the robot, and the present application is not particularly limited herein, and the logic of the control module 4 and the logic of the first controllable switch module 2 may be adaptively changed according to actual requirements, so as to implement reliable shutdown control.
Compared with the prior art, the restart control device does not need to adopt a manual restart mode or go to a position where the robot is stopped, remote and reliable restart control over the robot is achieved on the basis of combining an original hardware circuit of the power module, the control mode is more convenient and rapid, and response to the robot when the robot needs to be restarted is rapid.
On the basis of the above-described embodiment:
as a preferred embodiment, the communication processing module 1 includes modules constituting a communication module, a navigation industrial control module and a motion control module in the robot;
the communication module, the navigation industrial control module and the motion control module are sequentially connected;
the communication module is used for receiving a third signal which is sent by a user and represents that the robot is to be restarted;
the navigation industrial control module is used for sending a first signal to the control end of the first controllable switch module 2 through the motion control module after the third signal is subjected to signal conversion, wherein the motion control module is used for transmitting the first signal.
In this embodiment, the communication processing module 1 may include modules constituting a communication module, a navigation industrial control module and a motion control module in the robot, where the communication module includes, but is not limited to, a 4G communication device, and the application is not limited herein.
The user sends a third signal representing that the robot is to be restarted to the communication module, and the communication module sends the third signal to the navigation industrial control module after receiving the third signal, wherein the user sends the third signal to the communication module through a remote control device such as a remote controller, and the application is not particularly limited herein. Therefore, the navigation industrial control module needs to perform signal conversion on the third signal and then sends the first signal to the control end of the first controllable switch module 2 through the motion control module when receiving the third signal, and the reason for performing the signal conversion is limited by the rules of signal routing and logic control among various modules in the robot, the navigation industrial control module cannot directly send the signal to the power module, but the navigation industrial control module performs signal translation, namely signal transmission, and then sends the signal to the power module, and the communication module generally transmits differential signals, namely 4 signal lines, but a single chip in the motion control module generally adopts a serial port communication mode, namely two signal lines are fed in and fed out; therefore, when the navigation industrial control module sends the third signal to the motion control module, signal conversion from the USB to the serial port needs to be carried out.
Specifically, referring to fig. 3 and fig. 4, fig. 3 is a schematic structural diagram of a USB to serial port circuit provided in the present invention, and fig. 4 is a schematic structural diagram of another USB to serial port circuit provided in the present invention. The circuit elements required by the whole USB-to-serial port circuit are shown in fig. 3 and 4, wherein the USB1 included in the USB-to-serial port circuit in fig. 4 is a USB interface, and is plugged into the navigation industrial control module to communicate the navigation industrial control module with the motion control module, and the U17 in fig. 3 is a USB-to-serial port chip coming from the navigation industrial control module to provide an interface conversion function for the communication between the single chip microcomputer in the motion control module and the navigation industrial control module; u16 is an isolation chip and is responsible for isolating the communication between the control module in the motion control module, i.e. the single chip microcomputer, and the USB-to-serial port chip, i.e. U17, and preventing the interference of high-frequency digital signals; u32 is an isolation power supply and provides independent direct current power supply for communication between the navigation industrial control module and the motion control module; the Q257 is a switch circuit including a controllable switch of the Q257 direct current power supply, and when the communication between the navigation industrial control module and the motion control module fails, the motion control module can power on and reset the USB-to-serial port circuit again. More specifically, the information interaction process is as follows: when the navigation industrial control module and the motion control module are to be communicated, firstly, the VGS voltage of the Q112 is required to be increased, the controllable switch Q257 is conducted, so that the input of the isolation power supply module U32 obtains 5V voltage, and then the 5V power supply for isolating power supply is turned on, and preparation is made for communication between the navigation industrial control module and the motion control module; signals of the navigation industrial control module are transmitted to a UART serial port of a singlechip in the motion control module through a USB interface USB1 according to a corresponding communication protocol and a communication speed in a real-time bidirectional transceiving instruction packet.
It can be seen that the execution logic of the communication processing module 1 can be simply and reliably realized by such an arrangement of multiplexing modules in the original robot, and the redundancy of circuit design is reduced.
Referring to fig. 5, fig. 5 is a schematic structural diagram of another restart control apparatus provided in the present invention.
As a preferred embodiment, the driving switch module comprises a first mosfet q1, a first resistor R1, and a second controllable switch module 51;
the gate of the first mosfet q1 is connected with one end of the first resistor R1, and the connected common end is used as the control end of the driving switch module, the source of the first mosfet q1 is connected with the other end of the first resistor R1, and the connected common end is grounded, and the drain of the first mosfet q1 is connected with the control end of the second controllable switch module 51;
a first end of the second controllable switch module 51 is connected with a main power supply, and a second end of the second controllable switch module 51 is connected with each power utilization module;
when receiving the second signal, the drive switch module is controlled to be switched on after being switched off for a preset time, and the method comprises the following steps:
and controlling the first mosfet q1 to turn off for a preset time period when the second signal is received so as to control the second controllable switch module 51 to turn off, and controlling the first mosfet q1 to turn on after the preset time period is reached so as to control the second controllable switch module 51 to turn on.
