CN115112940A - Robot system's voltage acquisition circuit - Google Patents
Robot system's voltage acquisition circuit Download PDFInfo
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- CN115112940A CN115112940A CN202210744818.9A CN202210744818A CN115112940A CN 115112940 A CN115112940 A CN 115112940A CN 202210744818 A CN202210744818 A CN 202210744818A CN 115112940 A CN115112940 A CN 115112940A
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Abstract
The invention provides a voltage acquisition circuit of a robot system, which comprises at least one voltage acquisition point, wherein each voltage acquisition point is connected with one input end of a signal switch module; generating a voltage acquisition signal through a single chip microcomputer, and carrying out isolation processing on the voltage acquisition signal by an optocoupler module to obtain a control signal of the signal switch module; the signal switch module enables the corresponding voltage acquisition channel according to the control signal and receives the corresponding voltage analog signal, wherein different voltage acquisition points acquire different voltage analog signals, so that the influence of electromagnetic interference generated by each voltage acquisition channel on the single chip microcomputer is isolated; the voltage acquisition signal and the control signal are binary signals of a plurality of bits, and the multi-path voltage acquisition channel is gated through the binary signals, so that the hardware cost and the resource consumption of a single chip microcomputer are greatly reduced while the multi-path voltage acquisition channel can be integrated, and the voltage acquisition requirement of a large power supply system is favorably met.
Description
Technical Field
The invention relates to the technical field of electronics, in particular to a voltage acquisition circuit of a robot system.
Background
In the prior art, when voltage acquisition is performed on a robot system, the number of voltage acquisition channels is small, or the number of components in a circuit is large due to the fact that the number of channels is large, the cost is high, the occupied space of a circuit board is large, resources consumed by a single chip microcomputer are large, and acquired voltage signals are affected by electromagnetic interference.
Disclosure of Invention
The invention provides a voltage acquisition circuit of a robot system, which aims to solve the problems of small channel number, high cost, large resource consumption and easy electromagnetic interference in voltage acquisition in the prior art.
The present invention is achieved as described above, and a voltage acquisition circuit of a robot system includes:
the system comprises at least one voltage acquisition point, a signal switch module, a digital-to-analog conversion module, a digital isolator, a single chip microcomputer and an optical coupling module;
each voltage acquisition point is respectively connected with one input end of the signal switch module in a sampling resistance voltage division mode;
the output end of the signal switch module is connected with the input end of the digital-to-analog conversion module;
the output end of the digital-to-analog conversion module is connected with the input end of the digital isolator;
the output end of the digital isolator is connected with the input end of the singlechip;
the control signal end of the single chip microcomputer is connected with the input end of the optocoupler module;
the output end of the optical coupling module is connected with the control signal end of the signal switch module;
the single chip microcomputer is used for generating a voltage acquisition signal, and the optocoupler module is used for isolating the voltage acquisition signal to obtain a control signal of the signal switch module; the voltage acquisition signal and the control signal are binary signals with a plurality of bits;
the signal switch module is used for receiving the control signal, enabling a corresponding voltage acquisition channel according to the control signal, and receiving voltage analog signals output by corresponding voltage acquisition points through the voltage acquisition channel, wherein one voltage acquisition point correspondingly acquires a path of voltage analog signals, and different voltage acquisition points acquire different voltage analog signals;
the digital-to-analog conversion module is used for converting the voltage analog signal into an IIC bus digital signal;
the digital isolator is used for isolating the IIC bus digital signal to obtain an isolated IIC bus digital signal;
the single chip microcomputer is also used for transmitting the isolated IIC bus digital signals to a routing module so as to be sent out through the routing module.
Optionally, the voltage acquisition signal includes an N-bit binary signal, the single chip microcomputer includes N control signal terminals, the optocoupler module includes N optocoupler units, and the signal switch module includes N control signal terminals;
the input end of each optocoupler unit is connected with one control signal end on the singlechip, and the output end of each optocoupler unit is connected with one control signal end of the signal switch module.
Optionally, the signal switch module comprises:
the signal switch chip and the first resistor are connected with the signal switch chip;
each control signal end of the N control signal ends on the signal switch chip is respectively connected with the output end of one optocoupler unit;
each voltage acquisition channel on the signal switch chip is respectively connected with one voltage acquisition point;
the enabling end of the signal switch chip is connected with a first power supply voltage through a first resistor;
the power supply positive end of the signal switch chip is connected with a first power supply voltage;
and the output end of the signal switch chip is connected with the input end of the digital-to-analog conversion module.
