CN117458424B - Automatic power supply switching device, power supply control system and control method - Google Patents
Automatic power supply switching device, power supply control system and control method Download PDFInfo
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- CN117458424B CN117458424B CN202311490983.7A CN202311490983A CN117458424B CN 117458424 B CN117458424 B CN 117458424B CN 202311490983 A CN202311490983 A CN 202311490983A CN 117458424 B CN117458424 B CN 117458424B
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
- H02J1/10—Parallel operation of dc sources
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00036—Charger exchanging data with battery
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0068—Battery or charger load switching, e.g. concurrent charging and load supply
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S20/00—Management or operation of end-user stationary applications or the last stages of power distribution; Controlling, monitoring or operating thereof
- Y04S20/20—End-user application control systems
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The embodiment of the invention relates to a power supply automatic switching device, a power supply control system and a control method, wherein the device comprises the following components: the first power supply loop is used for receiving a first power supply voltage and outputting the first power supply voltage to a load for supplying power; the second power supply loop is used for receiving a second power supply voltage and outputting the second power supply voltage to a load for power supply; and the power supply switching module is connected with the first power supply loop and the second power supply loop and is used for switching the first power supply voltage and the second power supply voltage to supply power to the load based on the voltage levels of the first power supply voltage and the second power supply voltage. According to the technical scheme provided by the embodiment of the invention, the voltage detection of the battery cells in the battery compartment of the robot can be realized, when the energy of one battery cell is exhausted, the battery cell can be taken out for charging, and the other battery cells or the other battery cells can still continue to supply power, so that the continuous operation of the robot is realized.
Description
Technical Field
The embodiment of the invention relates to the technical field of robot power supply control, in particular to a power supply automatic switching device, a power supply control system and a control method.
Background
The current power supply scheme of the robot is generally divided into wired power supply and battery power supply. The wired robot is stable, but has limited movement, and must always be connected to a power line, thereby limiting the free movement of the robot over a wide range. In addition, the wired power supply also requires cumbersome wiring, increasing the complexity of deployment and maintenance. In terms of safety, the power cord may pose tripping and other unexpected risks, especially in situations where frequent movement is required. Moreover, this manner of power supply is difficult to adapt to outdoor environments or applications that require rapid switching between locations. Although the battery-powered robot enjoys a larger degree of freedom of movement, the robot needs to regularly return to a specific charging point for charging, so that the charging time and the working time are mutually restricted, and a complex intelligent charging strategy is needed to avoid interruption of the robot due to battery power exhaustion during a critical task. These limit the work efficiency of the robot in practical applications, and the continuous work efficiency of the robot is low.
Disclosure of Invention
Based on the above situation in the prior art, an object of an embodiment of the present invention is to provide an automatic power supply switching device, a power supply control system and a control method, which can detect the voltage of a battery cell in a battery compartment of a robot, and when the energy of one battery cell is exhausted, the battery cell can be taken out for charging, and the remaining battery cell or battery cells can still continue to supply power, so as to realize continuous operation of the robot.
To achieve the above object, according to one aspect of the present invention, there is provided an automatic power supply switching device comprising:
The first power supply loop is used for receiving a first power supply voltage and outputting the first power supply voltage to a load for supplying power;
the second power supply loop is used for receiving a second power supply voltage and outputting the second power supply voltage to a load for power supply;
and the power supply switching module is connected with the first power supply loop and the second power supply loop and is used for switching the first power supply voltage and the second power supply voltage to supply power to the load based on the voltage levels of the first power supply voltage and the second power supply voltage.
Further, the power supply switching module comprises a controllable switch unit;
the controllable switch unit is connected with the first power supply voltage and the second power supply voltage respectively so as to switch the first power supply loop or the second power supply loop to supply power to the load according to the height of the first power supply voltage and the second power supply voltage.
Further, a control electrode of the controllable switch unit is connected with the first power supply voltage, and an input electrode of the controllable switch unit is connected with the second power supply voltage;
When the first power supply voltage is higher than a first voltage threshold value and the second power supply voltage is lower than a second voltage threshold value, the controllable switch unit is disconnected to provide a first power supply voltage for supplying power to a load;
And when the first power supply voltage is lower than a second voltage threshold value and the second power supply voltage is higher than the first voltage threshold value, the controllable switch unit is conducted to provide a second power supply voltage for supplying power to a load.
