CN115085357A

CN115085357A - Power supply switching device and unmanned vehicle

Info

Publication number: CN115085357A
Application number: CN202210745127.0A
Authority: CN
Inventors: 许哲涛
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2022-06-27
Filing date: 2022-06-27
Publication date: 2022-09-20

Abstract

The utility model provides a power auto-control system and unmanned car can be applied to automatic driving technical field. The power switching device includes: the input end of the first reverse cut-off circuit is configured to be connected with a main power supply, and the output end of the first reverse cut-off circuit is configured to be connected with a load; the input end of the second reverse cut-off circuit is configured to be connected with a standby power supply, and the output end of the second reverse cut-off circuit is configured to be connected with the switch module; the gate control module is configured to be connected with the positive electrode of the main power supply and the enabling end of the switch module, and is configured to respond to abnormal power failure of the main power supply and output a control signal at a preset level to the enabling end; and the switch module is configured to be switched to a conducting state in response to the control signal at the preset level so as to supply power to the load by the standby power supply.

Description

Power supply switching device and unmanned vehicle

Technical Field

The present disclosure relates to the field of automatic driving technologies, and more particularly, to a power switching device and an unmanned vehicle.

Background

Among the many components of an unmanned vehicle, the autopilot suite is the core decision-making component of the unmanned vehicle. In the normal running process of the unmanned vehicle, an automatic driving suite is needed to provide a running decision so as to control the unmanned vehicle to finish actions such as forward, backward, turning, stopping and the like.

In the related technology, because the power supply scheme of the unmanned vehicle has no safety redundancy, the automatic driving kit is powered down along with the main battery failure, and the driving safety of the unmanned vehicle is influenced.

Disclosure of Invention

In view of this, the present disclosure provides a power switching device and an unmanned vehicle.

One aspect of the present disclosure provides a power switching apparatus including:

a first reverse blocking circuit, an input terminal of which is configured to be connected with a main power supply, and an output terminal of which is configured to be connected with a load;

a second reverse blocking circuit, an input terminal of the second reverse blocking circuit being configured to be connected to a standby power supply, and an output terminal of the second reverse blocking circuit being configured to be connected to the switch module;

the gate control module is configured to be connected with the positive electrode of the main power supply and the enabling end of the switch module, and is configured to respond to abnormal power failure of the main power supply and output a control signal at a preset level to the enabling end; and

the switch module is configured to switch to a conducting state in response to the control signal at a preset level, so that the standby power supply supplies power to the load.

According to an embodiment of the present disclosure, the switch module includes:

a first field effect transistor including a first source, a first drain and a first gate, the first source being configured to be grounded, the first drain being configured to be connected to a second source of the second field effect transistor through a first resistor and a second resistor, the first gate being configured to be connected to the enable terminal; and

the second field effect transistor includes the second source, a second drain, and a second gate, the second source is configured to be connected to the output terminal of the second reverse blocking circuit, the second drain is configured to be connected to the load, and the second gate is configured to be connected to the first resistor and the second resistor;

the first field effect transistor is an N-channel enhanced field effect transistor, and the second field effect transistor is a P-channel enhanced field effect transistor.

According to an embodiment of the present disclosure, the gate control module includes:

a first voltage dividing unit including a third resistor and a fourth resistor connected in series, one end of the third resistor being connected to a positive electrode of the main power supply, and one end of the fourth resistor being connected to a ground; and

and a gate circuit unit including a first signal input terminal and a first signal output terminal, the first signal input terminal being configured to be connected to the third resistor and the fourth resistor, and the first signal output terminal being configured to be connected to the enable terminal.

According to an embodiment of the present disclosure, the preset level is characterized as a high level state;

wherein, the gate circuit unit includes:

an inverter circuit, an input of the inverter circuit configured to be connected to the first signal input, and an output of the inverter circuit configured to be connected to the first signal output.

According to an embodiment of the present disclosure, the power switching apparatus further includes:

and the microcontroller comprises a first input and output end which is configured to be connected with the gate circuit unit.

wherein, the gate circuit unit includes:

an and circuit comprising a first gate input configured to be connected to the first signal input, a second gate input configured to be connected to the first input output, and a first gate output configured to be connected to a not circuit; and

the inverter circuit comprises a third gate input terminal and a second gate output terminal, the third gate input terminal is configured to be connected to the first gate output terminal, and the second gate output terminal is configured to be connected to the first signal output terminal;

the microcontroller is configured to control a level state of the control signal based on a level state of a level signal output at the first input/output terminal.

According to an embodiment of the present disclosure, the microcontroller further includes a second input/output end;

the power switching device further includes:

a third fet including a third source, a third drain, and a third gate, the third source being configured to be grounded, the third drain being configured to be connected to a fourth source of the fourth fet through a fifth resistor and a sixth resistor, the third gate being configured to be connected to the second input/output terminal; and

the fourth fet includes the fourth source, the fourth drain, and the fourth gate, the fourth source is configured to connect the output terminal of the switching module and the output terminal of the first reverse blocking circuit, the fourth drain is configured to connect the load, and the fourth gate is configured to connect the fifth resistor and the sixth resistor;

wherein the microcontroller is configured to control an on/off state of the third field effect transistor based on a level state of a level signal output at the second input/output terminal;

the third field effect transistor is an N-channel enhanced field effect transistor, and the fourth field effect transistor is a P-channel enhanced field effect transistor.