Optionally, the digital-to-analog conversion module includes:
the digital-to-analog conversion chip and the second resistor;
the input end of the digital-to-analog conversion chip is connected with the output end of the signal switch chip, and the first IIC digital communication end and the second IIC digital communication end are respectively connected with the input end of the digital isolator;
the digital output end of the digital-to-analog conversion chip is connected with a first power supply voltage through a second resistor;
and the positive power supply end of the digital-to-analog conversion chip is connected with a first power supply voltage.
Optionally, the digital isolator comprises:
the digital isolation chip, the third resistor, the fourth resistor, the fifth resistor and the sixth resistor;
a common joint point between a first non-isolation IIC digital communication end of the digital isolation chip and a first end of the third resistor is connected with a first IIC digital communication end of the digital-to-analog conversion module;
a common joint point between a second non-isolation IIC digital communication end of the digital isolation chip and a first end of the fourth resistor is connected with a second IIC digital communication end of the digital-to-analog conversion module;
the second end of the third resistor and the second end of the fourth resistor are connected to a first power supply voltage in common;
a common joint point between a first isolation IIC digital communication end of the digital isolation chip and a first end of the fifth resistor is used as a first output end of the isolated IIC bus digital signal;
a common joint point between a second isolation IIC digital communication end of the digital isolation chip and the first end of the sixth resistor is used as a second output end of the isolated IIC bus digital signal;
and the second end of the fifth resistor and the second end of the sixth resistor are connected to a second power supply voltage in common.
Optionally, the light coupling unit includes:
the optical coupling isolation conversion chip, the seventh resistor and the eighth resistor;
the first end of the optical coupling isolation conversion chip is connected with the first end of a seventh resistor, and the second end of the seventh resistor is connected with a second power supply voltage;
the second end of the optical coupling isolation conversion chip is connected with a control signal end on the single chip microcomputer;
the third end of the optical coupling isolation conversion chip is grounded;
and a common joint between the fourth end of the optical coupling isolation conversion chip and the first end of the eighth resistor serves as an output end of the optical coupling unit, and the second end of the eighth resistor is connected with a first power supply voltage.
Optionally, the voltage collection point comprises one or any combination of the following:
the device comprises a battery voltage acquisition point, a motor voltage acquisition point, a steering engine voltage acquisition point, a charging voltage acquisition point, an external 36V voltage acquisition point, an external 24V voltage acquisition point, an external 12V voltage acquisition point and an external 5V voltage acquisition point.
Optionally, the voltage acquisition signal includes a 3-bit binary signal, the single chip microcomputer includes 3 control signal terminals, and the optical coupling module includes 3 optical coupling units.
Optionally, the signal switch chip is U1-ADG708 BRU.
Optionally, the digital isolated chip is ISO 1540D.
The invention provides a voltage acquisition circuit of a robot system, which comprises at least one voltage acquisition point, wherein each voltage acquisition point is connected with one input end of a signal switch module; generating a voltage acquisition signal through a single chip microcomputer, and carrying out isolation processing on the voltage acquisition signal by an optocoupler module to obtain a control signal of the signal switch module; the signal switch module enables the corresponding voltage acquisition channels according to the control signals, receives voltage analog signals output by the corresponding voltage acquisition points through the voltage acquisition channels, one voltage acquisition point correspondingly acquires one path of voltage analog signals, and different voltage acquisition points acquire different voltage analog signals, so that the influence of electromagnetic interference generated by each voltage acquisition channel on the single chip microcomputer is isolated; the voltage acquisition signal and the control signal are binary signals of a plurality of bits, and the multiple voltage acquisition channels are gated through the binary signals, so that the hardware cost and the resource consumption of the single chip microcomputer are greatly reduced while the multiple voltage acquisition channels are integrated, and the voltage acquisition requirement of a large power supply system is favorably met.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions 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 based on these drawings without inventive exercise.