Further, the controllable switch unit comprises a first switch tube and a second switch tube which are connected in reverse series;
The grid electrodes of the first switching tube and the second switching tube are connected with each other to form a control electrode of the controllable switching unit;
the source electrode of the second switching tube forms the input electrode of the controllable switching unit.
According to a second aspect of the present invention, there is provided a power supply control system, the system comprising:
The power supply automatic switching device is characterized in that an input side is respectively connected with a first electric core and a second electric core, the first electric core provides a first power supply voltage, and the second electric core provides a second power supply voltage; the output side is connected with a load and is used for switching the first power supply voltage or the second power supply voltage to supply power to the load;
The charge-discharge protection device is respectively connected with the first battery cell and the second battery cell and is used for carrying out charge-discharge protection on the first battery cell and the second battery cell;
The control device is respectively connected with the first battery cell and the second battery cell, and is used for monitoring working parameters of the first battery cell and the second battery cell and transmitting the working parameters to the upper computer;
The automatic power supply switching device includes the automatic power supply switching device according to the first aspect of the present invention.
Further, the charge-discharge protection device comprises a first protection module and a second protection module;
the first protection module comprises a first protection unit, and the first protection unit is connected with the first battery cell and used for carrying out charge and discharge protection on the first battery cell;
the second protection module comprises a second protection unit, and the second protection unit is connected with the second battery cell and used for carrying out charge and discharge protection on the second battery cell.
Further, the control device comprises a temperature detection module and a voltage detection module;
the temperature detection module is used for detecting the working temperatures of the first battery cell and the second battery cell;
The voltage detection module is used for detecting the working voltage of the first battery cell and the second battery cell.
According to a third aspect of the present invention, there is provided a control method based on the power supply control system according to the second aspect of the present invention, characterized by comprising:
Acquiring first battery compartment electric quantity data of a first robot; the battery compartment electric quantity data comprise voltage value data of all battery cells in the battery compartment;
calculating the residual working time of the first robot based on the first battery compartment electric quantity data; judging whether the current first task can be completed or not according to the residual working time and the current first task completion progress of the first robot, and if not, sending a cell replacement instruction to the second robot;
and acquiring current second task and second battery compartment electric quantity data of the second robot, and controlling the second robot to perform battery cell replacement operation with the first robot based on the current second task and the second battery compartment electric quantity data.
Further, obtaining current second task and second battery compartment electric quantity data of the second robot, and controlling the second robot to perform battery cell replacement operation with the first robot based on the current second task and the second battery compartment electric quantity data, including:
acquiring a current first task priority of a first robot and a current second task priority of a second robot;
if the current second task priority is lower than the current first task priority, acquiring second battery compartment electric quantity data of the second robot;
And calculating whether the current first task can be completed or not based on the electric quantity data of the second battery compartment, and if so, controlling the second robot and the first robot to perform battery cell replacement operation.
In summary, the embodiment of the invention provides an automatic power supply switching device, a power supply control system and a control method, wherein the device comprises: the first power supply loop is used for receiving a first power supply voltage and outputting the first power supply voltage to a load for supplying power; the second power supply loop is used for receiving a second power supply voltage and outputting the second power supply voltage to a load for power supply; and the power supply switching module is connected with the first power supply loop and the second power supply loop and is used for switching the first power supply voltage and the second power supply voltage to supply power to the load based on the voltage levels of the first power supply voltage and the second power supply voltage. According to the technical scheme provided by the embodiment of the invention, the voltage detection of the battery cells in the battery compartment of the robot can be realized, when the energy of one battery cell is exhausted, the battery cell can be taken out for charging, and the other battery cells or the other battery cells can still continue to supply power, so that the continuous operation of the robot is realized. Meanwhile, the real-time detection of the parameters of the battery cells can be realized, related data are transmitted to the upper computer for processing, and the upper computer can intelligently arrange the idle robot to execute the battery cell replacement task according to the service condition of the battery cells in the battery compartment of the robot, so that uninterrupted power supply of the robot in the working process is realized, and the work is not interrupted due to the problem of battery energy. Meanwhile, the work scheduling of the robot can be optimized, the work efficiency is improved, and the robot is ensured to acquire charging when appropriate, so that continuous and efficient operation of the robot is ensured.
