An electromagnetic lock control system and a robot

Abstract

The present application discloses an electromagnetic lock control system and a robot. The electromagnetic lock control system includes: a main control unit, an intermediate control unit, an execution unit, and an electromagnetic lock. The main control unit is configured to output an unlocking signal. The intermediate control unit, in response to the electromagnetic lock feedback of a lock closed signal or a lock opened signal, correspondingly opens or disconnects the control path of the main control unit for controlling the execution unit. The execution unit is used to control the power supply to / from the electromagnetic lock. When the execution unit supplies power, the electromagnetic lock performs an unlocking action and outputs a lock closed signal and a lock opened signal. In the embodiment of the present application, the control path of the main control unit for controlling the execution unit is correspondingly opened or disconnected according to the lock status signal feedback by the electromagnetic lock received by the intermediate control unit, so that when the electromagnetic lock is in the open state, even if the main control unit fails, the execution unit and the electromagnetic lock are in a disconnected state, avoiding power short - circuit caused by the electromagnetic lock in the open state, and thus improving the electrical safety of the electromagnetic lock.

Description

Technical Field

[0001] This application relates to the technical field of locks, and particularly to an electromagnetic lock control system and a robot. Background Art

[0002] An electromagnetic lock is a locking device that uses electromagnetic principles to achieve opening and closing; its scope of use is becoming increasingly widespread; for example, in a typical application scenario, an electromagnetic lock is used as an electric control mechanism interlock device to prevent electrical misoperation of high-voltage switchgear, and is used for the front and rear cabinet doors of indoor high-voltage equipment. Through disconnectors, circuit breakers, grounding wires, etc., interlocks are implemented on the parts that need to be locked to prevent misoperations.

[0003] Existing electromagnetic locks directly control the on / off switch of the solenoid valve through control software. However, the disadvantage of this control method is that when an error or failure occurs due to the control software or other reasons, the power supply circuit of the electromagnetic coil of the electromagnetic lock may be normally open, and the electromagnetic coil is energized for a long time, resulting in unnecessary losses. Moreover, the coil will overheat due to long-term power-on, and in severe cases, it may even cause a power short circuit. Summary of the Invention

[0004] This application provides an electromagnetic lock control system to solve the situation where the solenoid valve of the electromagnetic lock is normally open and causes a power short circuit when the control software fails in the prior art. This application also applies for a robot at the same time.

[0005] This application provides an electromagnetic lock control system, including: a main control unit, an intermediate control unit, an execution unit, and an electromagnetic lock that are electrically coupled to each other;

[0006] The main control unit is used to output an unlocking signal;

[0007] The intermediate control unit opens the control path of the main control unit to control the execution unit in response to the lock closing signal corresponding to the locked state feedback by the electromagnetic lock; or, disconnects the control path of the main control unit to control the execution unit in response to the lock opening signal corresponding to the opened state feedback by the electromagnetic lock;

[0008] The execution unit is used to control the power supply / power-off of the electromagnetic lock;

[0009] When the execution unit supplies power, the electromagnetic lock performs an unlocking action; and outputs a lock state signal, including: when it is in the locked state, it outputs the lock closing signal, and when it is in the opened state, it outputs the lock opening signal.

[0010] Optionally, the intermediate control unit includes a tri-state gate control unit; an input end of the tri-state gate control unit is connected to an unlocking signal output end of the main control unit, an output end of the tri-state gate control unit is connected to a control end of a power supply / power-off control switch of the execution unit, and an enabling end of the tri-state gate control unit is connected to an output end of the electromagnetic lock for outputting a lock state signal;

[0011] Correspondingly, if the electromagnetic lock feeds back a lock closing signal, the tri-state gate control unit operates in an open state; if the electromagnetic lock feeds back a lock opening signal, the tri-state gate control unit operates in a blocking state.