FIG. 1 is a schematic diagram of a voltage acquisition circuit of a robotic system provided in accordance with an embodiment of the present invention;
fig. 2 is a schematic diagram of a light coupling unit provided in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a signal switch module according to an embodiment of the present invention;
FIG. 4 is a diagram of a digital-to-analog conversion module according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a digital isolator according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The invention provides a voltage acquisition circuit of a robot system, which comprises at least one voltage acquisition point, wherein each voltage acquisition point is connected with one input end of a signal switch module; generating a voltage acquisition signal through a single chip microcomputer, and carrying out isolation processing on the voltage acquisition signal by an optocoupler module to obtain a control signal of the signal switch module; the signal switch module enables the corresponding voltage acquisition channels according to the control signals, receives voltage analog signals output by the corresponding voltage acquisition points through the voltage acquisition channels, one voltage acquisition point correspondingly acquires one path of voltage analog signals, and different voltage acquisition points acquire different voltage analog signals, so that the influence of electromagnetic interference generated by each voltage acquisition channel on the single chip microcomputer is isolated; the voltage acquisition signal and the control signal are binary signals of a plurality of bits, and the multi-path voltage acquisition channel is gated through the binary signals, so that the hardware cost and the resource consumption of a single chip microcomputer are greatly reduced while the multi-path voltage acquisition channel can be integrated, and the voltage acquisition requirement of a large power supply system is favorably met.
Fig. 1 is a schematic diagram of a voltage acquisition circuit of a robot system according to an embodiment of the present invention. As shown in fig. 1, the voltage acquisition circuit of the robot system includes:
at least one voltage acquisition point, a signal switch module 10, a digital-to-analog conversion module 20, a digital isolator 30, a single chip microcomputer 40 and an optical coupling module 50;
each voltage acquisition point is respectively connected with one input end of the signal switch module 10 in a sampling resistance voltage division manner;
the output end of the signal switch module 10 is connected with the input end of the digital-to-analog conversion module 20;
the output end of the digital-to-analog conversion module 20 is connected with the input end of the digital isolator 30;
the output end of the digital isolator 30 is connected with the input end of the singlechip 40;
the control signal end of the singlechip 40 is connected with the input end of the optocoupler module 50;
the output end of the optical coupling module 50 is connected with the control signal end of the signal switch module 10;
the single chip microcomputer 40 is configured to generate a voltage acquisition signal, and the optical coupling module 50 is configured to perform isolation processing on the voltage acquisition signal to obtain a control signal of the signal switch module 10; the voltage acquisition signal and the control signal are binary signals of a plurality of bits;
the signal switch module 10 is configured to receive the control signal, enable a corresponding voltage acquisition channel according to the control signal, and receive a voltage analog signal output by a corresponding voltage acquisition point through the voltage acquisition channel, where one voltage acquisition point corresponds to acquire a path of voltage analog signal, and different voltage acquisition points acquire different voltage analog signals;
the digital-to-analog conversion module 20 is configured to convert the voltage analog signal into an IIC bus digital signal;
the digital isolator 30 is configured to isolate the IIC bus digital signal to obtain an isolated IIC bus digital signal;
the single chip microcomputer 40 is further configured to transmit the isolated IIC bus digital signal to a routing module, so as to send out the signal through the routing module.
As shown in fig. 1, in the embodiment of the present invention, the voltage acquisition circuit of the robot system is divided into two isolated power systems, where the first power system is composed of a voltage acquisition point, a signal switch module 10, a digital-to-analog conversion module 20, an input end of a digital isolator 30, and an output end of an optical coupling module 50; the second power supply system is composed of the output end of the digital isolator 30, the input end of the optical coupling module 50 and the single chip microcomputer 40. The two power systems are isolated and transmitted through the optical coupling module 50, specifically, the optical coupling module 50 isolates the voltage acquisition signal generated by the single chip microcomputer 50, and a control signal of the signal switch module 10 is obtained. Here, since the first power supply system is connected to a plurality of motor inductive loads through the voltage acquisition points, large interference may be generated on the power supply, and by adding the optical coupling module 50 in the embodiment of the present invention, the influence of electromagnetic interference generated by each voltage acquisition channel of the first power supply system on the single chip microcomputer 50 in the second power supply system may be reduced, so as to ensure normal operation of the single chip microcomputer 50.