Drawings
Fig. 1 is a schematic diagram of the overall structure of an automatic power supply switching device according to an embodiment of the present invention;
FIG. 2 is a schematic circuit diagram of an embodiment of the present invention;
FIG. 3 is a schematic diagram of the overall structure of a power supply control system according to an embodiment of the present invention;
FIG. 4 is a schematic circuit diagram of a power supply control system according to an embodiment of the present invention;
fig. 5 is a flowchart of a control method of a power supply control system according to an embodiment of the present invention.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
It is to be noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present invention should be taken in a general sense as understood by one of ordinary skill in the art to which the present invention belongs. The use of the terms "first," "second," and the like in one or more embodiments of the present invention does not denote any order, quantity, or importance, but rather the terms "first," "second," and the like are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
The technical scheme of the invention is described in detail below with reference to the accompanying drawings. The embodiment of the invention provides an automatic power supply switching device, which is used for a robot with multiple battery cells, for example, and can automatically switch to other battery cells for power supply when the electric quantity of one battery cell in the battery cell is insufficient. Fig. 1 shows a schematic overall structure of an automatic power supply switching device according to an embodiment of the present invention, as shown in fig. 1, where the device includes:
The first power supply loop is used for receiving a first power supply voltage V1 and outputting the first power supply voltage to a load for supplying power. The second power supply loop is used for receiving a second power supply voltage V2 and outputting the second power supply voltage to the load for supplying power. The first supply voltage V1 and the second supply voltage V2 are supply voltages from different power supplies, for example, may be a battery, a dc voltage source, and a rectified supply voltage of an ac voltage source. The first power supply voltage V1 and the second power supply voltage V2 may be derived from different types of power supplies, or may be derived from the same type of power supply. In the embodiment of the invention, the first power supply voltage V1 and the second power supply voltage V2 are, for example, power supply voltages from different battery cells in the battery compartment of the robot.
And the power supply switching module is connected with the first power supply loop and the second power supply loop and is used for switching the first power supply voltage and the second power supply voltage to supply power to the load based on the voltage levels of the first power supply voltage and the second power supply voltage.
According to some alternative embodiments, the power switching module is a controllable switching unit; the controllable switch unit is connected with the first power supply voltage and the second power supply voltage respectively so as to switch the first power supply loop or the second power supply loop to supply power to the load according to the height of the first power supply voltage and the second power supply voltage. For example, the control electrode of the controllable switch unit is connected with a first power supply voltage, and the input electrode is connected with a second power supply voltage; the controllable switch unit controls the first power supply voltage to supply power to the load through the first power supply loop or controls the second power supply voltage to supply power to the load through the second power supply loop according to whether the first power supply voltage received by the control electrode exceeds a first voltage threshold. When the first power supply voltage is higher than a first voltage threshold value and the second power supply voltage is lower than a second voltage threshold value, the controllable switch unit is disconnected to provide a first power supply voltage for supplying power to a load; when the first power supply voltage is lower than a second voltage threshold, the controllable switch unit is turned on when the second power supply voltage is higher than the first voltage threshold, and at the moment, the first power supply loop is automatically turned off to provide the second power supply voltage for supplying power to the load.
Fig. 2 shows a schematic circuit diagram of an embodiment of the automatic power supply switching device according to the present invention, as shown in fig. 2, and according to some alternative embodiments, the controllable switching unit includes a first switching tube Q5 and a second switching tube Q6 connected in reverse series; the gates of the first switching tube Q5 and the second switching tube Q6 are connected with each other to form a control electrode of the controllable switching unit, and the source electrode of the second switching tube Q6 forms an input electrode of the controllable switching unit. The first switching tube Q5 and the second switching tube Q6 may be MOSFETs, and the magnitudes of the first voltage threshold and the second voltage threshold may be set according to the parameters of the switching tube used. In fig. 2, the potential at point B1 is the positive voltage of the first battery cell, the potential at point B2 is the positive voltage of the second battery cell, when the voltage at point B1 (i.e., the first battery cell) is higher than the first voltage threshold, the voltage at the gate G2 of the second switching tube Q6 is high, the voltage at the source S2 is the positive voltage of the second battery cell, and at this moment, the VGS voltage does not meet the conduction condition of the second switching tube Q6, so that S2 to D2 are not conducted, at this moment, the first battery cell supplies power to the load RL1 through the first power supply loop, and the current flows to the load RL1 through the diode D8, thereby forming the first power supply loop. When the voltage of the second battery cell is higher than the first voltage threshold, the VGS voltage of the second switching tube Q6 is negative, and when the voltage is higher than the on voltage of the PMOS, the second switching tube Q6 is turned on, and current flows from the second switching tube Q6 to the parasitic diode of the first switching tube Q5 and then to the load RL1, and the first switching tube Q5 is used for preventing the first battery cell from charging the second battery cell through the parasitic diode of the second switching tube Q6 after passing through the diode D8. Wherein Cout1 as a load capacitor can improve the stability of the output voltage.
