CN210804042U - Lower computer power-on and power-off time sequence control system and robot - Google Patents
Lower computer power-on and power-off time sequence control system and robot Download PDFInfo
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- CN210804042U CN210804042U CN201921907301.7U CN201921907301U CN210804042U CN 210804042 U CN210804042 U CN 210804042U CN 201921907301 U CN201921907301 U CN 201921907301U CN 210804042 U CN210804042 U CN 210804042U
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Abstract
The utility model relates to a lower computer is electric sequential control system and robot from top to bottom, including battery module, activestandby power supply module, battery voltage detection module, the DC-DC module, on-off control circuit, STM32 singlechip, peripheral hardware power supply module, battery module connects activestandby power supply module respectively, battery voltage detection module, activestandby power supply module includes undervoltage detection circuit and activestandby switch power supply circuit, DC-DC module is connected to activestandby switch power supply circuit's output, on-off control circuit is connected respectively to the output of DC-DC module, the STM32 singlechip, the STM32 singlechip is connected to battery voltage detection module's output, peripheral hardware power supply module is connected to on-off control circuit's output, peripheral hardware power supply module is connected with STM 32; the utility model provides a problem that the relevant processing chip that the chaotic lead to of present robot control system upper and lower electricity chronogenesis can't normally start even partial chip inefficacy.
Description
[ technical field ]
The utility model belongs to the technical field of the robot control technique and specifically relates to a next machine is electric sequential control system and robot from top to bottom.
[ background art ]
With the development of automation technology and artificial intelligence, the requirements of mobile robots are more and more extensive; the coming of the robot era changes the existing production and manufacturing mode and the life style of human beings, combines massive intelligent machines and an interconnected intelligent brain together, and brings great convenience to the life and service of people. Along with the increase of the functions and the number of sensors of the robot, the types of power supply voltages and the power-on and power-off starting time sequences of integrated chips and peripheral devices of different lower computers are different, the application scene of the intelligent robot is complex, and the environment which is severe generally exists, so that the power-on and power-off time sequence control system of the lower computer gradually becomes a key factor influencing the robot control system.
Because the robot is usually powered by a battery, in order to keep the robot to have a longer service life, the power-on and power-off times of the robot control system are more while energy is saved, and therefore, the power-on and power-off time sequence of the intelligent control system plays a key role in influencing the reliability and stability of the system. In addition, due to the factors of surge and environmental interference, voltage fluctuation in the product occurs occasionally, the product is usually electrified incompletely and rapidly under partial conditions to cause the control system module to break down, and the electrified product is required to be restarted again to work normally; and the mismatching of the power-on and power-off time sequence can cause the reliability of the product to be greatly reduced.
[ contents of utility model ]
The utility model aims at solving foretell not enough and provide a next machine and go up electric time sequence control system, solved the problem that the relevant processing chip that the electric time sequence confusion leads to can't normally start even partial chip inefficacy about present robot control system.
The system comprises a battery module, a main and standby power supply module, a battery voltage detection module, a DC-DC module, a switch control circuit, a single chip microcomputer and an external power supply module, wherein the battery module is respectively connected with the main and standby power supply module and the battery voltage detection module, the main and standby power supply module and the battery voltage detection module are used for input voltage under-voltage protection of a battery on the lower computer and power-on and power-off protection of battery abnormity in the operation process, and the single chip microcomputer is used for controlling the power-on and power-off time sequence of a plurality of integrated chip power supplies and the external power supply of a single board.
Further, the main and standby power supply module comprises an under-voltage detection circuit and a main and standby switch power supply circuit, an output end of the main and standby switch power supply circuit is connected with the DC-DC module, and output ends of the DC-DC module are respectively connected with the switch control circuit and the single chip microcomputer.
The main power supply module detects whether the battery is under-voltage through an under-voltage detection circuit, the output end of the under-voltage detection circuit is connected with the main switch power supply circuit, the DC-DC module is used for carrying out secondary voltage reduction on the battery voltage and supplying the reduced direct current power supply to the switch control circuit and the single chip microcomputer, the switch control circuit is used for cutting off or switching on an external direct current power supply inside and outside the single board, the battery voltage detection module is used for detecting whether the battery voltage is in a normal range, the output end of the battery voltage detection module is connected with the single chip microcomputer, the output end of the switch control circuit is connected with an external power supply module, the external power supply module is connected with the single chip microcomputer, and the single chip microcomputer controls the external power supply modules to be powered on one by.