The voltage acquisition circuit of the robot system comprises at least one voltage acquisition point, and is connected with one input end of the signal switch module 10 in a resistance voltage division mode. Therefore, the signal switch module 10 provides as many input terminals as voltage collecting channels as there are voltage collecting points. The signal switch module 10 selects and enables one of the voltage acquisition channels each time, and obtains the voltage analog signal acquired by the voltage acquisition point corresponding to the voltage acquisition channel.
The voltage acquisition signal comprises an N-bit binary signal, the single chip microcomputer 40 comprises N control signal ends, the optical coupling module 50 comprises N optical coupling units 51, and the signal switch module 10 comprises N control signal ends;
the input end of each optical coupling unit 51 is connected with a control signal end on the single chip microcomputer 40, and the output end is connected with a control signal end of the signal switch module 10.
It should be understood that the control signal terminal of the signal switch module 10 is configured to receive a control signal, and the voltage collecting channel is configured to receive a voltage analog signal collected by a corresponding voltage collecting point after being enabled.
Optionally, fig. 2 is a schematic circuit diagram of the optical coupler unit 51 according to an embodiment of the present invention. As shown in fig. 2, the light coupling unit 51 includes:
the optical coupling isolation conversion chip 511, a seventh resistor R7 and an eighth resistor R8;
a first end of the optical coupling isolation conversion chip 511 is connected with a first end of a seventh resistor R7, and a second end of the seventh resistor R7 is connected with a second power voltage;
the second end of the optical coupling isolation conversion chip 511 is connected with a control signal end on the singlechip 40;
the third end of the optical coupling isolation conversion chip 511 is grounded;
a common junction point between the fourth end of the optical coupling isolation conversion chip 511 and the first end of the eighth resistor R8 is used as an output end of the optical coupling unit 51, and the second end of the eighth resistor R8 is connected to a first power voltage.
Here, the single chip microcomputer 40 outputs a voltage acquisition signal in an N-bit binary form through a control signal end, each of the optical coupler units 51 isolates one bit of the N-bit binary signal, and then the isolated signals output by the N optical coupler units 51 are combined to obtain a control signal in an N-bit binary form. Each bit of the control signal is connected to one control signal terminal of the signal switch module 10. The control signals of N bits in binary form jointly determine which voltage acquisition channel is gated.
For ease of understanding, the following description will be made by taking a control signal in 3-bit binary form as an example. In this embodiment, the optical coupler module 50 includes 3 optical coupler units 51, the signal switch module 10 includes 3 control signal terminals, which are respectively denoted as a2, a1, and a0, each voltage acquisition channel is respectively numbered with 1 to 8, and the correspondence between the control signal in the binary form of N bits and the voltage acquisition channel is shown in table 1 below:
| A2 | A1 | A0 | select channel |
| 0 | 0 | 0 | 1 |
| 0 | 0 | 1 | 2 |
| 0 | 1 | 0 | 3 |
| 0 | 1 | 1 | 4 |
| 1 | 0 | 0 | 5 |
| 1 | 0 | 1 | 6 |
| 1 | 1 | 0 | 7 |
| 1 | 1 | 1 | 8 |
TABLE 1
Fig. 3 is a schematic circuit diagram of the signal switch module 10 according to the embodiment of the present invention. In fig. 3, the signal switch module 10 includes:
the signal switch chip 11, the first resistor R1;
each control signal terminal a of the N control signal terminals a on the signal switch chip 11 is connected to an output terminal of one optocoupler unit 51;
each voltage acquisition channel S on the signal switch chip 11 is respectively connected with one voltage acquisition point;
the enable terminal EN of the signal switch chip 11 is connected to a first power voltage through a first resistor R1;
the power supply positive terminal VDD of the signal switch chip 11 is connected with a first power voltage;
the output end D of the signal switch chip 11 is connected to the input end of the digital-to-analog conversion module 20.
Here, the signal switch chip 11 receives the control signal in the N-bit binary form from the isolation module 50 through the N control signal terminals a, and selects the voltage collecting channel S. And further enabling the selected voltage acquisition channel S to receive the corresponding voltage analog signal. For a corresponding relationship between the control signal in the N-bit binary form and the voltage acquisition channel S, please refer to table 1 above, which is not described herein again.
According to the embodiment of the invention, the multiple voltage acquisition channels are gated through the binary signal, so that the hardware cost and the resource consumption of a single chip microcomputer are greatly reduced while the multiple voltage acquisition channels are integrated, and the voltage acquisition requirement of a large power supply system is favorably met.