According to an embodiment of the present disclosure, the microcontroller further includes a third input/output end;

the power switching device further includes:

a buffer including a second signal input terminal and the second signal output terminal, the second signal input terminal being configured to be connected to the third resistor and the fourth resistor, the second signal output terminal being configured to be connected to the third input/output terminal;

wherein the microcontroller is configured to determine an operating state of the main power supply based on a level state of a level signal received at the third input/output terminal.

and the energy storage module comprises at least one energy storage capacitor, one end of the at least one energy storage capacitor is configured to be connected with the output end of the switch module and the output end of the first reverse cut-off circuit, the other end of the at least one energy storage capacitor is configured to be grounded, and the energy storage module is configured to supply power to the load under the condition that neither the main power supply nor the standby power supply supplies power.

According to an embodiment of the present disclosure, the first reverse blocking circuit includes:

a fifth field effect transistor including a fifth source, a fifth drain and a fifth gate, wherein the fifth source is configured to be connected to the positive electrode of the main power supply, the fifth drain is configured to be connected to the load, and the fifth gate is configured to be connected to the first control sub-circuit; and

the first control sub-circuit includes a third signal input terminal, a fourth signal input terminal and a third signal output terminal, the third signal input terminal is configured to be connected to the fifth source, the fourth signal input terminal is configured to be connected to the fifth drain, and the third signal output terminal is configured to be connected to the fifth gate.

According to an embodiment of the present disclosure, the second reverse blocking circuit includes:

a sixth fet including a sixth source, a sixth drain, and a sixth gate, the sixth source being configured to be connected to the positive electrode of the secondary power source, the sixth drain being configured to be connected to the input terminal of the switch module, and the sixth gate being configured to be connected to the second control sub-circuit; and

the second control sub-circuit includes a fifth signal input terminal, a sixth signal input terminal and a fourth signal output terminal, the fifth signal input terminal is configured to be connected to the sixth source, the sixth signal input terminal is configured to be connected to the sixth drain, and the fourth signal output terminal is configured to be connected to the sixth gate.

Another aspect of the present disclosure provides an unmanned vehicle comprising:

the chassis comprises a main battery device, a standby battery device and a power device; and

an autopilot kit;

wherein, a power switching device is arranged among the main battery device, the standby battery device and the automatic driving kit;

wherein, above-mentioned power switching device includes:

a first reverse cut-off circuit, an input terminal of which is configured to be connected to the main battery device, and an output terminal of which is configured to be connected to the autopilot kit;

a second reverse blocking circuit, an input terminal of the second reverse blocking circuit being configured to be connected to the battery backup apparatus, and an output terminal of the second reverse blocking circuit being configured to be connected to the switch module;

a gate control module configured to connect a positive electrode of the main battery device and an enable terminal of the switch module, wherein the gate control module is configured to output a control signal at a preset level to the enable terminal in response to an abnormal power failure of the main battery device; and

the switch module is configured to switch to a conducting state in response to the control signal at a preset level, so that the battery backup device supplies power to the autopilot kit.

According to an embodiment of the present disclosure, the main battery device or the auxiliary battery device is configured to supply power to the power device and the autopilot kit;

the automatic driving kit is configured to acquire and process environmental information of the unmanned vehicle, obtain a motion control signal, and send the motion control signal to the power plant; and

the power device is configured to control the unmanned vehicle to move in response to the movement control signal.

According to the embodiment of the disclosure, because the gate control module is connected to the anode of the main power supply and the enable end of the switch module, the gate control module can output the control signal of the preset level to the switch module according to the low level output by the main power supply under the condition of abnormal power failure of the main power supply. And because the input end and the output end of the second reverse cut-off circuit are respectively connected with the standby power supply and the switch module, and the second switch module responds to the control signal sent by the switch module and can control the second reverse cut-off circuit to be switched on, the power supply to the load is switched to the standby power supply under the condition of power failure of the main power supply, the technical problem of operation faults such as shutdown and the like caused by abnormal power failure of the main power supply is solved, and the technical effect of improving the operation stability of the load is realized. Meanwhile, the first reverse cut-off circuit is connected between the main power supply and the load, so that the current can be prevented from flowing back to the main power supply under the condition that the main power supply is abnormally powered off and the standby power supply supplies power to the load, the probability that the main power supply fails again is reduced, and the stability of load operation is integrally improved.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure with reference to the accompanying drawings, in which:

fig. 1 schematically illustrates a schematic diagram of a power switching apparatus according to an embodiment of the present disclosure;

figure 2A schematically illustrates a schematic diagram of a gating module according to an embodiment of the present disclosure.

FIG. 2B schematically illustrates a schematic diagram of a gate circuit cell according to an embodiment of the disclosure;

fig. 3 schematically illustrates a schematic diagram of a switch module according to an embodiment of the disclosure;

FIG. 4A schematically illustrates a schematic diagram of a first reverse blocking circuit, according to an embodiment of the present disclosure;

FIG. 4B schematically illustrates a schematic diagram of a first control sub-circuit, according to an embodiment of the present disclosure;

FIG. 5A schematically illustrates a schematic diagram of a second reverse blocking circuit, according to an embodiment of the present disclosure;

FIG. 5B schematically illustrates a schematic diagram of a second control sub-circuit, in accordance with an embodiment of the present disclosure;

FIG. 6A schematically illustrates a schematic diagram of a microcontroller and gating module according to an embodiment of the present disclosure;

FIG. 6B schematically illustrates a schematic diagram of a microcontroller and gating module according to another embodiment of the present disclosure;

FIG. 7A schematically illustrates a schematic diagram of a power switching apparatus according to another embodiment of the present disclosure;

fig. 7B schematically shows an operation timing diagram of a power switching apparatus according to another embodiment of the present disclosure;

fig. 7C schematically shows an operation timing diagram of a power switching apparatus according to still another embodiment of the present disclosure;

fig. 8 schematically shows an operation timing diagram of a power switching apparatus according to still another embodiment of the present disclosure.

Detailed Description

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.

Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a convention analogous to "A, B or at least one of C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B or C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).