Further, the main/standby power supply module comprises an input protection device, an undervoltage detection module, a manual switch circuit and a standby switch circuit.
Furthermore, the input end of the input protection device is connected with the battery module, the output end of the input protection device is connected with the under-voltage detection module, the output end of the under-voltage detection module is respectively connected with the manual switch circuit and the standby switch circuit, the standby switch circuit is connected with the single chip microcomputer, and the output ends of the manual switch circuit and the standby switch circuit are respectively connected with the main power supply output.
Further, the input protection device is any combination of one or more of a fuse, a schottky diode and a piezoresistor.
Furthermore, a MOS tube Q1 and a control key K1 are arranged in the manual switch circuit.
Further, the control key K1 is connected to the grid of MOS pipe Q1 through resistance R3, the VBAT pin of STM32 singlechip is connected to the grid of MOS pipe Q1 through resistance R3 after passing through resistance R1 and resistance R2 partial pressure signal.
On the other hand, the utility model also provides a robot, the robot includes above-mentioned lower computer that provides and goes up electric time sequence control system and relevant circuit.
Compared with the prior art, realized the control to the upper and lower electric chronogenesis of a plurality of integrated chip power supply of veneer and peripheral hardware power supply through STM32 singlechip, and simultaneously, the lower computer has been realized through activestandby power supply module and battery voltage detection module and has gone up the unusual upper and lower electric protection of battery input voltage under-voltage protection function and operation in-process battery on the next computer, and can realize outside manual shutdown next computer and preserve relevant information and time delay shutdown or regularly shut down the effect, the problem of the unable normal start of relevant processing chip that leads to of present mobile robot control system upper and lower electric chronogenesis confusion even partial chip inefficacy has been solved, and control system stability is high, service life is prolonged, do benefit to the popularization and the popularization of product.
[ description of the drawings ]
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the embodiments 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 that other drawings can be obtained according to these drawings without inventive work.
FIG. 1 is a schematic block diagram of the present invention;
fig. 2 is a functional block diagram of the main/standby power supply module of the present invention;
FIG. 3 is a flow chart of the electrical sequence control on the lower computer of the present invention;
fig. 4 is a schematic diagram of the manual switch circuit of the present invention;
fig. 5 is a flowchart of the power-off timing sequence of the lower computer of the present invention.
[ detailed description of the invention ]
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with at least one implementation of the invention is included. In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention.
The lower computer up-down power sequence control system comprises a battery module, a main-standby power supply module, a battery voltage detection module, a DC-DC module, a switch control circuit, an STM32 single-chip microcomputer and an external power supply module, wherein the battery module is respectively connected with the main-standby power supply module and the battery voltage detection module, the main-standby power supply module comprises an undervoltage detection circuit and a main-standby switch power supply circuit, the main-standby power supply module detects whether a battery is undervoltage through the undervoltage detection circuit, the output end of the undervoltage detection circuit is connected with the main-standby switch power supply circuit, the output end of the main-standby switch power supply circuit is connected with the DC-DC module, the output end of the DC-DC module is respectively connected with the switch control circuit and the STM32 single-chip microcomputer, the DC-DC module is used for secondarily reducing the battery voltage and supplying the reduced DC power to the switch control circuit and the STM32, the battery voltage detection module is used for detecting whether the battery voltage is in a normal range, the output end of the battery voltage detection module is connected with the STM32 single chip microcomputer, the output end of the switch control circuit is connected with the peripheral power supply module, the peripheral power supply module is connected with the STM32 single chip microcomputer, and the STM32 single chip microcomputer controls the peripheral power supply modules to be powered on one by one according to control sequential logic.
The battery module is used for supplying power to the power supply of the relevant electric equipment of the robot and comprises a power supply source of a lower computer and relevant peripheral equipment; the main and standby power supply module is used for inputting undervoltage protection of battery voltage and switching of a main and standby power supply in a timing shutdown mode, and cutting off the power supply voltage of the control box when the voltage is lower than a certain value Vf; the DC-DC module mainly reduces the voltage of a power supply in a voltage reduction mode, and supplies the reduced DC power supply to an STM32 single chip microcomputer controller through secondary voltage reduction; the STM32 single chip microcomputer is used for detecting the battery voltage, outputting a switch control signal of a switch control circuit of an external power supply module and realizing the power-on and power-off control of the lower computer protection under the abnormal condition of the battery voltage; the switch control circuit is mainly used for switching off or on an external direct current power supply inside and outside the single board. Therefore, the system can solve the problems that the system cannot be normally started and even the main control chip is burnt out due to the fact that the lower computer of the mobile robot is probabilistically abnormally powered on and off under the complex use condition, the system stability is improved, and the service life is prolonged.
