CN210348243U

CN210348243U - Power management system and robot

Info

Publication number: CN210348243U
Application number: CN201921355933.7U
Authority: CN
Inventors: 罗沛; 郑志强; 张其; 朱显忠
Original assignee: Uditech Co Ltd
Current assignee: Youdi Robot (Wuxi) Co.,Ltd.
Priority date: 2019-08-19
Filing date: 2019-08-19
Publication date: 2020-04-17
Anticipated expiration: 2029-08-19

Abstract

A power management system and a robot generate an internal power supply according to a battery power through a first direct current conversion module to supply power to each functional module; the second direct current conversion module generates a first external power supply and a second external power supply according to the battery power supply and the enabling signal; the third direct current conversion module generates an algorithm processor power supply and a reserved power supply according to the battery power supply and the enabling signal; the detection module detects the first external power supply, the second external power supply, the algorithm processor power supply and the reserved power supply to generate corresponding power supply detection signals; the conversion module generates a wired communication signal according to the power supply detection signal; the control module generates an enabling signal according to the wired communication signal; therefore, each power supply is monitored and managed in real time, ADC (analog-to-digital converter) interface resources of the control module are saved, and meanwhile, the power supply and signals are isolated, so that the hardware cost and the research and development workload are reduced, and the response speed and the control precision of the power management system are improved.

Description

Power management system and robot

Technical Field

The utility model belongs to the technical field of the robot power, especially, relate to a power management system and robot.

Background

With the rise of the robot industry, more and more robots appear on the market, and the robots replace manpower in various ways to reduce the labor burden of human beings. As a power supply core of the robot, a power management system of the robot must be reliable and practical in electrical safety, stability, reliability, electromagnetic compatibility and the like.

In the robot power management scheme in the market at present, a power management system is processed and controlled by a single chip microcomputer after voltage or current sampling and analog-to-digital conversion, and the system is low in control precision and low in response speed, so that faults such as overcurrent and the like easily occur in the system, circuit components are damaged, and the monitoring system cannot respond in time. Meanwhile, the voltage or current sampling processing utilizes the serial interface of the single chip microcomputer, so that more single chip microcomputer resources are occupied and consumed, when a plurality of groups of voltages need to be monitored, the multiple single chip microcomputers need to be correspondingly adopted, the hardware cost is high, and the research and development workload is large.

Therefore, in the traditional technical scheme, the voltage or current sampling and the analog-to-digital conversion are carried out and then are processed and controlled by the single chip microcomputer, so that the defects that the ground power management system is low in control response speed and low in precision, occupies and consumes more single chip microcomputer resources, is high in hardware cost and is large in research and development workload are caused.

SUMMERY OF THE UTILITY MODEL

In view of this, the embodiment of the utility model provides a power management system and robot aims at solving and carries out after voltage or current sampling and the analog-to-digital conversion that exist among the traditional technical scheme and is handled and control by the singlechip to lead to ground power management system control response speed slow and the precision low and occupy and consume more singlechip resource and lead to the problem that hardware cost is high, research and development work volume is big.

The utility model discloses a first aspect of the embodiment provides a power management system, power management system includes:

the first direct current conversion module is used for generating an internal power supply according to the battery power supply so as to supply power to each functional module;

the second direct current conversion module is used for generating a first external power supply according to the battery power supply and the first enabling signal so as to supply power to the subsystem, and generating a second external power supply according to the battery power supply and the second enabling signal so as to supply power to the distance detection module;

the third direct current conversion module is used for generating an algorithm processor power supply according to the battery power supply and a third enabling signal so as to supply power to the algorithm processor, and generating a reserved power supply according to the battery power supply and a fourth enabling signal so as to supply power to external equipment;

a detection module connected to the second dc conversion module and the third dc conversion module, for detecting the first external power supply, the second external power supply, the algorithm processor power supply and the reserved power supply to generate a first external power supply detection signal, a second external power supply detection signal, an algorithm processor power supply detection signal and a reserved power supply detection signal;

a conversion module connected with the detection module and used for generating a wired communication signal according to the first external power supply detection signal, the second external power supply detection signal, the algorithm processor power supply detection signal and the reserved power supply detection signal;

and the control module is connected with the first direct current conversion module, the second direct current conversion module, the third direct current conversion module and the conversion module and is used for generating the first enabling signal, the second enabling signal, the third enabling signal and the fourth enabling signal according to the wired communication signal.