The embodiment of the present disclosure provides a power switching device and an unmanned vehicle, the power switching device including: the input end of the first reverse cut-off circuit is configured to be connected with a main power supply, and the output end of the first reverse cut-off circuit is configured to be connected with a load; the input end of the second reverse cut-off circuit is configured to be connected with a standby power supply, and the output end of the second reverse cut-off circuit is configured to be connected with the switch module; the gate control module is configured to be connected with the positive electrode of the main power supply and the enabling end of the switch module, and is configured to respond to abnormal power failure of the main power supply and output a control signal at a preset level to the enabling end; and the switch module is configured to be switched to a conducting state in response to the control signal at the preset level so as to supply power to the load by the standby power supply.

Fig. 1 schematically shows a schematic diagram of a power switching apparatus according to an embodiment of the present disclosure.

As shown in fig. 1, the power switching apparatus includes a gate module 200, a switch module 300, a first reverse blocking circuit 400, and a second reverse blocking circuit 500.

An input terminal of the first reverse blocking circuit 400 is configured to be connected to the main power source 110, and an output terminal of the first reverse blocking circuit 400 is configured to be connected to the load 130.

The input terminal of the second reverse blocking circuit 500 is configured to be connected to the standby power source 120, and the output terminal of the second reverse blocking circuit 500 is configured to be connected to the switch module 300.

The gating module 200 is configured to connect the positive pole of the main power supply 110 and the enable terminal En1 of the switch module 300. The gating module 200 is configured to output a control signal at a preset level to the enable terminal En1 in response to an abnormal power down of the main power source 110.

The switch module 300 is configured to switch to a conductive state in response to the control signal at a preset level so that the standby power source 120 supplies power to the load 130.

According to an embodiment of the present disclosure, the input terminal of the first reverse cut-off circuit 400 may include a first voltage input terminal Vin1, and the output terminal of the first reverse cut-off circuit 400 may include a first voltage output terminal Vout 1. In the case that the main power supply 110 supplies power normally, the first voltage input terminal receives a high level voltage, and the first reverse blocking circuit 400 supplies power to the load 130 by using the first voltage output terminal Vout1, so that the load 130 can operate normally.

According to an embodiment of the present disclosure, the first reverse blocking circuit 400 may be formed of a switching device, such as a field effect transistor, a triode, or the like, and the first reverse blocking circuit 400 may indirectly control the on/off of the power supply loop of the main power source 110 to the load 130 by controlling the on/off of the switching device.

According to the embodiment of the present disclosure, when the main power source 110 is abnormally powered down, the main power source 110 will output a low level signal, and the gating module 200 will receive the low level signal from the main power source 110 at the first signal input terminal Sin1, so that the control signal at the preset level can be output to the enable terminal En1 through the first signal output terminal Sout 1. The switch module 300 switches the switch module 300 to the conducting state in response to receiving the control signal from the gate control module 200. Therefore, the standby power supply 120 supplies power to the input terminal Vin2 of the second reverse blocking circuit 500, and further, through the switching power input terminal Pin2 and the switching power output terminal Pout2 of the switch module 300 in the on state, the standby power supply 120 is immediately switched to supply power to the load 130 under the condition that the main power supply 110 is abnormally powered down.

Therefore, the power supply switching device can be used for solving the technical problem that the power of the load module is lost due to abnormal power failure of the main power supply of the automatic moving device such as the unmanned vehicle in application scenes such as the unmanned vehicle, and further can ensure that the load module is in a stable power supply state, the down probability of the load module is reduced, and the technical effect of ensuring the stable running of the automatic moving device is achieved.

FIG. 2B schematically shows a schematic diagram of a gate circuit cell according to an embodiment of the disclosure.

As shown in conjunction with fig. 2A and 2B, the gating module 200 includes: a first voltage division unit 210 and a gate circuit unit 220.

The first voltage division unit 210 may include a third resistor R3 and a fourth resistor R4 connected in series. One end of the third resistor R3 is configured to be connected to the positive electrode of the main power supply 110, and one end of the fourth resistor R4 is configured to be grounded.

The gate circuit unit 220 includes a first signal input terminal Sin1 and a first signal output terminal Sout 1. The first signal input terminal Sin1 is configured to be connected to the third resistor R3 and the fourth resistor R4, and the first signal output terminal Sout1 is configured to be connected to the enable terminal En 1.

According to the embodiment of the present disclosure, the gate circuit unit 220 may be any circuit block capable of satisfying the truth table shown in table 1, that is, the input terminal voltage and the output terminal voltage of the gate circuit unit 220 are in opposite level states. In table 1, "0" indicates a low level signal, and "1" indicates a high level signal.

TABLE 1

Sin1	Sout1
		1	0
0	1

According to an embodiment of the present disclosure, the preset level is characterized as a high level state.

The gate circuit unit 220 may include a not circuit 221.

The input terminal of the not gate circuit 221 is configured to be connected to the first signal input terminal Sin1, and the output terminal of the not gate circuit is configured to be connected to the first signal output terminal Sout 1.

According to the embodiment of the disclosure, in the case of abnormal power failure of the main power supply, the not-gate circuit 221 may acquire a low level signal through the first signal input terminal Sin1, and then the not-gate circuit 221 may output a control signal in a high level state to the enable terminal En1 of the switch module through the first signal output terminal Sout1, so that the switch module is controlled to be turned on by the control signal in the high level state, and the standby power supply may supply power to the load.

Fig. 3 schematically illustrates a schematic diagram of a switch module according to an embodiment of the disclosure.

As shown in fig. 3, the switch module 300 may include: a first fet 310 and a second fet 320.

The first fet 310 includes a first source S1, a first drain D1, and a first gate G1, the first source S1 is configured to be grounded, the first drain D1 is configured to be connected to the second source S2 of the second fet 320 through a first resistor R1 and a second resistor R2, and the first gate G1 is configured to be connected to the enable terminal En 1.