The utility model discloses in, the activestandby power module includes the input protection device, the undervoltage detection module, manual switch circuit, standby switch circuit, the input protection device is the fuse, schottky diode, one kind or arbitrary combination among the piezo-resistor, the input of input protection device is connected with battery module, undervoltage detection module is connected to the output of input protection device, manual switch circuit is connected respectively to the output of undervoltage detection module, standby switch circuit is connected with STM32 singlechip, manual switch circuit, the output of standby switch circuit is connected respectively to standby switch circuit's output.
As shown in fig. 1, the battery module is used for supplying power to the power supply of the relevant electric equipment of the robot, and the battery module is connected with the main and standby power supply modules; the main and standby power supply module comprises an undervoltage detection circuit and a main and standby switch power supply circuit, and the undervoltage detection circuit cuts off the power supply voltage of the control box when the voltage is lower than a certain value Vf, so as to protect the over-discharge of the battery and the system stability of the single board; the STM32 singlechip can control the input of the second circuit to be opened through a control signal, and the DC-DC module realizes that the battery voltage BAT is converted into VCC _ M through secondary voltage reduction to supply power to the STM32 singlechip; the battery voltage detection module sends the battery voltage to the STM32 single chip microcomputer for monitoring through analog-to-digital conversion, and the STM32 single chip microcomputer realizes the power supply and power supply sequence of an internal integrated chip power supply and a peripheral module power supply by controlling and outputting a switch control signal of a switch control circuit of the peripheral power supply module, so that the control of the power supply and power supply sequence of the whole lower computer on-off machine is realized.
As shown in fig. 2, the active/standby power supply module includes an input protection device, an under-voltage detection module, a manual switch circuit, and the like, where the input protection device mainly refers to a fuse, a schottky diode, a varistor, and a relevant combination thereof; the undervoltage detection module is mainly used for undervoltage turn-off protection of the input power supply; the manual switch circuit is externally connected with a key to realize manual power switch; the STM32 control signal POWER _ UP realizes the switch on and delay off of the backup POWER supply, and the output switch of the backup POWER supply can be controlled through the STM32 singlechip programming logic.
As shown in fig. 3, the lower computer power-on sequence flow includes the following steps: (1) the battery supplies power, whether the battery is under-voltage or not is judged, if so, the power-on is terminated, and if the battery voltage is normal, the next step is executed; (2) the main power supply circuit of the main and standby power supply modules is switched on, the DC-DC module supplies power to the STM32 single chip microcomputer, the STM32 single chip microcomputer controls the detection function to be switched on, and the standby power supply controls the power supply to be powered on; (3) the battery voltage detection module detects whether the battery voltage is in a normal range in real time, if the battery voltage is normal, the next step is executed, if the battery voltage is abnormal, the external power supply is not started, a power supply alarm is reported, and the electrification is terminated; (4) the STM32 single chip microcomputer controls the control signals of the related switch control circuits to sequentially start the related peripheral power supplies, and all the power supply peripherals are powered on.
As shown in fig. 4, the manual switch circuit is provided with a MOS transistor Q1 and a control key K1, and a switch control signal is input as a control key K1; the control key K1 is connected to the grid of the MOS transistor Q1 through a resistor R3, VBAT divides a voltage signal through a resistor R1 and a resistor R2 and then is connected to the grid of the MOS transistor Q1 through a resistor R3, and the control signal is connected with GND through a resistor C1 and used for key anti-shake; after the VBAT of the battery is electrified, voltage is divided through a resistor R6 and a resistor R4, and a divided voltage signal is connected to an MCU _ KEY signal of an STM32 singlechip in series through a resistor R5; when the K1 is in the power-on state, the MCU _ KEY signal is at a high level; when the KEY K1 shuts down, MOS pipe source electrode and drain electrode switch on, concatenate to STM32 singlechip MCU _ KEY signal low through resistance R5, MCU _ KEY signal passes through the zener diode protection to prevent that too high partial pressure of input voltage excessive signal from burning out STM32 singlechip.