In one embodiment, the power management system further comprises:

the power-on switch module is connected with the battery and the control module and used for generating a key state detection signal according to key input and switching on or switching off the battery power supply according to a power supply on-off control signal;

the control module is also used for generating the power on-off control signal according to the key state detection signal.

In one embodiment, the power management system further comprises:

the first wired communication module is connected with the control module, detects a battery to generate battery information and forwards the battery information;

the control module is specifically configured to generate the first enable signal, the second enable signal, the third enable signal, and the fourth enable signal according to the battery information and the wired communication signal.

In one embodiment, the power management system further comprises:

the second wired communication module is connected with the control module and used for forwarding the subsystem state information;

the third wired communication module is connected with the control module and used for forwarding subsystem control information;

the control module is further configured to generate the subsystem control information according to the subsystem state information.

In one embodiment, the power management system further comprises:

a storage module for forwarding the stored identity information;

the identity recognition module is connected with the storage module and the control module and used for generating an identification signal according to the identity information;

the control module is specifically configured to generate the first enable signal, the second enable signal, the third enable signal, and the fourth enable signal according to the identification signal and the wired communication signal.

In one embodiment, the power management system further comprises:

the sensing module is connected with the control module and used for detecting environmental parameters to generate an environmental sensing signal;

the control module is specifically configured to generate the first enable signal, the second enable signal, the third enable signal, and the fourth enable signal according to the environment sensing signal and the wired communication signal.

In one embodiment, the power management system further comprises:

a current detection module for detecting the first external power supply, the second external power supply, the algorithm processor power supply and the reserved power supply respectively to generate a first external power supply current detection signal, a second external power supply current detection signal, an algorithm processor power supply current detection signal and a reserved power supply current detection signal;

the control module is specifically configured to generate the first enable signal, the second enable signal, the third enable signal, and the fourth enable signal according to the wired communication signal, the first external power supply current detection signal, the second external power supply current detection signal, the algorithm processor power supply current detection signal, and the reserved power supply current detection signal.

In one embodiment, the conversion module comprises a first capacitor, a second capacitor, a third capacitor, a fourth capacitor, a fifth capacitor, a sixth capacitor, a seventh capacitor, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, a first triode, a first optical coupler isolator, a first sampling chip and a first digital isolator;

the first end of the first resistor is a battery power supply detection signal input end of the conversion module;

the first end of the second resistor is a first external power supply detection signal input end of the conversion module;

the first end of the third resistor is a second external power supply detection signal input end of the conversion module;

the first end of the fourth resistor is the power supply detection signal input end of the arithmetic processor of the conversion module;

the first end of the fifth resistor is a reserved power supply detection signal input end of the conversion module;

a first end of the eighth resistor is a conversion enabling signal input end of the conversion module;

the channel A input end of the first digital isolator, the channel B input end of the first digital isolator and the channel C output end of the first digital isolator jointly form a wired communication signal output end of the conversion module, and a first output enabling end of the first digital isolator is an output enabling signal input end of the conversion module;