[0012] Optionally, the tri-state gate control unit includes: a tri-state gate module and an auxiliary circuit, and the auxiliary circuit includes a first resistor, a second resistor, a first capacitor and a second capacitor; wherein,

[0013] The first resistor is connected between a power supply end and an enabling end of the tri-state gate module, and a node between the first resistor and the enabling end of the tri-state gate module is grounded through the first capacitor;

[0014] The second resistor is connected between an unlocking signal output end of the main control unit and an input end of the tri-state gate module, and a node between the second resistor and the input end of the tri-state gate module is grounded through the second capacitor;

[0015] An output end of the tri-state gate module is connected to a control end of a power supply / power-off control switch of the execution unit.

[0016] Optionally, in the lock state signal, the lock opening signal is a low level, the lock closing signal is a high level, the tri-state gate control unit operates in an open state when its enabling end is at a high level, and the tri-state gate control unit operates in a blocking state when its enabling end is at a low level.

[0017] Optionally, after the unlocking signal output by the main control unit is transmitted to the execution unit through the tri-state gate control unit, the execution unit opens a power supply path of the electromagnetic lock, and the electromagnetic lock is opened; then, a high level of the lock closing signal fed back by the electromagnetic lock jumps to a low level of the corresponding lock opening signal, and the tri-state gate control unit is blocked.

[0018] Optionally, it further includes: an output end of the lock state signal is connected to a detection input end of the main control unit; after the main control unit detects the lock opening signal through the detection input end, it stops outputting the unlocking signal.

[0019] Optionally, the output end of the lock state signal is connected to the detection input end of the main control unit through a steady-state diode connected in reverse.

[0020] Optionally, the execution unit includes a controllable power transistor;

[0021] The output end of the tri-state gate control unit is connected to the control end of the power supply / power-off control switch of the execution unit. Specifically, the output end of the tri-state gate control unit is connected to the control end of the controllable power transistor;

[0022] The main path of the controllable power transistor is connected in series with the electromagnetic coil of the electromagnetic lock.

[0023] Optionally, the controllable power transistor is a power field effect transistor.

[0024] Optionally, it further includes a noise reduction circuit. The output end of the tri-state gate control unit is connected to the control end of the controllable power transistor through the noise reduction circuit.

[0025] This application also provides a robot, including a robot main body and an electromagnetic lock control system arranged in the robot main body; the electromagnetic lock control system includes a main control unit, an intermediate control unit, an execution unit and an electromagnetic lock that are electrically coupled to each other; wherein, the main control unit, the intermediate control unit and the execution unit are arranged inside the robot main body, and the electromagnetic lock is arranged on the rear hatch of the robot main body for opening or locking the rear hatch;

[0026] The main control unit is used to output an unlocking signal;

[0027] The intermediate control unit opens the control path of the main control unit to control the execution unit in response to the lock closing signal corresponding to the locked state feedback by the electromagnetic lock; or disconnects the control path of the main control unit to control the execution unit in response to the lock opening signal corresponding to the opened state feedback by the electromagnetic lock;

[0028] The execution unit is used to control the power supply / power-off of the electromagnetic lock;

[0029] When the execution unit supplies power, the electromagnetic lock performs an unlocking action; and outputs a lock state signal, including: when it is in the locked state, outputting the lock closing signal, and when it is in the opened state, outputting the lock opening signal.