Optionally, taking the previous example as an example, when the voltage acquisition signal is A3-bit binary signal, the signal switch chip 11 is preferably an ADG708BRU chip, and includes three control signal terminals a2, a1, a0, and 8 voltage acquisition channels S1-S8. The single chip microcomputer 40 selects one of the voltage acquisition channels S1-S8 by configuring the control signal ends A2, A1 and A0 to be different combination values. When the single chip microcomputer 40 is pulled high, the enable end EN can enable the voltage analog signal collected by the selected voltage collecting channel to be output at the output end D, and when the enable end EN is converted into a low level, the output is closed.
Fig. 4 is a schematic circuit diagram of the digital-to-analog conversion module 20 according to the embodiment of the present invention. In fig. 4, the digital-to-analog conversion module 20 includes:
the digital-to-analog conversion chip 21 and the second resistor R2;
an input end VIN of the digital-to-analog conversion chip 21 is connected with an output end D of the signal switch chip 11, and the first IIC digital communication end SDA and the second IIC digital communication end SCL are respectively connected with an input end of the digital isolator 30;
the digital output terminal ALERT of the digital-to-analog conversion chip 21 is connected with a first power voltage through a second resistor R2;
and the positive chip power supply end VA of the digital-to-analog conversion chip 21 is connected to a first power supply voltage.
Here, the analog-to-digital conversion chip 21 receives the voltage analog signal output from the output terminal D of the signal switching chip 11 through the input terminal VIN and converts the voltage analog signal into the IIC bus digital signal. The digital output terminal ALERT of the digital-to-analog conversion chip 21 can be used for warning.
Optionally, the digital-to-analog conversion chip 21 is preferably an ADC121C021 chip, wherein the first digital input terminal ADR0 and the second digital input terminal ADR1 can be used for setting the IIC address of the chip.
Fig. 5 is a schematic circuit diagram of a digital isolator 30 according to an embodiment of the present invention. In fig. 5, the digital isolator 30 includes:
the digital isolation chip 31, the third resistor R3, the fourth resistor R4, the fifth resistor R5 and the sixth resistor R6;
a common junction point between the first non-isolated IIC digital communication end SDA1 of the digital isolation chip 31 and the first end of the third resistor R3 is connected to the first IIC digital communication end SDA end of the digital-to-analog conversion module 30;
a common joint point between the second non-isolated IIC digital communication terminal SCL1 of the digital isolation chip 31 and the first terminal of the fourth resistor R4 is connected to the second IIC digital communication terminal SCL of the digital-to-analog conversion module 30;
the second end of the third resistor R3 and the second end of the fourth resistor R4 are connected to a first power supply voltage in common;
a common joint point between the first isolation IIC digital communication end SDA2 of the digital isolation chip 31 and the first end of the fifth resistor R5 is used as a first output end SDA of the isolated IIC bus digital signal;
a common joint point between the second isolation IIC digital communication end SCL2 of the digital isolation chip 31 and the first end of the sixth resistor R6 is used as a second output end SCL of the isolated IIC bus digital signal;
the second end of the fifth resistor R5 and the second end of the sixth resistor R6 are connected to a second power voltage in common.
Here, after the voltage analog signal is converted into the IIC bus digital signal by the digital-to-analog conversion module 20, the IIC bus digital signal is isolated by the digital isolator 30, and the isolated IIC bus digital signal is provided to the single chip microcomputer 40. Because the robot power supply system has larger voltage fluctuation and electromagnetic interference, the embodiment of the invention can effectively isolate the interference and improve the stability of the robot system by isolating the IIC bus digital signal from the main power supply system.
Optionally, the digital-to-analog conversion chip 21 is preferably an ISO1540D chip, where the non-isolated terminal chip power supply positive electrode VCC1 is connected to the first power supply voltage, the non-isolated terminal chip power supply negative electrode GND1 is grounded, the isolated terminal chip power supply positive electrode VCC2 is connected to the second power supply voltage, and the isolated terminal chip power supply negative electrode GND2 is grounded.