the first input end of the first sampling chip is connected with the second end of the first resistor and the first end of the first capacitor, the second input end of the first sampling chip is connected with the second end of the second resistor and the first end of the second capacitor, the third input end of the first sampling chip is connected with the second end of the third resistor and the first end of the third capacitor, the fourth input end of the first sampling chip is connected with the second end of the fourth resistor and the first end of the fourth capacitor, the fifth input end of the first sampling chip is connected with the second end of the fifth resistor and the first end of the fifth capacitor, and the second end of the first capacitor, the second end of the second capacitor, the second end of the third capacitor, the second end of the fourth capacitor and the second end of the fifth capacitor are connected with a power ground; the analog power supply end of the first sampling chip is connected with a first internal power supply, the enable end of the first sampling chip is connected with the second end of the seventh resistor and the collector of the first optocoupler isolator, the first end of the sixth resistor is connected with the first cathode of the first optocoupler isolator, the emitter of the first optocoupler isolator is connected with a power ground, the anode of the first optocoupler isolator is connected with the second end of the seventh resistor, the first end of the seventh resistor is connected with a second internal power supply, the second end of the seventh resistor is connected with a third internal power supply, the second cathode of the first optocoupler isolator is connected with the collector of the first triode, the emitter of the first triode is connected with the power ground, and the base of the first triode is connected with the second end of the eighth resistor; the clock end of the first sampling chip is connected with the output end of the A channel of the first digital isolator, the data output end of the first sampling chip is connected with the C channel input end of the first digital isolator, the data input end of the first sampling chip is connected with the B channel output end of the first digital isolator, the digital power end of the first sampling chip is connected with the first internal power supply, the analog ground end of the first sampling chip and the digital ground end of the first sampling chip are connected with a power ground, the first power terminal of the first digital isolator and the first terminal of the sixth capacitor are connected to the third internal power supply, the second power supply terminal of the first digital isolator and the first terminal of the seventh capacitor are connected to the second internal power supply, and the second end of the seventh capacitor, the second end of the sixth capacitor and the ground end of the first digital isolator are connected with a power ground.

In one embodiment, the second wired communication module comprises an eighth capacitor, a ninth capacitor, a tenth capacitor, an eleventh capacitor, a twelfth capacitor, a ninth resistor, a tenth resistor, an eleventh resistor, a twelfth resistor, a first common mode filter, a first transient suppressor and a first isolated CAN transceiver;

the data receiving end of the first isolated CAN transceiver and the data transmitting end of the first isolated CAN transceiver jointly form a subsystem state information output end of the second wired communication module;

a first end of the eleventh capacitor and a second end of the twelfth capacitor are jointly formed as a subsystem state information input end of the second wired communication module;

a second end of the eleventh capacitor is connected to a power ground, a first end of the eleventh capacitor is connected to a first end of the eleventh resistor, a third end of the first common mode filter, a second end of the ninth resistor, and a second cathode of the first transient suppressor, a second end of the twelfth capacitor is connected to a second end of the twelfth resistor, a fourth end of the first common mode filter, a second end of the tenth resistor, and a first cathode of the first transient suppressor, a common cathode of the first transient suppressor is connected to a power ground, a first end of the ninth resistor and a second end of the first common mode filter are connected to a high-level CAN bus terminal of the first isolated CAN transceiver, a first end of the tenth resistor and a first end of the first common mode filter are connected to a low-level CAN bus terminal of the first isolated CAN transceiver, the first power end of the first isolation CAN transceiver is connected with the first end of the eighth capacitor and the fourth internal power supply, the second end of the eighth capacitor is connected with a power ground, the second power end of the first isolation CAN transceiver is connected with the first end of the ninth capacitor and the fifth internal power supply, the second end of the ninth capacitor is connected with the power ground, and the ground end of the first isolation CAN transceiver is connected with the power ground.

A second aspect of the embodiments of the present invention provides a robot, which includes a power management system as described above.

The power management system generates an internal power supply according to a battery power supply through the first direct current conversion module to supply power to each functional module, the second direct current conversion module and the third direct current conversion module generate a first external power supply, a second external power supply, an algorithm processor power supply and a reserved power supply according to the battery power supply and an enable signal, the detection module detects the first external power supply, the second external power supply, the algorithm processor power supply and the reserved power supply to generate a first external power supply detection signal, the conversion module generates a wired communication signal according to the first external power supply detection signal, the second external power supply detection signal, the algorithm processor power supply detection signal and the reserved power supply detection signal, and the control module generates an enabling signal according to the wired communication signal; thereby realize carrying out real-time supervision to each power supply, generate wired communication signal through conversion module, the ADC analog-to-digital conversion interface resource of control module has been saved, the condition of control module's ADC interface resource shortage when having multiunit voltage to need the control has been avoided, and because control module reads each power supply's voltage information and monitors and manages each power supply according to the voltage information that reads through conversion module, conveniently carry out the isolation of power and signal, effectively prevent the two and disturb each other, hardware cost and research and development work load have been reduced, system response speed and control accuracy have been promoted.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a schematic structural diagram of a power management system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a power management system according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a power management system according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a power management system according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a power management system according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a power management system according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a power management system according to an embodiment of the present invention;

fig. 8 is a schematic circuit diagram illustrating an exemplary conversion module of a power management system according to an embodiment of the present invention;

fig. 9 is a schematic circuit diagram illustrating a second wired communication module of a power management system according to an embodiment of the present invention;

fig. 10 is a schematic view of an extended structure of a robot subsystem 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 clearly understood, the present invention is further described in 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 are not intended to limit the invention.