The embodiment of the invention also provides a power supply control system, and fig. 3 shows an overall structure schematic diagram of the power supply control system according to the embodiment of the invention, as shown in fig. 3, and the system includes:
The power supply automatic switching device is characterized in that an input side is respectively connected with a first electric core and a second electric core, the first electric core provides a first power supply voltage, and the second electric core provides a second power supply voltage; the output side is connected with a load and is used for switching the first power supply voltage or the second power supply voltage to supply power to the load.
And the charge and discharge protection device is respectively connected with the first battery cell and the second battery cell and is used for carrying out charge and discharge protection on the first battery cell and the second battery cell.
And the control device is respectively connected with the first battery cell and the second battery cell and is used for monitoring the working parameters of the first battery cell and the second battery cell and transmitting the working parameters to the upper computer.
The automatic power supply switching device is, for example, the automatic power supply switching device described in the above embodiment.
Fig. 4 shows a schematic circuit structure of a power supply control system according to an embodiment of the present invention, and as shown in fig. 4, the system includes a power supply automatic switching device K1, a charge/discharge protection device K2, and a control device K3. According to some optional embodiments, in the charge-discharge protection device K2, one protection module is provided for each cell, and for the first cell and the second cell in the above embodiments, the charge-discharge protection device includes a first protection module and a second protection module; the first protection module comprises a first protection unit U1, wherein the first protection unit is connected with the first battery cell and is used for carrying out charge and discharge protection on the first battery cell; the second protection module comprises a second protection unit U2, and the second protection unit is connected with the second battery cell and used for carrying out charge and discharge protection on the second battery cell. The first protection unit U1 and the second protection unit U2 are, for example, a single-section rechargeable lithium battery protection integrated IC, and DW01 series chips may be used. The operation of the protection module will be described below using the first protection unit as an example. When the voltage of the first battery cell is normal, DO and CO pins of the first protection unit U1 output high level, the third switching tube Q1 and the fourth switching tube Q2 are in a conducting state, the negative electrode of the first battery cell is directly communicated with the output of the first protection module, and voltage is output. When the first battery cell discharges through an external load, the voltage at two ends of the first battery cell is slowly reduced, the voltage of the first battery cell is monitored in real time through a resistor in the first protection unit U1, when the voltage of the first battery cell is reduced to a discharge voltage threshold (for example, 2.3V), the first battery cell is in an overdischarge state, the DO pin voltage of the first protection unit U1 becomes 0V, the third switching tube Q1 is cut off, and the first battery cell stops discharging when the negative voltage end B-and P-of the first battery cell are in an off state. When the first cell voltage rises to the threshold voltage of the first protection unit U1, the DO pin resumes outputting a high level, and the third switching tube Q1 is turned on again. After the charging voltage is added to the first protection module, the first protection unit U1 immediately flows from the pin CO to the P+ from the positive electrode of the charger, flows to the B+ from the B+ and flows to the P-from the parasitic diode of the third switching tube Q1 to the drain D of the fourth switching tube Q2, flows to the grid S of the fourth switching tube Q2 and flows to the P-, and finally returns to the negative electrode of the charger to form a complete loop after the charging voltage is detected by the B-end. Wherein P+ is the positive electrode of the battery cell, and P-is the negative electrode of the battery cell.