Optionally, in connection with the previous examples, the voltage collecting points include, but are not limited to, a battery voltage collecting point, a motor voltage collecting point, a steering engine voltage collecting point, a charging voltage collecting point, a peripheral 36V voltage collecting point, a peripheral 24V voltage collecting point, a peripheral 12V voltage collecting point, and a peripheral 5V voltage collecting point. In the embodiment of the invention, the battery voltage, the motor voltage, the steering engine voltage, the charging voltage, and the peripheral power supply voltages of 36V, 24V, 12V and 5V are respectively connected with the channels S1-S8 of the signal switch chip ADG708BRU by using a proper resistance voltage division mode. The voltage acquisition signal output by the singlechip is isolated by an optical coupler and converted into a control signal of the signal switch chip, pins A2, A1 and A0 of the signal switch chip ADG708BRU are respectively controlled to select one of the voltage acquisition channels S1-S8, and the voltage analog signal acquired by the selected voltage acquisition channel is sent to an analog-to-digital conversion chip ADC121C021 so as to convert the voltage analog signal into an IIC bus digital signal. The IIC bus digital signal is further converted into an isolated IIC bus digital signal through a digital isolator ISO1540D, the isolated IIC bus digital signal is provided to a single chip microcomputer STM32, and the isolated IIC bus digital signal is connected to a routing module through a network port, so that the state of a power supply system of the robot is remotely monitored. And if the power supply system is abnormal, printing abnormal information and informing corresponding maintenance personnel in a form of sending short messages.
In summary, according to the voltage acquisition circuit of the robot system provided by the invention, the acquisition of the multipath voltage analog signals in the robot system is realized by gating the multipath voltage acquisition channels through the binary signal by using only one digital-to-analog conversion and 3 IO resources of the single chip microcomputer, the hardware cost and the resource consumption of the single chip microcomputer are greatly reduced, the operation state of the robot power supply system can be remotely monitored, the influence of electromagnetic interference generated by each voltage acquisition channel on the single chip microcomputer is isolated, and the reliability of voltage acquisition is improved.
It should be understood that the above functional mode is only one embodiment of the present invention, and is not intended to limit the present invention. In other embodiments, the function mode specific control logic may also be set according to actual needs.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (10)
1. A voltage acquisition circuit for a robotic system, comprising:
the system comprises at least one voltage acquisition point, a signal switch module, a digital-to-analog conversion module, a digital isolator, a single chip microcomputer and an optical coupling module;
each voltage acquisition point is respectively connected with one input end of the signal switch module in a sampling resistance voltage division mode;
the output end of the signal switch module is connected with the input end of the digital-to-analog conversion module;
the output end of the digital-to-analog conversion module is connected with the input end of the digital isolator;
the output end of the digital isolator is connected with the input end of the singlechip;
the control signal end of the single chip microcomputer is connected with the input end of the optocoupler module;
the output end of the optical coupling module is connected with the control signal end of the signal switch module;
the single chip microcomputer is used for generating a voltage acquisition signal, and the optocoupler module is used for isolating the voltage acquisition signal to obtain a control signal of the signal switch module; the voltage acquisition signal and the control signal are binary signals with a plurality of bits;
the signal switch module is used for receiving the control signal, enabling a corresponding voltage acquisition channel according to the control signal, and receiving voltage analog signals output by corresponding voltage acquisition points through the voltage acquisition channel, wherein one voltage acquisition point correspondingly acquires a path of voltage analog signals, and different voltage acquisition points acquire different voltage analog signals;
the digital-to-analog conversion module is used for converting the voltage analog signal into an IIC bus digital signal;
the digital isolator is used for isolating the IIC bus digital signal to obtain an isolated IIC bus digital signal;
the single chip microcomputer is also used for transmitting the isolated IIC bus digital signals to a routing module so as to be sent out through the routing module.
2. The voltage acquisition circuit of a robot system according to claim 1, wherein the voltage acquisition signal comprises an N-bit binary signal, the single chip microcomputer comprises N control signal terminals, the optical coupling module comprises N optical coupling units, and the signal switch module comprises N control signal terminals;
the input end of each optocoupler unit is connected with one control signal end on the singlechip, and the output end of each optocoupler unit is connected with one control signal end of the signal switch module.