In this embodiment, the driving switch module may include a first mosfet q1, a first resistor R1, and a second controllable switch module 51; here, the first resistor R1 can provide a bias voltage for the first mosfet q1 and prevent the first mosfet q1 from being broken down; the driving switch module may further include a first capacitor C1, one end of the first capacitor C1 is connected to the gate of the first mosfet q1, and the other end of the first capacitor C1 is connected to the source of the first mosfet q1 for filtering;
specifically, referring to fig. 5, the second controllable switch module 51 may include a third mosfet q3, a second resistor R2, a fourth mosfet q4, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a first regulator diode DZ1 and a second capacitor C2, a gate of the third mosfet q 28 is connected to one end of the second resistor R2, a gate of the fourth mosfet q4 is connected to one end of the third resistor R3, another end of the second resistor R2 is connected to another end of the third resistor R3, another end of the second capacitor C2, an anode of the first regulator diode DZ1, one end of the fourth resistor R4 and one end of the fifth resistor R5, another end of the fifth resistor R5 is used as a control end of the second controllable switch module 51, a source of the third mosfet q3 is connected to one end of the fourth mosfet q4, the other end of the second resistor R466, and the second resistor R2, the drain of the third mosfet q3 and the drain of the fourth mosfet q4 are connected and the common terminal of the connection serves as the second terminal of the second controllable switch module 51; and, the second resistor R2, the third resistor R3 and the fifth resistor R5 are used for limiting current, the fourth resistor R4 and the first voltage regulator DZ1 are used for ensuring that the gate and the source of the third mosfet q3 are equipotential to ensure reliable turn-off when the third mosfet q3 and the fourth mosfet q4 are turned off, the gate and the source of the fourth mosfet q4 are equipotential to ensure reliable turn-off, and the second capacitor C2 is used for filtering.
In addition, the drain and the source of the third mosfet q3 can also protect a first protection diode, the anode of the first protection diode is connected with the drain of the third mosfet q3, and the cathode of the first protection diode is connected with the source of the third mosfet q 3; here, the drain and the source of the fourth mosfet q4 may further protect a second protection diode, an anode of the second protection diode is connected to the drain of the fourth mosfet q4, and a cathode of the second protection diode is connected to the source of the fourth mosfet q 4.
Therefore, on the basis of the original circuit structure of the power supply module, the control logic for driving the switch module can be simply and reliably realized through the mode.
As a preferred embodiment, the manual switch module comprises a manual power-on button and a first current-limiting resistor;
the feedback module 3 comprises a pull-up resistor R6 and an optical coupler U1;
an anode of a light emitting diode of the optocoupler U1 is used as one end of a circuit after series connection, a cathode of the light emitting diode is connected with a first end of a manual start-up button, a second end of the manual start-up button is connected with one end of a first current-limiting resistor, and the other end of the first current-limiting resistor is used as the other end of the circuit after series connection, wherein the manual start-up button is a normally open button;
a collector of a phototriode of the optocoupler U1 is connected with one end of the pull-up resistor R6, a connected public end is connected with the control module 4, and an emitter of the phototriode is grounded;
the other end of the pull-up resistor R6 is connected with a second power supply;
the light emitting diode is used for being switched on when the first controllable switch module 2 is switched on and being switched off when the first controllable switch module 2 is switched off; the phototriode is used for conducting when the light emitting diode is conducted and shutting off when the light emitting diode is shut off.
In this embodiment, the manual switch module may include a manual power-on button and a first current-limiting resistor, and certainly, both ends of the manual power-on button may further include a capacitor for filtering, which is not particularly limited herein; it should be noted that, in order to ensure that the actions of the control module 4 and the manual start button do not affect each other, the restart control device may further include an interlock device 6, specifically, as shown in fig. 4, the interlock device 6 may further be connected to a resistor for limiting current, and the present application is not limited thereto.
Specifically, when the first controllable switch module 2 is turned off, the light emitting diode of the optocoupler U1 is not turned on, so that the phototriode is not turned on, and at this time, the control module 4 receives a signal, namely a high level signal, which is sent by the feedback module 3 and represents that the robot normally works; when the first controllable switch module 2 is turned on, the light emitting diode of the optocoupler U1 is turned on, so that the phototriode is turned on, the input of the second power supply is pulled down, and at this time, the control module 4 receives a second signal, namely a low level signal, sent by the feedback module 3, which represents that the robot is to be restarted.