The second fet 320 includes a second source S2, a second drain D2, and a second gate G2, the second source S2 is configured to be connected to the output terminal of the second reverse blocking circuit 500, the second drain D2 is configured to be connected to the load 130, and the second gate G2 is configured to be connected to the first resistor R1 and the second resistor R2.

The first fet 310 is an N-channel enhancement fet, and the second fet 320 is a P-channel enhancement fet.

As shown in fig. 1 and fig. 3, in the case that the main power source 110 is normally powered, since the first signal input terminal Sin1 of the gate control module 200 receives the high-level control signal sent by the main power source 110, and the gate control module 200 includes the not gate circuit, the first signal output terminal Sout1 of the gate control module 200 can send a low-level control signal to the enable terminal En1 of the switch module 300. That is, the first gate G1 of the first fet 310 receives the low-level control signal, the first fet 310 does not satisfy the on condition, and the first fet 310 is in the off state.

When the first fet 310 is in the off state, the second gate G2 of the second fet 320 is connected to the second source S2 through the second resistor R2, so the voltage UG2 of the second gate G2 is the same as the voltage US2 of the second source S2, and the second fet 320 is in the off state, that is, the standby power supply 120 does not supply power to the load 130 because the second fet 320 is in the off state.

In the case of abnormal power down of the main power source 110, due to the voltage drop of the main power source 110, the main power source 110 may send a low-level control signal to the first signal input terminal Sin1 of the gate control module 200, and the not circuit of the gate control module 200 may generate a high-level control signal according to the received low-level control signal and send the high-level control signal to the enable terminal En1 of the switch module 300 through the first signal output terminal Sout 1.

The first gate G1 of the first fet 310 receives the high-level control signal, so the voltage UG1 of the first gate G1 is greater than the voltage US1 of the first source S1, and the first fet 310 is switched to the on state.

Under the condition that the first fet 310 is turned on, the first resistor R1 and the second resistor R2 correspond to a divided voltage, and the voltage of the second source S2 is the divided voltage of the first resistor R1. By configuring the resistance value of the first resistor R1 and the resistance value of the second resistor R2, the voltage US2 of the second source S2 is greater than the voltage UG2 of the second gate G2, and the voltage difference USG2 between the voltage of the second source S2 and the voltage of the second gate G2 is greater than the turn-on voltage of the second fet 320, so that the second fet 320 is switched to the on state. The standby power source 120 can supply power to the load 130 through the second back-dielectric circuit 500 and the second fet 320 in the on state. Therefore, the technical problem that the load fails to operate due to the fact that the load cannot be supplied with power through the standby power supply in time under the condition that the main power supply is abnormally powered down can be solved, and the stability of load operation is improved.

Fig. 4A schematically illustrates a schematic diagram of a first reverse blocking circuit according to an embodiment of the disclosure.

Fig. 4B schematically illustrates a schematic diagram of a first control sub-circuit according to an embodiment of the disclosure.

As shown in fig. 4A and 4B, the first reverse blocking circuit 400 may include: a fifth fet 410 and a first control sub-circuit 420.

The fifth fet 410 includes a fifth source S5, a fifth drain D5, and a fifth gate G5, the fifth source S5 is configured to be connected to the positive terminal of the main power 130, the fifth drain D5 is configured to be connected to the load 130, and the fifth gate G5 is configured to be connected to the first control sub-circuit 420.

The first control sub-circuit 420 includes a third signal input terminal Sin3, a fourth signal input terminal Sin4, and a third signal output terminal Sout3, the third signal input terminal Sin3 is configured to be connected to the fifth source S5, the fourth signal input terminal Sin4 is configured to be connected to the fifth drain D5, and the third signal output terminal Sout3 is configured to be connected to the fifth gate G5.

According to an embodiment of the present disclosure, the first control sub-circuit 420 may include a control chip 421 and a peripheral circuit.

According to an embodiment of the present disclosure, the control chip 421 may be an ideal diode controller, for example, may be an LM 74700. The control chip 421 can include ports such as an Anode, a Cathode, VCAP, EN, and Gate. The Anode terminal of the control chip 421 may be connected to the third signal input terminal Sin3, the Cathode terminal of the control chip may be connected to the fourth signal input terminal Sin4, and the Gate terminal of the control chip may be connected to the third signal output terminal Sout 3.

According to an embodiment of the present disclosure, the peripheral circuit may include a capacitor C1, a fifth resistor R5, and a sixth resistor R6. The capacitor C1 can be connected to the Anode terminal and the VCAP terminal of the control chip, respectively. The fifth resistor R5 and the sixth resistor R6 may form a voltage divider circuit, that is, one end of the fifth resistor R5 may be connected to the third signal input terminal Sin3, one end of the sixth resistor R6 may be grounded, and a connection point of the fifth resistor R5 and the sixth resistor R6 may be connected to the EN terminal of the control chip 421, so as to provide a high-level signal to the EN terminal when the main power source 110 supplies power normally.

According to the embodiment of the present disclosure, in the case that the main power supply 110 supplies power normally, since the voltage of the third signal input terminal Sin3 is greater than the voltage of the fourth signal input terminal Sin4, and thus the voltage of the Anode terminal is greater than the voltage of the Cathode terminal, the control chip 421 may output a high-level signal at the Gate terminal, that is, output a control signal in a high-level state at the third signal output terminal Sout 3.