3. The voltage acquisition circuit of a robotic system as claimed in claim 1 or 2, wherein the signal switching module comprises:
the signal switch chip and the first resistor are connected with the signal switch chip;
each control signal end of the N control signal ends on the signal switch chip is respectively connected with the output end of one optocoupler unit;
each voltage acquisition channel on the signal switch chip is respectively connected with one voltage acquisition point;
the enabling end of the signal switch chip is connected with a first power supply voltage through a first resistor;
the power supply positive end of the signal switch chip is connected with a first power supply voltage;
and the output end of the signal switch chip is connected with the input end of the digital-to-analog conversion module.
4. The voltage acquisition circuit of a robotic system as set forth in claim 3, wherein said digital-to-analog conversion module comprises:
the digital-to-analog conversion chip and the second resistor are connected;
the input end of the digital-to-analog conversion chip is connected with the output end of the signal switch chip, and the first IIC digital communication end and the second IIC digital communication end are respectively connected with the input end of the digital isolator;
the digital output end of the digital-to-analog conversion chip is connected with a first power supply voltage through a second resistor;
and the positive power supply end of the digital-to-analog conversion chip is connected with a first power supply voltage.
5. The voltage acquisition circuit of a robotic system as set forth in claim 4, wherein said digital isolator includes:
the digital isolation chip, the third resistor, the fourth resistor, the fifth resistor and the sixth resistor;
a common joint point between a first non-isolation IIC digital communication end of the digital isolation chip and a first end of the third resistor is connected with a first IIC digital communication end of the digital-to-analog conversion module;
a common joint point between a second non-isolated IIC digital communication end of the digital isolation chip and a first end of the fourth resistor is connected with a second IIC digital communication end of the digital-to-analog conversion module;
the second end of the third resistor and the second end of the fourth resistor are connected to a first power supply voltage in common;
a common joint point between a first isolation IIC digital communication end of the digital isolation chip and a first end of the fifth resistor is used as a first output end of the isolated IIC bus digital signal;
a common joint point between a second isolation IIC digital communication end of the digital isolation chip and the first end of the sixth resistor is used as a second output end of the isolated IIC bus digital signal;
and the second end of the fifth resistor and the second end of the sixth resistor are connected to a second power supply voltage in common.
6. The voltage acquisition circuit of a robotic system as defined in claim 5, wherein the light coupling unit comprises:
the optical coupling isolation conversion chip, the seventh resistor and the eighth resistor;
the first end of the optical coupling isolation conversion chip is connected with the first end of a seventh resistor, and the second end of the seventh resistor is connected with a second power supply voltage;
the second end of the optical coupling isolation conversion chip is connected with a control signal end on the single chip microcomputer;
the third end of the optical coupling isolation conversion chip is grounded;
and a common joint between the fourth end of the optical coupling isolation conversion chip and the first end of the eighth resistor serves as an output end of the optical coupling unit, and the second end of the eighth resistor is connected with a first power supply voltage.
7. The voltage acquisition circuit of a robotic system according to claim 6, wherein the voltage acquisition point comprises one or any combination of the following:
the system comprises a battery voltage acquisition point, a motor voltage acquisition point, a steering engine voltage acquisition point, a charging voltage acquisition point, an external 36V voltage acquisition point, an external 24V voltage acquisition point, an external 12V voltage acquisition point and an external 5V voltage acquisition point.
8. The voltage acquisition circuit of a robot system according to claim 7, wherein the voltage acquisition signal comprises a 3-bit binary signal, the single chip microcomputer comprises 3 control signal terminals, and the optical coupling module comprises 3 optical coupling units.
9. The voltage acquisition circuit of a robotic system as claimed in claim 3, wherein said signal switch chip is U1-ADG708 BRU.
10. The voltage acquisition circuit of a robotic system according to claim 5, wherein the digital isolation chip is ISO 1540D.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210744818.9A CN115112940A (en) | 2022-06-28 | 2022-06-28 | Robot system's voltage acquisition circuit |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117082107A (en) * | 2023-10-16 | 2023-11-17 | 北京茵沃汽车科技有限公司 | Communication debugging equipment and communication debugging method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117082107A (en) * | 2023-10-16 | 2023-11-17 | 北京茵沃汽车科技有限公司 | Communication debugging equipment and communication debugging method |
| CN117082107B (en) * | 2023-10-16 | 2024-02-06 | 北京茵沃汽车科技有限公司 | Communication debugging equipment and communication debugging method |
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