According to certain alternative embodiments, the control device K3 comprises a temperature detection module and a voltage detection module; the temperature detection module is used for detecting the working temperatures of the first battery cell and the second battery cell; the voltage detection module is used for detecting the working voltage of the first battery cell and the second battery cell. As shown in fig. 4, the control device includes a first temperature measuring resistor NTC1 and a second temperature measuring resistor NTC2, and is used for measuring the temperature of the battery cell, and further includes an MCU, where the MCU is used to send the collected data such as the temperature and the voltage of the battery cell to an NB-IOT module of the robot through a serial port, and the NB-IOT module uploads the data to an upper computer, such as a data terminal platform, so that other robots can read the data, where the wireless transmission module is not limited to NB-IOT, WIFI, and bluetooth. In the temperature detection module, the NTC temperature measuring resistor may be directly and physically connected to the battery cell (not shown in fig. 4), and the NTC resistor is tightly contacted with the battery cell to ensure accurate temperature measurement, for example, by fixing the NTC temperature measuring resistor on the surface of the battery cell or embedding the NTC temperature measuring resistor inside the battery cell. The detection values of the temperature detection module and the voltage detection module in the control device K3 can be used for controlling the robot. The control device K3 monitors the temperature of the battery cell in real time, if the temperature exceeds a preset normal range, the MCU sends out an alarm signal or a control signal to prompt other robots to perform corresponding operations, such as requesting the other robots to replace the abnormal battery cell before, or automatically replacing the battery cell under a certain condition.
The embodiment of the invention also provides a control method of the power supply control system, wherein the power supply control system is the control system related to the embodiment, a flow chart of the control method is shown in fig. 5, and the control method comprises the following steps:
S202, acquiring first battery compartment electric quantity data of a first robot, wherein the battery compartment electric quantity data comprise voltage value data of all battery cells in a battery compartment. In the embodiment of the invention, the voltage value of the battery cell can be obtained by using the voltage detection module in the control device K3. As shown in fig. 4, the MCU in the control device K3 includes an ADC pin, and the voltage of the battery cell can be detected by the ADC inside the MCU, for example, the pin ADC2 can implement voltage detection of the first battery cell:
Vadc2＝(R8/R8+R9)VBT1
Wherein V adc2 is the voltage data collected by the pin ADC2, and V BT1 is the voltage of the first cell.
The voltage of the second cell may be calculated based on the same principle.
In this step, the battery compartment power data may further include temperature value data, and the temperature value data may be obtained by using a temperature detection module in the control device K3. In the embodiment of the invention, the thermistor NTC1 can be used as a temperature sensor, a voltage dividing circuit is formed by the thermistor and the fixed resistor, and the voltage signal after voltage division is input into the ADC for digital processing, and finally, a digital signal is obtained to represent a temperature value. For example, the thermistor NTC1 has a resistance value R N, a voltage source voltage VCC, a resistance value R 5 of the resistor R5, and a voltage signal after voltage division V OUT according to the principle of a voltage dividing circuit. The output voltage VOUT of the voltage divider circuit can be calculated using the following formula:
VOUT＝VCC(RN/RN+R5)
the temperature value data may be calculated using the following formula:
1/T＝a+b*ln(R)+c*(ln(R))3
Where T represents the absolute temperature (in kelvin) of the first cell, R represents the resistance of the thermistor NTC1, and a, b, and c are constants determined according to the characteristic curve of the NTC. The temperature of the second cell may also be calculated in a similar manner.
S204, calculating the residual working time of the first robot based on the first battery compartment electric quantity data. In this embodiment of the present invention, the remaining capacity SOC of each cell is calculated from the voltage value data obtained in the above step, and the cell voltage obtained in the previous step may be used as an approximate Open Circuit Voltage (OCV) value, and the remaining capacity SOC of the cell may be obtained by using curve fitting between the Open Circuit Voltage (OCV) value and the SOC:
SOC＝m*exp(n*OCV)
Wherein OCV represents the open circuit voltage corresponding to the battery cell, and m and n are parameters obtained by experimental measurement or fitting according to a specific type of battery.
And adding the residual capacities SOC of all the battery cells in the battery compartment to obtain the residual capacity of the battery compartment. The remaining working time of the first robot can be obtained by utilizing a fitting curve of the remaining capacity value of the battery cell of the battery compartment and the working time of the robot. The method specifically comprises the following steps:
(1) Data collection and fitting curve establishment: and collecting the residual capacity value of each battery cell in the battery compartment and corresponding robot working time data. Using these data, a fitting algorithm, such as polynomial fitting, exponential fitting, or other curve fitting methods, can be applied to establish a fitted curve of the relationship between the residual capacity values of the cells and the robot work time.
(2) Interpolation and calculation: after the fitting curve is established, the residual capacity value of the battery compartment cell can be inserted into the fitting curve, and the corresponding working time of the robot can be found. This may be achieved by interpolation methods or function approximation methods. The remaining operating time of the first robot can be calculated by substituting the remaining capacity value of the battery compartment into the fitted curve.