According to the embodiment of the present disclosure, in case of abnormal power down of the main power source 110, the voltage of the main power source 110 suddenly drops, since the voltage of the third signal input terminal Sin3 is less than or equal to the voltage of the fourth signal input terminal Sin4, and thus the voltage of the Anode terminal is less than the voltage of the Cathode terminal, the control chip 421 may output a low-level signal at the Gate terminal, that is, output a control signal in a low-level state at the third signal output terminal Sout 3. That is, the fifth gate G5 receives a low level signal, so that the fifth fet 410 is in an off state, and the current of the standby power supply 120 is prevented from flowing back to the main power supply 110, so that the fifth fet 410 protects the main power supply 110

According to the embodiment of the present disclosure, the fifth fet may be an N-channel fet of any type, for example, an N-channel fet with a parasitic diode 411 in this implementation. The embodiment of the present disclosure does not limit the type and structural form of the fifth field effect transistor.

According to the embodiment of the present disclosure, the capacitor C1 may be any type of capacitor, such as a dacron capacitor, a ceramic capacitor, a mica capacitor, an electrolytic capacitor, a tantalum capacitor, etc. The capacitance value of the capacitor C1 can be determined according to the specific model of the control chip 421.

According to an embodiment of the present disclosure, the fifth resistor R5 and the sixth resistor R6 may be a single resistor, or may be a resistor group formed by connecting multiple resistors in series or in parallel, and are not limited herein.

According to the embodiment of the present disclosure, the fifth resistor R5 and the sixth resistor R6 may be any type of fixed resistor, and may be, for example, a chip resistor, a carbon film resistor, a metal film resistor, a wire-wound resistor, or the like. The resistances of the fifth resistor R5 and the sixth resistor R6 are not limited herein.

Fig. 5A schematically illustrates a schematic diagram of a second reverse blocking circuit according to an embodiment of the present disclosure.

Fig. 5B schematically illustrates a schematic diagram of a second control sub-circuit according to an embodiment of the present disclosure.

As shown in fig. 5A and 5B, the second reverse blocking circuit 500 includes: a sixth fet 510 and a second control sub-circuit 520.

The sixth fet 510 includes a sixth source S6, a sixth drain D6, and a sixth gate G6, the sixth source S6 is configured to be connected to the positive electrode of the standby power source 120, the sixth drain D6 is configured to be connected to the input Pin2 of the switch module 300, and the sixth gate G6 is configured to be connected to the second control sub-circuit 520.

The second control sub-circuit 520 includes a fifth signal input terminal Sin5, a sixth signal input terminal Sin6, and a fourth signal output terminal Sout4, the fifth signal input terminal Sin5 is configured to connect to the sixth source S6, the sixth signal input terminal Sin6 is configured to connect to the sixth drain D6, and the fourth signal output terminal Sout4 is configured to connect to the sixth gate G6.

According to an embodiment of the present disclosure, the second control sub-circuit 520 may include a control chip 521 and a peripheral circuit.

According to an embodiment of the present disclosure, the peripheral circuit may include a capacitor C2, a seventh resistor R7, and an eighth resistor R8. The capacitor C2 can be connected to the Anode terminal and the VCAP terminal of the control chip, respectively. The seventh resistor R7 and the eighth resistor R8 may form a voltage divider circuit, that is, one end of the seventh resistor R7 may be connected to the fifth signal input terminal Sin5, one end of the eighth resistor R8 may be grounded, and a connection point of the seventh resistor R7 and the eighth resistor R8 may be connected to the EN terminal of the control chip 521, so as to provide a high-level signal to the EN terminal of the control chip 521 when the main power source 110 supplies power normally.

According to the embodiment of the present disclosure, in case of abnormal power failure of the main power source 110, the standby power source 120 may normally supply power, since the voltage of the fifth signal input terminal Sin5 is greater than the voltage of the sixth signal input terminal Sin6, and thus the voltage of the Anode terminal is greater than the voltage of the Cathode terminal, the control chip 521 may output a high-level signal at the Gate terminal, that is, output a control signal in a high-level state at the fourth signal output terminal Sout 4. Therefore, the sixth fet 510 may be in a conducting state, and the switching power input Pin2 of the switching module may receive a control signal in a high level state, and supply power to the load through the switching power input Pin2 of the switching module.

According to the embodiment of the present disclosure, the sixth fet may be an N-channel fet of any type, for example, an N-channel fet with a parasitic diode 511 in this implementation. The embodiment of the present disclosure does not limit the type and the structural form of the sixth field effect transistor.

According to the embodiment of the present disclosure, the capacitor C2 may be any type of capacitor, such as a dacron capacitor, a ceramic capacitor, a mica capacitor, an electrolytic capacitor, a tantalum capacitor, etc. The capacitance value of the capacitor C2 can be determined according to the specific model of the control chip 521.

According to an embodiment of the present disclosure, the seventh resistor R7 and the eighth resistor R8 may be a single resistor, or may be a resistor group formed by connecting a plurality of resistors in series or in parallel, and is not limited herein.

According to the embodiment of the present disclosure, the seventh resistor R7 and the eighth resistor R8 may be any type of fixed resistor, and may be, for example, a chip resistor, a carbon film resistor, a metal film resistor, a wire-wound resistor, or the like. The resistances of the seventh resistor R7 and the eighth resistor R8 are not limited herein.

Fig. 6A schematically illustrates a schematic diagram of a microcontroller and gating module according to an embodiment of the present disclosure.

As shown in fig. 6A, the power switching device may further include a microcontroller 610.

The microcontroller 610 includes a first input/output IO1, and a first input/output IO1 is configured to connect the gate units.

The gate circuit unit 220 may include: an inverter circuit 221 and an and circuit 222.

The and-gate circuit 222 comprises a first gate input configured to be connected to the first signal input Sin1, a second gate input configured to be connected to the first input-output IO1, and a first gate output configured to be connected to the not-gate circuit 221.