Referring to fig. 1, a schematic structural diagram of a power management system according to an embodiment of the present invention shows only the relevant portions of the embodiment for convenience of description, and the detailed description is as follows:

a power management system comprises a first direct current conversion module 11, a second direct current conversion module 12, a third direct current conversion module 13, a detection module 14, a conversion module 15 and a control module 16.

The first direct current conversion module 11 is used for generating an internal power supply according to a battery power supply so as to supply power to each functional module; the second dc conversion module 12 is configured to generate a first external power source according to the battery power source and the first enable signal to supply power to the subsystem, and generate a second external power source according to the battery power source and the second enable signal to supply power to the distance detection module; the third direct current conversion module 13 is configured to generate an algorithm processor power supply according to the battery power supply and the third enable signal to supply power to the algorithm processor, and generate a reserved power supply according to the battery power supply and the fourth enable signal to supply power to the external device; the detection module 14 is connected to the second dc conversion module 12 and the third dc conversion module 13, and is configured to detect the first external power supply, the second external power supply, the algorithm processor power supply, and the reserved power supply to generate a first external power supply detection signal, a second external power supply detection signal, an algorithm processor power supply detection signal, and a reserved power supply detection signal; the conversion module 15 is connected with the detection module 14 and is used for generating a wired communication signal according to the first external power detection signal, the second external power detection signal, the algorithm processor power detection signal and the reserved power detection signal; the control module 16 is connected to the first dc conversion module 11, the second dc conversion module 12, the third dc conversion module 13, and the conversion module 15, and is configured to generate a first enable signal, a second enable signal, a third enable signal, and a fourth enable signal according to the wired communication signal.

In a specific implementation, the control module 16 may further generate a power-on enable signal according to a key input signal generated by a user input, and the first dc conversion module 11 generates an internal power supply according to the power-on enable signal and a battery power supply to supply power to each functional module. The conversion module 15 includes an ADC sampling chip with an SPI (Serial Peripheral Interface) Interface, ADC Interface resources of the control module 16 of the system are saved by the conversion module 15, the condition of ADC Interface resource shortage when there are multiple groups of voltages to be monitored is avoided, and since the control module 16 only needs to read voltage information of each power supply through the SPI Interface, power and signal isolation is facilitated, isolation circuit design is simplified, hardware cost and development workload are saved.

Optionally, the control module 16 includes at least one of a Central Processing Unit (CPU), a Digital Signal Processor (DSP), a central control unit (MCU), a Field Programmable Gate Array (FPGA), and a Complex Programmable Logic Device (CPLD), and has sufficient computation, analysis, and processing capabilities, so as to meet computation and control requirements required by the power management system.

Referring to fig. 2, in one embodiment, the power management system further includes a power-on switch module 17.

The power-on switch module 17 is connected with the battery and control module 16 and used for generating a key state detection signal according to key input and connecting or disconnecting the battery power supply according to a power supply on-off control signal; the control module 16 is further configured to generate a power on/off control signal according to the key state detection signal.

In specific implementation, the power-on switch module 17 includes a switch control chip, and the power-on and power-off time can be defined autonomously by the power-on switch module 17 and the control module 16, and can be used in a high-voltage scene, so that the applicability and flexibility of the power management circuit are greatly enhanced. Due to the fact that the integrated switch control chip and the specific power-on maintaining mode are used, the problem that a common key circuit is shaken or triggered by mistake is solved, and the stability of the power on/off system are greatly improved.

Referring to fig. 3, in one embodiment, the power management system further includes a first wired communication module 18.

The first wired communication module 18 is connected with the control module 16, detects the battery 01 to generate battery information, and converts the battery information; the control module 16 is specifically configured to generate a first enable signal, a second enable signal, a third enable signal, and a fourth enable signal based on the battery information and the wired communication signal.