Therefore, the control logic of the feedback module 3 can be simply and reliably realized by the mode, and the timeliness of the feedback response is ensured by the control closed loop formed by the feedback module 3.
As a preferred embodiment, the feedback module 3 further comprises a diode D1;
the cathode of the diode D1 is connected with the first power supply and the anode of the photosensitive diode respectively, and the anode of the diode D1 is connected with the cathode of the photosensitive diode and the first end of the manual start button respectively and used for protecting the optocoupler U1.
In this implementation, in order to guarantee the reliable work of opto-coupler U1, this feedback module 3 can also include diode D1 to realize the protection to opto-coupler U1, prevent that opto-coupler U1 from being punctured, and the implementation is simple reliable.
As a preferred embodiment, the feedback module 3 further includes a second current limiting resistor R7 and a filter capacitor C3;
one end of a second current-limiting resistor R7 is connected with the control module 4, and the other end of the second current-limiting resistor R7 is respectively connected with a collector of the phototriode, one end of a filter capacitor C3 and one end of a pull-up resistor R6 for current limiting;
the other end of the filter capacitor C3 is connected with the emitter of the phototriode, and the connected common end is grounded for filtering.
In this embodiment, the feedback module 3 may further include a second current limiting resistor R7 and a filter capacitor C3, and the second current limiting resistor R7 may implement current limiting and protect devices; the filter capacitor C3 can realize the filtering of the input voltage of the second power supply, and the control effect is ensured.
As a preferred embodiment, the control module 4 comprises an MCU;
the MCU is connected with a third power supply, and the third power supply is used for supplying power to the MCU.
In this embodiment, the control module 4 may include an MCU (Microcontroller Unit), and meanwhile, in order to ensure that the MCU can maintain power supply when the power of the whole device is off, the MCU may be connected to a third power supply.
Of course, the MCU may be replaced by another control chip, and the present application is not limited in particular, and may implement the control logic of the control module 4. Therefore, the control logic of the control module 4 can be simply and reliably realized by the mode, and the MCU has high running speed and low power consumption.
As a preferred embodiment, the first controllable switch module 2 comprises a second mosfet q 2;
the gate of the second mosfet q2 is used as the control terminal of the first controllable switch module 2, the drain of the second mosfet q2 is used as the first terminal of the first controllable switch module 2, and the source of the second mosfet q2 is used as the second terminal of the first controllable switch module 2.
In this embodiment, the first controllable switch module 2 may include the second MOSFET q2, the MOSFET has a small size, low power consumption, good thermal stability and low power consumption, and the execution logic of the first controllable switch module 2 can be simply and reliably implemented.
It should be noted that, the first controllable switch module 2 may further include a sixth resistor, one end of the sixth resistor is connected to the gate of the second mosfet q2, and the other end of the sixth resistor is grounded, so as to provide a bias voltage for the second mosfet q2 and prevent the second mosfet q2 from being broken down.
As a preferred embodiment, the first controllable switch module 2 further comprises a third current limiting resistor R8;
one end of the third current limiting resistor R8 is connected to the gate of the second mosfet q2, and the other end of the third current limiting resistor R8 is connected to the communication control module 4 for current limiting.
In this embodiment, the first controllable switch module 2 may further include a third current limiting resistor R8, and the third current limiting resistor R8 may be used for limiting current to protect the second mosfet q 2.
The invention also provides a robot, which comprises a power supply module, wherein the power supply module comprises a main power supply, a manual switch module and a driving switch module, and the main power supply is used for supplying power to each power utilization module in the robot through the driving switch module; the power module further comprises a restart control device as described above;
the driving switch module is respectively connected with the main power supply, the manual switch module and the restarting control device.
For the introduction of the robot provided in the present invention, please refer to the above embodiment of the restart control device, which is not described herein again.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed in the embodiment corresponds to the method disclosed in the embodiment, so that the description is simple, and the relevant points can be referred to the description of the method part.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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 identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The restart control device is applied to a power supply module, and the power supply module further comprises a main power supply, a manual switch module and a driving switch module; the main power supply is used for supplying power to each power utilization module in the robot through the driving switch module; the restarting control device comprises a communication processing module, a first controllable switch module, a feedback module and a control module;
the manual switch module is connected with the feedback module in series, one end of a circuit after the circuit is connected with a first power supply in series is connected, the other end of the circuit after the circuit is connected with the first end of the first controllable switch module, the control module and the control end of the driving switch module respectively, and the feedback module is also connected with the control module;
the control end of the first controllable switch module is connected with the communication processing module, and the second end of the first controllable switch module is grounded and used for being conducted to enable the driving switch module to be turned off when a first signal which is sent by a user through the communication processing module and represents that the robot is to be restarted is received; turning off when the first signal is not received to turn on the driving switch module;
the feedback module is used for sending a second signal representing that the robot is to be restarted to the control module when the first controllable switch module is conducted; the control module is used for controlling the driving switch module to be switched on after being switched off for a preset time length when the second signal is received.