The not gate circuit 221 includes a third gate input terminal configured to be connected to the first gate output terminal and a second gate output terminal configured to be connected to the first signal output terminal Sout 1.

The microcontroller 610 is configured to control a level state of the control signal based on a level state of the level signal output at the first input-output terminal IO 1.

According to an embodiment of the present disclosure, in case of abnormal power down of the main power supply, the first signal input Sin1 may receive a low level signal, so that the first gate input of the and circuit 222 receives a low level signal. The microcontroller 610 may send a high level signal or a low level signal to the second gate input end of the and circuit 222 by using the first input/output end IO1, so that the and circuit 222 outputs a low level signal to the third gate input end of the not circuit 221 through the first gate output end, and then the not circuit 221 may output a high level signal through the second gate output end according to the received low level signal, that is, the second gate output end outputs a control signal in a high level state, so that the first signal output end Sout1 of the gate circuit unit 220 may output a control signal in a high level state, and further control the switch module to be switched to a conducting state, so that the standby power supply may supply power to the load.

Fig. 6B schematically illustrates a schematic diagram of a microcontroller and gating module according to another embodiment of the present disclosure.

As shown in fig. 6B, microcontroller 610 may further include a second input/output IO 2.

The power switching device may further include: a third fet 430 and a fourth fet 440.

The third fet 430 includes a third source S3, a third drain D3, and a third gate G3, the third source S3 is configured to be grounded, the third drain D3 is configured to be connected to the fourth source S4 of the fourth fet 440 through a fifth resistor R5 and a sixth resistor R6, and the third gate G3 is configured to be connected to the second input/output IO 2.

The fourth fet 440 includes a fourth source S4, a fourth drain D4, and a fourth gate G4, the fourth source S4 is configured to connect the output terminal of the switch module 300, i.e., the switch power output terminal Pout2 and the output terminal of the first reverse blocking circuit 400, i.e., the first voltage output terminal Vout1, the fourth drain D4 is configured to connect the load 130, and the fourth gate G4 is configured to connect the fifth resistor R5 and the sixth resistor R6.

Wherein the microcontroller 610 is configured to control the on-off state of the third fet 430 based on the level state of the level signal output at the second input/output terminal IO 2.

The third fet 430 is an N-channel enhancement fet, and the fourth fet 440 is a P-channel enhancement fet.

According to the embodiment of the disclosure, the microcontroller 610 controls the on-off state of the third field-effect tube 430 according to the level signal output by the second input/output end IO2, and then the on-off state of the fourth field-effect tube 440 can be controlled based on the on-off state of the third field-effect tube 430, so that the on-off state from a main power supply to a load can be controlled by using the microcontroller 610, and thus flexible power supply to the load is realized, and controllability for power supply to the load is further improved.

According to an embodiment of the present disclosure, the microcontroller may further include a third input-output terminal.

The power switching device may further include a buffer.

The buffer includes a second signal input terminal and a second signal output terminal, the second signal input terminal is configured to be connected with the third resistor and the fourth resistor, and the second signal output terminal is configured to be connected with the third input/output terminal.

Wherein the microcontroller is configured to determine the operating state of the main power supply based on a level state of the level signal received at the third input-output terminal.

According to an embodiment of the present disclosure, the power switching device may further include an energy storage module.

The energy storage module comprises at least one energy storage capacitor, one end of the at least one energy storage capacitor is configured to be connected with the output end of the switch module and the output end of the first reverse cut-off circuit, the other end of the at least one energy storage capacitor is configured to be grounded, and the energy storage module is configured to supply power to a load under the condition that neither the main power supply nor the standby power supply supplies power.

Fig. 7A schematically illustrates a schematic diagram of a power switching apparatus according to another embodiment of the present disclosure.

As shown in fig. 7A, the power switching device may include: the circuit comprises a switch module 300, a first reverse cut-off circuit 400, a second reverse cut-off circuit 500, a gate control module, a third field effect transistor 430, a fourth field effect transistor 440, a microcontroller 610, a voltage reduction circuit 710 and a buffer 810.

According to embodiments of the present disclosure, the load 130 may require multiple power supplies to meet its normal operating requirements. For example, the load 130 may be a processor chip that requires 12V and 5V two-phase power for proper operation. The voltage dropping circuit 710 may provide other operating voltages to the load 130 by dropping the bus voltage.

According to the embodiment of the present disclosure, the microcontroller 610 may output a high level to the seventh gate G7 of the seventh fet 470 through the IO4, so as to control the seventh fet 470 to be turned on, and enable the eighth fet 480 to be in a conducting state, so that the voltage step-down circuit 710 may continuously supply power to the load 130 through the eighth fet 480.

The gate control module may include a first voltage division unit 210, an and gate circuit 222, and a not gate circuit 221, and the first voltage division unit 210 may include a third resistor R3 and a fourth resistor R4.

In case that the main power source 110 supplies power normally, the main power source 110 may output a high level signal to the fourth source S4 of the fourth fet 440 through the first voltage input terminal Vin1 and the first voltage output terminal Vout1 of the first reverse blocking circuit 400. The microcontroller 610 may output a high signal to the third gate G3 based on the second input/output terminal IO2, so that the third fet 430 is turned on. The conduction of the third fet 430 makes the voltage US4 of the fourth source S4 greater than the voltage UG4 of the fourth gate G4, so as to control the fourth fet 440 to be in a conducting state, thereby realizing the normal power supply to the load 130.

In case of abnormal power down of the main power source 110, the voltage value output by the main power source 110 drops, so that the first signal input terminal Sin1 of the gate control module can receive a low level signal. The first gate input terminal of the and gate circuit 222 receives the low level signal, so that the not gate circuit 221 can output a high level signal through the second gate output terminal according to the received low level signal, and further control the switch module 300 to switch to the conducting state, so that the standby power supply 120 can supply power to the load 130 through the second reverse dielectric circuit 500 and the output terminal of the switch module 300, i.e., the switch power output terminal Pout 2.