In specific implementation, the first wired communication module 18 is used for realizing communication between the battery 01 and the control module 16, so that battery information of the battery 01, including battery capacity information and battery fault information, can be monitored in time, and the battery information is fed back to the control module 16 in time, so that the control module 16 can perform system power management according to the battery information, and reliability and practicability of system power supply are improved.

Referring to fig. 4, in one embodiment, the power management system further includes a second wired communication module 19 and a third wired communication module 20.

The second wired communication module 19 is connected with the control module 16 and used for forwarding the subsystem state information; the third wired communication module 20 is connected with the control module 16 and is used for forwarding subsystem control information; the control module 16 is also configured to generate subsystem control information based on the subsystem state information.

In specific implementation, the second wired communication module 19 includes a CAN bus transceiver, the third wired communication module 20 includes an RS485 transceiver, and the second wired communication module 19, the third wired communication module 20 and the first external power supply together form an integrated expansion module for expanding the subsystem. The RS485 is used as a low-speed bus and mainly transmits control information of each subsystem or interaction information necessary for the operation of the subsystems; the CAN bus is used as a safety bus, is a safety information transmission channel of the robot system, and is mainly used for transmitting safety data, system backup data and emergency data, for example, transmitting status information, version information, configuration information, self-checking diagnosis information, error information report, emergency stop status information and the like of each subsystem. Under the condition of short-distance communication, 256 nodes CAN be theoretically mounted on a CAN bus, which also means that subsystems of the system CAN be theoretically extended to 256, the expandability of a power supply system of the robot is improved, the robot is enabled to face new functional requirements, the subsystems CAN be conveniently and effectively extended to be used and managed, the problem that once the traditional power supply management system of the robot is designed and finished, the traditional power supply management system of the robot cannot be expanded to electrically connect more devices or the expandability is limited is solved, and once the robot faces the new functional requirements, the subsystems are often stranded when needing to be extended. Meanwhile, the RS485 and CAN buses are connected into the control module 106 of the system in an isolation mode, so that external interference such as static electricity and surge CAN be effectively prevented.

Robot subsystem is as a part of robot, the subsystem with the utility model discloses a Power management system constitutes a whole, and every subsystem all has respective identification (ID number) and memory chip and independent PMU (Power management unit) equally, as shown in fig. 10, wherein, the P/S BUS CAN be understood as CAN BUS, RS485 BUS and a BUS that external Power BUS (Power _ BUS) constitutes jointly. Optionally, the PMU uses a low-power consumption single chip microcomputer as a unit main control chip, receives state information of each subsystem through the CAN bus, the control module 16 generates subsystem control information according to the subsystem state information, and forwards power-on control information and power-off control information of the control subsystem to the PMUs of each subsystem through the RS485 bus, the PMU monitors and acquires voltage and current data of each power supply of the subsystem, and the corresponding abnormal power supply CAN be independently turned off under abnormal conditions.

Referring to fig. 5, in one embodiment, the power management system further includes a storage module 21 and an identification module 2.

The storage module 21 is used for forwarding the stored identity information; the identity recognition module 22 is connected with the storage module and control module 16 and is used for generating an identification signal according to the identity information; the control module 16 is specifically configured to generate a first enable signal, a second enable signal, a third enable signal, and a fourth enable signal according to the identification signal and the wired communication signal.

In specific implementation, after the power-on is triggered through key input, the control module 16 reads the identification signal and judges whether the identity information of the power management system is consistent with the preset board card identity information or not according to the identification signal, if so, the system is triggered to perform self-checking, the self-checking is completed, the system normally operates, and the control module 16 generates a first enabling signal, a second enabling signal, a third enabling signal and a fourth enabling signal according to the identification signal and the wired communication signal to control the power management system to be powered on and generate each power supply. After the system self-test is completed, the third wired communication module 20 notifies each subsystem of the robot to perform self-test, and when the self-test of each subsystem is also completed, the system is powered on.

Referring to fig. 6, in one embodiment, the power management system further includes a sensing module 23.

The sensing module 23 is connected to the control module 16, and is configured to detect an environmental parameter to generate an environmental sensing signal; the control module 16 is specifically configured to generate a first enable signal, a second enable signal, a third enable signal, and a fourth enable signal according to the environment sensing signal and the wired communication signal.