As shown in fig. 5, the lower computer power-on sequence flow includes the following steps: (1) the manual key is turned off, the main power supply circuit is turned off, and the power supply depends on the backup circuit for power supply; (2) after the STM32 single chip microcomputer detects a manual shutdown signal through a manual shutdown detection circuit to shut down, sequentially powering down peripheral power supplies DC1 and DC2. (3) And then setting POWER _ UP backup POWER supply turn-off delay time T, ensuring that after the delay time T is UP, enabling a POWER _ UP backup POWER supply turn-off signal, and completely powering down the single board.
The present invention is not limited by the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and are all included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a lower computer is electric time sequence control system from top to bottom which characterized in that: the single-chip microcomputer-based power supply system comprises a battery module, a main and standby power supply module, a battery voltage detection module, a DC-DC module, a switch control circuit, a single chip microcomputer and an external power supply module, wherein the battery module is respectively connected with the main and standby power supply module and the battery voltage detection module, the main and standby power supply module and the battery voltage detection module are used for input voltage under-voltage protection of a battery on a lower computer and power-on and power-off protection of battery abnormity in the operation process, and the single chip microcomputer is used for controlling power-on and power-off time sequences of a plurality of integrated chip power supplies.
2. The lower computer power-on and power-off timing control system according to claim 1, wherein: the main and standby power supply modules comprise an undervoltage detection circuit and a main and standby switch power supply circuit, the output ends of the main and standby switch power supply circuit are connected with the DC-DC module, and the output ends of the DC-DC module are respectively connected with the switch control circuit and the single chip microcomputer.
3. The lower computer power-on and power-off timing control system according to claim 2, wherein: the main power supply module detects whether the battery is under-voltage through an under-voltage detection circuit, the output end of the under-voltage detection circuit is connected with the main switch power supply circuit, the DC-DC module is used for carrying out secondary voltage reduction on the battery voltage and supplying the reduced direct current power supply to the switch control circuit and the single chip microcomputer, the switch control circuit is used for cutting off or switching on an external direct current power supply inside and outside the single board, the battery voltage detection module is used for detecting whether the battery voltage is in a normal range, the output end of the battery voltage detection module is connected with the single chip microcomputer, the output end of the switch control circuit is connected with an external power supply module, the external power supply module is connected with the single chip microcomputer, and the single chip microcomputer controls the external power supply module to be.
4. The lower computer power-on and power-off timing control system according to claim 3, wherein: the main and standby power supply module comprises an input protection device, an undervoltage detection module, a manual switch circuit and a standby switch circuit.
5. The lower computer power-on and power-off timing control system according to claim 4, wherein: the input protection device's input is connected with battery module, undervoltage detection module is connected to the output of input protection device, manual switch circuit, reserve switch circuit are connected respectively to undervoltage detection module's output, reserve switch circuit is connected with the singlechip, total power output is connected respectively to manual switch circuit, reserve switch circuit's output.
6. The lower computer power-on and power-off timing control system according to claim 5, wherein: the input protection device is any combination of one or more of a fuse, a Schottky diode and a piezoresistor.
7. The lower computer power-on and power-off timing control system according to claim 6, wherein: the manual switch circuit is provided with a MOS tube Q1 and a control key K1.
8. The lower computer power-on and power-off timing control system according to claim 7, wherein: the control key K1 is connected to the grid of MOS pipe Q1 through resistance R3, the VBAT pin of singlechip is received the grid of MOS pipe Q1 through resistance R3 after resistance R1 and resistance R2 partial pressure signal.
9. A robot, characterized in that the robot comprises the lower computer power-on/power-off sequence control system of any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921907301.7U CN210804042U (en) | 2019-11-07 | 2019-11-07 | Lower computer power-on and power-off time sequence control system and robot |
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| CN201921907301.7U CN210804042U (en) | 2019-11-07 | 2019-11-07 | Lower computer power-on and power-off time sequence control system and robot |
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| CN210804042U true CN210804042U (en) | 2020-06-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113721508A (en) * | 2021-08-24 | 2021-11-30 | 杭州迪普科技股份有限公司 | Power-on and power-off time sequence control device and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113721508A (en) * | 2021-08-24 | 2021-11-30 | 杭州迪普科技股份有限公司 | Power-on and power-off time sequence control device and method |
| CN113721508B (en) * | 2021-08-24 | 2024-02-27 | 杭州迪普科技股份有限公司 | Power-on and power-off time sequence control device and method |
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