Further, under the condition of abnormal power failure of the main power source 110, before the standby power source 120 supplies power to the load 130, the energy storage capacitor 810 in the energy storage module 800 may also be used to supply power to the load 130, so as to avoid operation failure of the load 130 due to transient power failure during the period when the power supply of the main power source 110 is switched to the power supply of the standby power source 120.

The input end and the output end of the buffer 810 have different voltage values and have the same level state, so that the buffer can play a role in isolation and can play a role in protecting various components.

It should be noted that the voltage reduction circuit may include one or more voltage reduction sub-circuits, and the voltage reduction sub-circuit may be a BUCK circuit in the related art.

Fig. 7B schematically shows an operation timing diagram of a power switching apparatus according to another embodiment of the present disclosure.

As shown in fig. 7B, at time t1, the main power supply and the standby power supply enter a working state, the voltage of the main power supply is a high level signal, the high level signal can be input to the IO3 end of the microcontroller, when the main power supply is normally powered, the switch module is in a cut-off state, and the standby power supply does not consume electric energy to supply power to the load.

And at the time of t2, the main power supply is abnormally powered off, the voltage of the main power supply instantly outputs a low level signal, so that a second field effect transistor of the switch module can be switched on, the standby power supply supplies power to the load, meanwhile, the microcontroller detects that the low level signal is input from the IO3 end, and the microcontroller acquires the abnormal event of the main power supply.

At the time of t3, the main power supply recovers to be normal, the voltage of the main power supply recovers to be a high level signal, so that the second field effect transistor of the switch module can be controlled to be cut off, the standby power supply stops supplying power to the load, meanwhile, the microcontroller IO3 inputs high level, and the microcontroller judges that the main power supply recovers to supply power.

Fig. 7C schematically shows an operation timing diagram of a power switching apparatus according to still another embodiment of the present disclosure.

As shown in fig. 7C, in the present embodiment, the load may include an Orin module, and the microcontroller may be connected to a signal receiving end of the Orin module. At time t4, after the Orin MODULE receives the shutdown command, the signal receiving terminal (MODULE _ PWR _ ON) changes from the high level signal to the low level signal. When the microcontroller detects that the Orin module is turned off, the high level signal output from the IO2 terminal and the IO4 terminal changes to the low level signal output at time t5,

therefore, the fourth field effect transistor and the eighth field effect transistor are changed from a conducting state to a cutting-off state, and further the main power supply/standby power supply and the voltage reduction circuit stop supplying power to the Orin module.

As shown in fig. 8, an embodiment of the present disclosure also provides an unmanned vehicle, including: chassis and autopilot suite 830.

The chassis includes a main battery unit 810, a backup battery unit 820, and a power unit 840.

Among them, a power switching device is provided between main battery device 810, auxiliary battery device 820, and autopilot kit 830.

The power switching device may include: the circuit comprises a first reverse blocking circuit 400, a second reverse blocking circuit 500, a gate module 200 and a switch module 300.

The input of the first reverse blocking circuit 400 is configured to be connected to the main battery unit 810, and the output of the first reverse blocking circuit 400 is configured to be connected to the autopilot kit 830.

An input terminal of the second reverse blocking circuit 500 is configured to be connected to the spare battery device 820, and an output terminal of the second reverse blocking circuit 500 is configured to be connected to the switch module 300.

The gate control module 200 is configured to connect the positive electrode of the main battery device 810 and the enable terminal of the switch module 300, and the gate control module 200 is configured to output a control signal at a preset level to the enable terminal in response to an abnormal power failure of the main battery device 810.

The switch module 300 is configured to switch to a conductive state in response to the control signal being at a preset level in order for the battery backup device 830 to power the autopilot kit.

According to an embodiment of the present disclosure, a primary or backup battery device is configured to supply power to a power plant and an autopilot package.

The autopilot kit is configured to acquire and process environmental information of the unmanned vehicle, derive a motion control signal, and send the motion control signal to the power plant.

The power plant is configured to control the unmanned vehicle to move in response to the motion control signal.

According to the embodiment of the disclosure, the power switching device can be quickly switched to the standby battery device to supply power to the power device and the automatic driving kit under the condition that the main battery device is abnormally powered down, so that the automatic driving kit can normally collect environmental information around the unmanned vehicle, and after the collected environmental information is processed, a motion control signal is sent to the power device, so that the unmanned vehicle is controlled to perform motions in modes of starting, stopping, steering, moving and the like, the unmanned vehicle can stably move under the condition that the main battery device is abnormal, and the running stability and safety of the unmanned vehicle are improved.

It is to be noted that the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It will be appreciated by those skilled in the art that various combinations and/or combinations of the features recited in the various embodiments of the disclosure and/or the claims may be made even if such combinations or combinations are not explicitly recited in the disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.

The embodiments of the present disclosure are described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described separately above, this does not mean that the measures in the embodiments cannot be used in advantageous combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the present disclosure, and such alternatives and modifications are intended to be within the scope of the present disclosure.

Claims

1. A power switching apparatus comprising:

a first reverse blocking circuit, wherein an input end of the first reverse blocking circuit is configured to be connected with a main power supply, and an output end of the first reverse blocking circuit is configured to be connected with a load;

a second reverse blocking circuit, wherein an input end of the second reverse blocking circuit is configured to be connected with a standby power supply, and an output end of the second reverse blocking circuit is configured to be connected with a switch module;

the gating module is configured to be connected with the positive electrode of the main power supply and the enabling end of the switch module, and is configured to respond to the abnormal power failure of the main power supply and output a control signal at a preset level to the enabling end; and

the switch module is configured to switch to a conducting state in response to the control signal at a preset level so that the standby power supply supplies power to the load.