In specific implementation, the sensing module 23 includes a temperature sensor, which can effectively monitor the temperature of the system, prevent the system from being out of work due to overhigh temperature, and improve the reliability of the power management system.

Referring to fig. 7, in one embodiment, the power management system further includes a current detection module 24.

The current detection module 24 is configured to detect the first external power supply, the second external power supply, the algorithm processor power supply, and the reserved power supply respectively to generate a first external power supply current detection signal, a second external power supply current detection signal, an algorithm processor power supply current detection signal, and a reserved power supply current detection signal; the control module 16 is specifically configured to generate a first enable signal, a second enable signal, a third enable signal, and a fourth enable signal according to the wired communication signal, the first external power supply current detection signal, the second external power supply current detection signal, the algorithm processor power supply current detection signal, and the reserved power supply current detection signal.

In specific implementation, the current monitoring module 24 includes an ammeter chip, the first external power supply, the second external power supply, the algorithm processor power supply and the reserved power supply are respectively detected by the ammeter chip to generate a first external power supply current detection signal, a second external power supply current detection signal, an algorithm processor power supply current detection signal and a reserved power supply current detection signal, and the current detection signals are transmitted to the control module 16. Meanwhile, the current detection circuit is arranged behind the switch, so that the protection mechanism is optimized, and the condition that the switch self failure system cannot detect is avoided.

Referring to fig. 8, in an embodiment, the conversion module 15 includes a first capacitor C1, a second capacitor C2, a third capacitor C3, a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6, a seventh capacitor C7, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a first triode Q1, a first optocoupler isolator U39, a first sampling chip U34, and a first digital isolator U40.

A first end of the first resistor R1 is a battery power detection signal input end of the conversion module 15; a first end of the second resistor R2 is a first external power detection signal input end of the conversion module 15; a first end of the third resistor R3 is a second external power detection signal input end of the conversion module 15; the first end of the fourth resistor R4 is the power detection signal input end of the arithmetic processor of the conversion module 15; a first end of the fifth resistor R5 is a reserved power detection signal input end of the conversion module 15; a first terminal of the eighth resistor R8 is a switching enable signal input terminal of the switching module 15. The control module 16 generates the conversion enable signal based on the voltage detection and sampling requirements.

The a-channel input terminal INA of the first digital isolator U40, the B-channel input terminal INB of the first digital isolator U40, and the C-channel output terminal OUTC of the first digital isolator U40 together form a wired communication signal output terminal of the conversion module 15, and the first output enable terminal EN1 of the first digital isolator U40 is an output enable signal input terminal of the conversion module 15.

A first input terminal IN0 of the first sampling chip U34 is connected to a second terminal of a first resistor R1 and a first terminal of a first capacitor C1, a second input terminal IN1 of the first sampling chip U34 is connected to a second terminal of a second resistor R2 and a first terminal of a second capacitor C2, a third input terminal IN2 of the first sampling chip U34 is connected to a second terminal of a third resistor R3 and a first terminal of a third capacitor C3, a fourth input terminal IN3 of the first sampling chip U34 is connected to a second terminal of a fourth resistor R4 and a first terminal of a fourth capacitor C4, a fifth input terminal IN4 of the first sampling chip U34 is connected to a second terminal of a fifth resistor R5 and a first terminal of a fifth capacitor C5, a second terminal of the first capacitor C1, a second terminal of the second capacitor C2, a second terminal of the third capacitor C3, a second terminal of the fourth capacitor C8658 and a second terminal of the fifth capacitor C5 are connected to ground; an analog power supply end VA of a first sampling chip U34 is connected with a first internal power supply, an enable end CS of the first sampling chip U34 is connected with a second end of a seventh resistor R7 and a collector of a first optocoupler isolator U39, a first end of a sixth resistor R6 is connected with a first cathode of a first optocoupler isolator U39, an emitter of the first optocoupler isolator U39 is connected with a power ground, an anode of the first optocoupler isolator U39 is connected with a second end of the seventh resistor R7, a first end of a seventh resistor R7 is connected with a second internal power supply, a second end of the seventh resistor R7 is connected with a third internal power supply, a second cathode of the first optocoupler isolator U39 is connected with a collector of a first triode Q1, an emitter of the first triode Q1 is connected with the power ground, and a base of the first triode Q1 is connected with a second end of an eighth resistor R8; a clock terminal SCLK of the first sampling chip U34 is connected to an a-channel output terminal OUTA of the first digital isolator U40, a data output terminal DOUT of the first sampling chip U34 is connected to a C-channel input terminal INC of the first digital isolator U40, a data input terminal DIN of the first sampling chip U34 is connected to a B-channel output terminal OUTB of the first digital isolator U40, a digital power terminal VD of the first sampling chip U34 is connected to a first internal power supply, an analog ground terminal AGND of the first sampling chip U34 and a digital ground terminal DGND of the first sampling chip U34 are connected to a power ground, first terminals of a first power terminal VCC1 and a sixth capacitor C6 of the first digital isolator U40 are connected to a third internal power supply, first terminals of a second power terminal VCC2 and a seventh capacitor C7 of the first digital isolator U40 are connected to a second internal power supply, and a second terminal VCC 7 of the seventh capacitor C7, the second terminal of the sixth capacitor C6 and the ground terminal GND of the first digital isolator U40 are connected to the power ground.