(3) Real-time monitoring and adjustment: the residual capacity values of the battery cells in the battery bin are monitored periodically, and the residual working time of the robot is calculated in real time according to the values.
(4) System integration and feedback mechanism: in order to make the system more intelligent and self-adaptive, the real-time data are integrated into the whole system, and a feedback mechanism is established so as to optimize and adjust the work schedule according to the real-time data, and ensure that the robot always keeps in an optimal working state.
S206, judging whether the current first task can be completed or not according to the residual working time and the current first task completion progress of the first robot, and if not, sending a battery core replacement instruction to the second robot. If the judgment result is that the current first task can be completed, returning to the step S202 to continuously monitor the battery compartment electric quantity data of the robot. S208, acquiring current second task and second battery compartment electric quantity data of the second robot, and controlling the second robot to perform battery cell replacement operation with the first robot based on the current second task and the second battery compartment electric quantity data. The battery cells of the first robot can be replaced according to the voltage value data of the battery cells in the battery compartment of the first robot and the voltage value data of the battery cells in the battery compartment of the second robot. The second battery compartment charge data of the second robot may be acquired using the same method and apparatus as the first battery compartment charge data of the first robot.
The method for acquiring the current second task and the second battery compartment electric quantity data of the second robot, controlling the second robot to perform battery cell replacement operation with the first robot based on the current second task and the second battery compartment electric quantity data comprises the following steps:
acquiring a current first task priority of a first robot and a current second task priority of a second robot;
if the current second task priority is lower than the current first task priority, acquiring second battery compartment electric quantity data of the second robot;
And calculating whether the current first task can be completed or not based on the electric quantity data of the second battery compartment, and if so, controlling the second robot and the first robot to perform battery cell replacement operation.
In summary, the embodiment of the invention relates to an automatic power supply switching device, a power supply control system and a control method, wherein the device comprises: the first power supply loop is used for receiving a first power supply voltage and outputting the first power supply voltage to a load for supplying power; the second power supply loop is used for receiving a second power supply voltage and outputting the second power supply voltage to a load for power supply; and the power supply switching module is connected with the first power supply loop and the second power supply loop and is used for switching the first power supply voltage and the second power supply voltage to supply power to the load based on the voltage levels of the first power supply voltage and the second power supply voltage. The technical scheme provided by the embodiment of the invention has the following beneficial technical effects:
(1) Continuously supplying power: through the battery compartment design that many electric cores are constituteed, realized mobile robot's continuous power supply ability. When the energy of one electric core is exhausted, other electric cores can still continue to supply power, so that the robot is ensured not to work interruption.
(2) And (3) intelligent management: the battery compartment can detect electric quantity and health status of the battery cell in real time and transmit data to the terminal platform. The intelligent management system can realize intelligent scheduling and charging arrangement of battery cell replacement.
(3) Optimizing work scheduling: the idle robot can automatically execute the battery core replacement task, and the shutdown of the robot due to the battery energy problem is avoided, so that the overall work scheduling and the utilization rate of the robot are optimized.
(4) Flexible charging mode: the battery cell of the depleted electric quantity can be placed in a robot battery bin for charging, and also can be placed in a fixed charging bin for charging, so that a more flexible charging mode is provided.
(4) Efficiency is improved: the intelligent battery compartment management system not only ensures continuous operation of the robot, but also improves efficiency in charging and battery cell replacement, and reduces unnecessary downtime.
It should be understood that the above discussion of any of the embodiments is exemplary only and is not intended to suggest that the scope of the invention (including the claims) is limited to these examples; combinations of features of the above embodiments or in different embodiments are also possible within the spirit of the invention, steps may be implemented in any order and there are many other variations of the different aspects of one or more embodiments of the invention described above which are not provided in detail for the sake of brevity. The above detailed description of the present invention is merely illustrative or explanatory of the principles of the invention and is not necessarily intended to limit the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Claims (7)
1. An automatic power switching device, characterized in that the device comprises:
The first power supply loop is used for receiving a first power supply voltage and outputting the first power supply voltage to a load for supplying power;
the second power supply loop is used for receiving a second power supply voltage and outputting the second power supply voltage to a load for power supply;
the power supply switching module comprises a controllable switching unit, wherein the controllable switching unit comprises a first switching tube and a second switching tube which are connected in reverse series; the grid electrodes of the first switching tube and the second switching tube are connected with each other to form a control electrode of the controllable switching unit, the control electrode is connected with a first power supply voltage, the source electrode of the second switching tube forms an input electrode of the controllable switching unit, and the input electrode is connected with a second power supply voltage; the power supply switching module switches the first power supply voltage and the second power supply voltage to supply power to a load based on the voltage levels of the first power supply voltage and the second power supply voltage.