2. The apparatus of claim 1, wherein the switch module comprises:

a first field effect transistor comprising a first source, a first drain and a first gate, wherein the first source is configured to be grounded, the first drain is configured to be connected with a second source of the second field effect transistor through a first resistor and a second resistor, and the first gate is configured to be connected with the enable terminal; and

the second field effect transistor comprises a second source, a second drain and a second gate, the second source is configured to be connected with the output end of the second reverse cut-off circuit, the second drain is configured to be connected with the load, and the second gate is configured to be connected with the first resistor and the second resistor;

3. The apparatus of claim 1, wherein the gating module comprises:

a first voltage division unit including a third resistor and a fourth resistor connected in series, one end of the third resistor being configured to be connected to a positive electrode of the main power supply, and one end of the fourth resistor being configured to be grounded; and

a gate circuit unit including a first signal input terminal and a first signal output terminal, the first signal input terminal being configured to connect the third resistor and the fourth resistor, the first signal output terminal being configured to connect the enable terminal.

4. The apparatus of claim 3, wherein the preset level is characterized as a high state;

wherein the gate circuit unit includes:

an inverter circuit having an input configured to be connected to the first signal input and an output configured to be connected to the first signal output.

5. The apparatus of claim 3, further comprising:

a microcontroller comprising a first input/output terminal configured to connect the gate circuit unit.

6. The apparatus of claim 5, wherein the preset level is characterized as a high state;

wherein the gate circuit unit includes:

an AND gate circuit comprising a first gate input configured to connect to the first signal input, a second gate input configured to connect to the first input output, and a first gate output configured to connect to a NOT gate circuit; and

the NOT gate circuit comprises a third gate input end and a second gate output end, the third gate input end is configured to be connected with the first gate output end, and the second gate output end is configured to be connected with the first signal output end;

the microcontroller is configured to control a level state of the control signal based on a level state of a level signal output at the first input-output terminal.

7. The apparatus of claim 5, wherein the microcontroller further comprises a second input output;

the device further comprises:

a third field effect transistor comprising a third source, a third drain and a third gate, wherein the third source is configured to be grounded, the third drain is configured to be connected to a fourth source of a fourth field effect transistor through a fifth resistor and a sixth resistor, and the third gate is configured to be connected to the second input/output terminal; and

the fourth field effect transistor comprises a fourth source, a fourth drain and a fourth gate, the fourth source is configured to connect the output end of the switch module and the output end of the first reverse blocking circuit, the fourth drain is configured to connect the load, and the fourth gate is configured to connect the fifth resistor and the sixth resistor;

wherein the microcontroller is configured to control an on-off state of the third field effect transistor based on a level state of a level signal output at the second input/output terminal;

8. The apparatus of claim 5, wherein the microcontroller further comprises a third input-output;

the device further comprises:

a buffer comprising a second signal input configured to connect the third resistor and the fourth resistor and the second signal output configured to connect the third input and output;

wherein the microcontroller is configured to determine an operating state of the primary power supply based on a level state of a level signal received at the third input-output terminal.

9. The apparatus of claim 1, further comprising:

10. The apparatus of claim 1, wherein the first reverse blocking circuit comprises:

a fifth field effect transistor comprising a fifth source, a fifth drain and a fifth gate, wherein the fifth source is configured to be connected with the positive electrode of the main power supply, the fifth drain is configured to be connected with the load, and the fifth gate is configured to be connected with the first control sub-circuit; and

the first control sub-circuit comprises a third signal input terminal, a fourth signal input terminal and a third signal output terminal, wherein the third signal input terminal is configured to be connected with the fifth source electrode, the fourth signal input terminal is configured to be connected with the fifth drain electrode, and the third signal output terminal is configured to be connected with the fifth gate electrode.

11. The apparatus of claim 1, wherein the second reverse blocking circuit comprises:

a sixth field effect transistor comprising a sixth source, a sixth drain and a sixth gate, wherein the sixth source is configured to be connected to the positive electrode of the standby power supply, the sixth drain is configured to be connected to the input terminal of the switch module, and the sixth gate is configured to be connected to the second control sub-circuit; and

the second control sub-circuit comprises a fifth signal input end, a sixth signal input end and a fourth signal output end, the fifth signal input end is configured to be connected with the sixth source electrode, the sixth signal input end is configured to be connected with the sixth drain electrode, and the fourth signal output end is configured to be connected with the sixth gate electrode.

12. An unmanned vehicle comprising:

an autopilot kit;

wherein, a power supply switching device is arranged among the main battery device, the standby battery device and the automatic driving suite;

wherein the power switching device includes:

a first reverse cut-off circuit, an input end of the first reverse cut-off circuit is configured to be connected with the main battery device, and an output end of the first reverse cut-off circuit is configured to be connected with the automatic driving kit;

a second reverse blocking circuit, an input terminal of the second reverse blocking circuit is configured to be connected with the spare battery device, and an output terminal of the second reverse blocking circuit is configured to be connected with a switch module;

a gate control module configured to connect a positive electrode of the main battery device and an enable terminal of the switch module, the gate control module being configured to output a control signal at a preset level to the enable terminal in response to an abnormal power down of the main battery device; and

the switch module is configured to switch to a conducting state in response to the control signal at a preset level so that the battery backup device supplies power to the autopilot kit.

13. The unmanned vehicle of claim 12, wherein the primary battery device or the secondary battery device is configured to power the power plant and the autopilot package;

the autopilot kit is configured to acquire and process environmental information of the unmanned vehicle, obtain a motion control signal, and send the motion control signal to the power plant; and

the power plant configured to control the unmanned vehicle to move in response to the motion control signal.