In specific implementation, the control module 16 generates a conversion enable signal according to monitoring requirements, so that the first sampling chip U34 samples and converts the power detection signals of each power supply, thereby acquiring and processing the power detection signals of each power supply. Filtering and denoising the battery power supply detection signal through a first resistor R1 and a first capacitor C1; the second resistor R2 and the second capacitor C2 filter and reduce noise of the first external power supply detection signal; the third resistor R3 and the third capacitor C3 filter and reduce the noise of the second external power supply detection signal; the fourth resistor R4 and the fourth capacitor C4 filter and reduce noise of the power supply detection signal of the arithmetic processor; the fifth resistor R5 and the fifth capacitor C5 filter and reduce noise of the reserved power supply detection signals, and improve the precision of each power supply detection signal input into the first sampling chip U34, so that the conversion precision of each power supply detection signal is improved, and the monitoring and management precision of each power supply is further improved.

Referring to fig. 9, in one embodiment, the second wired communication module 19 includes an eighth capacitor C8, a ninth capacitor C9, a tenth capacitor C10, an eleventh capacitor C11, a twelfth capacitor C12, a ninth resistor R9, a tenth resistor R10, an eleventh resistor R11, a twelfth resistor R12, a first common mode filter L3, a first transient suppressor D18, and a first isolated CAN transceiver U17.

The data receiving terminal RXD of the first isolated CAN transceiver U17 and the data transmitting terminal TXD of the first isolated CAN transceiver U17 together constitute a subsystem status information output terminal of the second wired communication module 19.

A first terminal of the eleventh capacitor C11 and a second terminal of the twelfth capacitor C12 are commonly configured as subsystem status information inputs of the second wired communication module 19.

A second end of the eleventh capacitor C11, a second end of the tenth capacitor C10, and a first end of the twelfth capacitor C12 are connected to the power ground, a first end of the eleventh capacitor C11 is connected to a first end of the eleventh resistor R11, a third end of the first common mode filter L3, a second end of the ninth resistor R9, and a second cathode of the first transient suppressor D18, a second end of the twelfth capacitor C12 is connected to a second end of the twelfth resistor R12, a fourth end of the first common mode filter L3, a second end of the tenth resistor R10, and a first cathode of the first transient suppressor D18, a common cathode of the first transient suppressor D18 is connected to the power ground, a first end of the ninth resistor R9 and a second end of the first common mode filter L3 are connected to the high-level bus terminal CANH of the first CAN isolation transceiver U17, a first end of the tenth resistor R10 and a second end of the first common mode filter L3 are connected to the low-level ca bus terminal of the first CAN isolation transceiver U17, the first power supply terminal VCC1 of the first isolated CAN transceiver U17 is connected to the first terminal of the eighth capacitor C8 and the fourth internal power supply, the second terminal of the eighth capacitor C8 is connected to power ground, the second power supply terminal VCC2 of the first isolated CAN transceiver U17 is connected to the first terminal of the ninth capacitor C9 and the fifth internal power supply, the second terminal of the ninth capacitor C9 is connected to power ground, and the ground terminal GND of the first isolated CAN transceiver U17 is connected to power ground.