[0030] Compared with the prior art, the present application has the following advantages: The present application provides an electromagnetic lock control system, including: a main control unit, an intermediate control unit, an execution unit, and an electromagnetic lock that are electrically coupled to each other; the main control unit is used to output an unlocking signal; the intermediate control unit opens the control path of the main control unit to control the execution unit in response to a lock closing signal corresponding to the locked state feedback by the electromagnetic lock; or, disconnects the control path of the main control unit to control the execution unit in response to a lock opening signal corresponding to the opened state feedback by the electromagnetic lock; the execution unit is used to control the power supply / power-off of the electromagnetic lock; the electromagnetic lock performs an unlocking action when the execution unit supplies power; and outputs a lock state signal, including: when it is in the locked state, outputting the lock closing signal, and when it is in the opened state, outputting the lock opening signal. In the embodiment of the present application, an intermediate control unit is provided between the main control unit and the execution unit that controls the electromagnetic lock. According to the lock state signal feedback by the electromagnetic lock received by the intermediate control unit, the control path of the main control unit to control the execution unit is correspondingly opened or disconnected, so that when the electromagnetic lock is in the opened state, even if the main control unit sends an incorrect signal, the execution unit will not supply power to the electromagnetic coil of the electromagnetic lock for a long time because the intermediate control unit has already disconnected the control path, avoiding overheating and even short circuit caused by the electromagnetic coil being energized for a long time, significantly improving the safety of using the electromagnetic lock, and avoiding unnecessary losses. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a block diagram of an electromagnetic lock control system provided by the first embodiment of the present application;

[0032] Figure 2 is a schematic structural diagram of an electromagnetic lock control system provided by the first embodiment of the present application;

[0033] Figure 3 is a schematic structural diagram of a three-state gate control unit provided by the first embodiment of the present application;

[0034] Figure 4 is a schematic structural diagram of an execution unit provided by the first embodiment of the present application;

[0035] Figure 5 is a schematic structural diagram of a robot provided by the second embodiment of the present application.

[0036] Reference numerals: electromagnetic lock control system 100, main control unit 101, intermediate control unit 102, execution unit 103, electromagnetic lock 104, robot 200, robot main body 210, rear hatch 220. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] Numerous specific details are set forth in the following description to provide a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the connotation of the present application. Therefore, the present application is not limited by the specific implementations disclosed below.

[0038] The usage scenario of the electromagnetic lock provided in this embodiment is as follows. The electromagnetic lock is installed on the cabinet door of the indoor high-voltage electrical equipment. Under normal circumstances, the cabinet door is closed and the electromagnetic lock is in the locked state. When the cabinet door needs to be opened, after verification, an unlocking signal is sent by the programmable logic controller serving as the main control unit to achieve unlocking. The unlocking signal will disappear quickly, and the electromagnetic lock returns to the locked state. When the cabinet door is opened, an external force needs to be applied to push the cabinet door back to the closed position.

[0039] The first embodiment of the present application provides an electromagnetic lock control system. Figure 1 It is the structural block diagram of the electromagnetic lock control system provided by the first embodiment of the present application.

[0040] Combined with Figure 1 As shown, the first embodiment of the present application provides an electromagnetic lock control system 100, including: a main control unit 101, an intermediate control unit 102, an execution unit 103, and an electromagnetic lock 104 that are electrically coupled to each other.

[0041] In this embodiment, the main control unit 101 is used to output an unlocking signal. At the same time, the main control unit 101 receives external input signals and can determine whether to output an unlocking signal according to the state of the input signals and the control logic of the internal software. The main control unit 101 can be a single-chip microcomputer or an industrial control computer such as a programmable logic controller that can run a control program. Of course, the use of traditional control methods such as relays is not excluded. In this embodiment, the main control unit 101 can specifically be, for example, an AT89C51 single-chip microcomputer. Since the AT89C51 single-chip microcomputer is a relatively mature product, the connection and function of its components, pins, etc. are not described repeatedly here. In this embodiment, the control logic inside the main control unit 101 has nothing to do with the improvement of the present application, so it is not introduced.

[0042] The main control unit 101 is connected to the intermediate control unit 102. The intermediate control unit 102 opens the control path for the main control unit 101 to control the execution unit 103 in response to the lock closing signal corresponding to the locked state feedback by the electromagnetic lock 104; or, the intermediate control unit 102 disconnects the control path for the main control unit 101 to control the execution unit 103 in response to the lock opening signal corresponding to the opened state feedback by the electromagnetic lock 104. That is to say, the control path for the main control unit 101 to control the execution unit 103 is not controlled by the main control unit 101, but is controlled according to the output lock state signal feedback by the electromagnetic lock 104. That is, when the electromagnetic lock 104 is in the locked state or the opened state, the lock state signals output by the electromagnetic lock 104 are also different. The lock state signal includes a lock closing signal or a lock opening signal, so that the intermediate control unit 102 can open or disconnect the control path for the main control unit 101 to control the execution unit 103 according to the lock state signal.