2. The apparatus of claim 1, wherein the device comprises a plurality of sensors,
When the first power supply voltage is higher than a first voltage threshold value and the second power supply voltage is lower than a second voltage threshold value, the controllable switch unit is disconnected to provide a first power supply voltage for supplying power to a load;
And when the first power supply voltage is lower than a second voltage threshold value and the second power supply voltage is higher than the first voltage threshold value, the controllable switch unit is conducted to provide a second power supply voltage for supplying power to a load.
3. A power supply control system, the system comprising:
The power supply automatic switching device is characterized in that an input side is respectively connected with a first electric core and a second electric core, the first electric core provides a first power supply voltage, and the second electric core provides a second power supply voltage; the output side is connected with a load and is used for switching the first power supply voltage or the second power supply voltage to supply power to the load;
The charge-discharge protection device is respectively connected with the first battery cell and the second battery cell and is used for carrying out charge-discharge protection on the first battery cell and the second battery cell;
The control device is respectively connected with the first battery cell and the second battery cell, and is used for monitoring working parameters of the first battery cell and the second battery cell and transmitting the working parameters to the upper computer;
The power supply automatic switching device includes the power supply automatic switching device according to claim 1 or2.
4. A system according to claim 3, wherein the charge-discharge protection device comprises a first protection module and a second protection module;
The first protection module comprises a first protection unit (U1), and the first protection unit is connected with the first battery cell and is used for carrying out charge and discharge protection on the first battery cell;
The second protection module comprises a second protection unit (U2), and the second protection unit is connected with the second battery cell and used for carrying out charge and discharge protection on the second battery cell.
5. The system of claim 4, wherein the control device comprises a temperature detection module and a voltage detection module;
the temperature detection module is used for detecting the working temperatures of the first battery cell and the second battery cell;
The voltage detection module is used for detecting the working voltage of the first battery cell and the second battery cell.
6. A control method based on the power supply control system according to any one of claims 3 to 5, characterized in that the control method comprises:
Acquiring first battery compartment electric quantity data of a first robot; the battery compartment electric quantity data comprise voltage value data of all battery cells in the battery compartment;
calculating the residual working time of the first robot based on the first battery compartment electric quantity data;
Judging whether the current first task can be completed or not according to the residual working time and the current first task completion progress of the first robot, and if not, sending a cell replacement instruction to the second robot;
and acquiring current second task and second battery compartment electric quantity data of the second robot, and controlling the second robot to perform battery cell replacement operation with the first robot based on the current second task and the second battery compartment electric quantity data.
7. The method of claim 6, wherein obtaining current second task and second battery compartment power data for the second robot and controlling the second robot to perform a battery cell replacement operation with the first robot based on the current second task and second battery compartment power data comprises:
acquiring a current first task priority of a first robot and a current second task priority of a second robot;
if the current second task priority is lower than the current first task priority, acquiring second battery compartment electric quantity data of the second robot;
And calculating whether the current first task can be completed or not based on the electric quantity data of the second battery compartment, and if so, controlling the second robot and the first robot to perform battery cell replacement operation.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104428970A (en) * | 2014-06-03 | 2015-03-18 | 华为技术有限公司 | Cell protection circuit and method |
| CN106340957A (en) * | 2016-11-09 | 2017-01-18 | 浪潮（苏州）金融技术服务有限公司 | Power supply circuit switching device and method and power supply system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105162078B (en) * | 2015-10-15 | 2018-02-23 | 广东欧珀移动通信有限公司 | The charge protector and method and terminal of a kind of terminal |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104428970A (en) * | 2014-06-03 | 2015-03-18 | 华为技术有限公司 | Cell protection circuit and method |
| CN106340957A (en) * | 2016-11-09 | 2017-01-18 | 浪潮（苏州）金融技术服务有限公司 | Power supply circuit switching device and method and power supply system |
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