In a specific implementation, the third internal power supply and the fourth internal power supply are the same and are both 3V3_ SYS. Optionally, the first internal power supply, the second internal power supply, the third internal power supply, the fourth internal power supply, and the fifth internal power supply may be power supplies with the same voltage value, or power supplies with different voltage values.

The operation principle of the conversion module 15 and the second wired communication module 19 of the power management system will be briefly described with reference to fig. 8 and 9:

the battery POWER detection signal 48V _ POWER _ IN _ VADC, the first external POWER detection signal 24V _ BUS _ VADC, the second external POWER detection signal 24V _ RADAR _ VADC, the algorithm processor POWER detection signal 12V _ B _ VADC and the reserved POWER detection signal 12V _ OPT _ VADC are converted into wired communication signals conforming to the SPI communication protocol by the first sampling chip U34 and output to the first digital isolator U40, the wired communication signal is output to the control module 16 after being isolated by the first digital isolator U40, the control module 16 generates a first enable signal, a second enable signal, a third enable signal and a fourth enable signal according to the wired communication signal to manage and control each power supply, ADC analog-to-digital conversion interface resources of the control module are saved, isolation is convenient, hardware cost and research and development workload are reduced, and system response speed and control accuracy are improved.

Subsystem state information of each subsystem, which is input through a high-level CAN bus end CANH of a first isolated CAN transceiver U17 and a low-level CAN bus end CANL of a first isolated CAN transceiver U17, comprises version information, configuration information, self-checking diagnosis information, an error information report and emergency stop state information of the subsystem, and the subsystem state information is output to a control module 16 through a data receiving end RXD of a first isolated CAN transceiver U17 and a data sending end TXD of a first isolated CAN transceiver U17, wherein the subsystem information carries out filtering and noise reduction on the subsystem information through an eleventh capacitor C11, a twelfth capacitor C12 and a first common mode filter L3, surge protection is carried out on components such as the first isolated CAN transceiver U17 through a first transient suppressor D18, the control module 16 generates subsystem control information according to the subsystem state information and forwards the subsystem control information to each subsystem through a third wired communication module 20, and realizing the control of the subsystem.

A second aspect of the embodiments of the present invention provides a robot, including a power management system as described above.

The robot provided by the embodiment of the utility model can store user configuration information, fault error information and the like through the storage chip attached to the board card; the temperature of the system can be effectively monitored, and the over-temperature failure of the system is prevented; the circuit of the flexible, convenient and safe power-on switch module has good anti-interference performance; the power supply of each connected subsystem is expanded, the voltage and current monitoring network and the control network are perfect and accurate, abnormal power supply conditions can be fed back in time and processed by the control module of the system in time, active protection and passive protection are achieved, a safe and reliable power supply management scheme is provided for the robot, and the response speed and the control precision of the system are improved.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A power management system, comprising:

a conversion module connected with the detection module and generating a wired communication signal according to the first external power detection signal, the second external power detection signal, the algorithm processor power detection signal and the reserved power detection signal;

2. The power management system of claim 1, wherein the power management system further comprises:

3. The power management system of claim 1, wherein the power management system further comprises:

4. The power management system of claim 1, wherein the power management system further comprises:

5. The power management system of claim 1, wherein the power management system further comprises:

a storage module for forwarding the stored identity information;

6. The power management system of claim 1, wherein the power management system further comprises:

7. The power management system of claim 1, wherein the power management system further comprises:

8. The power management system of claim 1, wherein the conversion module comprises a first capacitor, a second capacitor, a third capacitor, a fourth capacitor, a fifth capacitor, a sixth capacitor, a seventh capacitor, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, a first triode, a first optocoupler isolator, a first sampling chip, and a first digital isolator;

9. The power management system of claim 4, wherein the second wired communication module comprises an eighth capacitor, a ninth capacitor, a tenth capacitor, an eleventh capacitor, a twelfth capacitor, a ninth resistor, a tenth resistor, an eleventh resistor, a twelfth resistor, a first common-mode filter, a first transient suppressor, and a first isolated CAN transceiver;

10. A robot, characterized in that it comprises a power management system according to any of claims 1 to 9.