2. The restart control apparatus according to claim 1, wherein said communication processing module includes modules constituting a communication module, a navigation industrial control module, and a motion control module in said robot;
the communication module, the navigation industrial control module and the motion control module are sequentially connected;
the communication module is used for receiving a third signal which is sent by the user and represents that the robot is to be restarted;
and the navigation industrial control module is used for transmitting the first signal to the control end of the first controllable switch module through the motion control module after the third signal is subjected to signal conversion, wherein the motion control module is used for transmitting the first signal.
3. The restart control apparatus of claim 1 wherein said drive switch module comprises a first MOSFET, a first resistor, and a second controllable switch module;
a common end of a grid electrode of the first MOSFET and one end of the first resistor are connected and used as a control end of the driving switch module, a source electrode of the first MOSFET and the other end of the first resistor are connected and the connected common end is grounded, and a drain electrode of the first MOSFET is connected with a control end of the second controllable switch module;
the first end of the second controllable switch module is connected with the main power supply, and the second end of the second controllable switch module is connected with each power utilization module;
when the second signal is received, the driving switch module is controlled to be switched on after being switched off for a preset time, and the method comprises the following steps:
and when the second signal is received, the first MOSFET is controlled to be turned off for a preset time length to control the second controllable switch module to be turned off, and after the preset time length is reached, the first MOSFET is controlled to be turned on to control the second controllable switch module to be turned on.
4. The restart control apparatus of claim 3, wherein said manual switch module comprises a manual power-on button and a first current limiting resistor;
the feedback module comprises a pull-up resistor and an optocoupler;
the anode of a light emitting diode of the optocoupler is used as one end of the circuit after series connection, the cathode of the light emitting diode is connected with the first end of the manual start-up button, the second end of the manual start-up button is connected with one end of the first current-limiting resistor, and the other end of the first current-limiting resistor is used as the other end of the circuit after series connection, wherein the manual start-up button is a normally open button;
a collector of a phototriode of the optocoupler is connected with one end of the pull-up resistor, a public end of the phototriode is connected with the control module, and an emitter of the phototriode is grounded;
the other end of the pull-up resistor is connected with a second power supply;
the light emitting diode is used for being switched on when the first controllable switch module is switched on and being switched off when the first controllable switch module is switched off; the phototriode is used for conducting when the light emitting diode is conducted and shutting off when the light emitting diode is shut off.
5. The restart control apparatus of claim 4, wherein said feedback module further comprises a diode;
the cathode of the diode is connected with the first power supply and the anode of the photosensitive diode respectively, and the anode of the diode is connected with the cathode of the photosensitive diode and the first end of the manual starting button respectively and used for protecting the optocoupler.
6. The restart control apparatus of claim 4, wherein said feedback module further comprises a second current limiting resistor and a filter capacitor;
one end of the second current-limiting resistor is connected with the control module, and the other end of the second current-limiting resistor is respectively connected with a collector of the phototriode, one end of the filter capacitor and one end of the pull-up resistor and used for limiting current;
and the other end of the filter capacitor is connected with the emitter of the phototriode, and the connected public end of the filter capacitor is grounded and used for filtering.
7. The restart control apparatus of claim 1, wherein said control module comprises an MCU;
the MCU is connected with a third power supply, and the third power supply is used for supplying power to the MCU.
8. The restart control device of any one of claims 1 to 7, wherein said first controllable switch module comprises a second MOSFET;
the gate of the second MOSFET serves as the control terminal of the first controllable switch module, the drain of the second MOSFET serves as the first terminal of the first controllable switch module, and the source of the second MOSFET serves as the second terminal of the first controllable switch module.
9. The restart control apparatus of claim 8 wherein said first controllable switch module further comprises a third current limiting resistor;
one end of the third current limiting resistor is connected with the grid electrode of the second MOSFET, and the other end of the third current limiting resistor is connected with the communication control module and used for limiting current.
10. A robot is characterized by comprising a power supply module, wherein the power supply module comprises a main power supply, a manual switch module and a driving switch module, and the main power supply is used for supplying power to each power utilization module in the robot through the driving switch module; the power supply module further comprising a restart control device according to any one of claims 1 to 9;
the driving switch module is respectively connected with the main power supply, the manual switch module and the restarting control device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210150968.7A CN114488910A (en) | 2022-02-18 | 2022-02-18 | Restart control device and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210150968.7A CN114488910A (en) | 2022-02-18 | 2022-02-18 | Restart control device and robot |
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