[0043] The main control unit 101 is connected to the execution unit 103 through the intermediate control unit 102. The execution unit 103 is used to control the power supply / power off of the electromagnetic lock 104. Specifically, it is to control the power supply and power off of the solenoid valve of the electromagnetic lock 104, so as to realize the opening and locking of the electromagnetic lock 104.

[0044] The execution unit 103 is connected to the electromagnetic lock 104. In this embodiment, the electromagnetic lock 104 is an electromagnetic lock controlled by a DC solenoid valve to open. When the DC solenoid valve is de-energized, the lock tongue of the electromagnetic lock 104 is in the extended state under the action of the elastic element arranged inside, and the electromagnetic lock 104 is in the locked state; when the DC solenoid valve is energized, the generated electromagnetic force is sufficient to overcome the elastic force received by the lock tongue, and the electromagnetic lock 104 performs the unlocking action. Specifically, the lock tongue retracts and the electromagnetic lock 104 opens. The electromagnetic lock 104 also has an output terminal for the lock state signal. The output terminal of the lock state signal outputs a corresponding lock state signal according to the state of the electromagnetic lock 104. Corresponding to the locked state of the electromagnetic lock 104, the corresponding lock state signal is a lock closing signal; corresponding to the opened state of the solenoid valve 104, the corresponding lock state signal is a lock opening signal.

[0045] Further, as shown in Figure 2 shown, Figure 2 is a schematic structural diagram of the electromagnetic lock control system 100 provided by the embodiment of the present application. Figure 2 It shows the connection relationship among the main control unit 101, the intermediate control unit 102, the execution unit 103 and the electromagnetic lock 104.

[0046] Specifically, the detection input terminal LOCK_MCU and the unlocking signal output terminal LOCK_ON / OFF of the main control unit 101. The detection input terminal LOCK_MCU of the main control unit 101 is connected to the output terminal of the lock state signal of the electromagnetic lock 104, and is used to detect and receive the lock state signal output by the electromagnetic lock 104, that is, to detect and receive the lock closing signal corresponding to the locked state of the electromagnetic lock 104 and the lock opening signal corresponding to the opened state. The control logic of the main control unit 101 can determine whether to output an unlocking signal. Of course, the signal of the detection input terminal LOCK_MCU is only a judgment condition for determining whether to issue an unlocking signal. There are also some other related conditions for issuing an unlocking signal, which are not the focus of this application and will not be described here.

[0047] The unlocking signal output terminal LOCK_ON / OFF of the main control unit 101 is mainly used to output an unlocking signal. In this embodiment, the unlocking signal is a high level; after the main control unit 101 detects the lock opening signal through the detection input terminal, the unlocking signal output terminal LOCK_ON / OFF of the main control unit 101 stops outputting the unlocking signal, that is, in the normal situation where the electromagnetic lock 104 does not need to be opened, the signal always output by the unlocking signal output terminal LOCK_ON / OFF is a low level. The detection input terminal LOCK_MCU and the unlocking signal output terminal LOCK_ON / OFF of the main control unit 101 are connected to the intermediate control unit 102. In the following, for the sake of simplified description, the detection input terminal LOCK_MCU of the main control unit 101 is referred to as the detection input terminal, and the unlocking signal output terminal LOCK_ON / OFF of the main control unit 101 is referred to as the unlocking signal output terminal.

[0048] In this embodiment, the core function of the intermediate control unit 102 is to control whether the unlocking signal output by the main control unit 101 is transmitted to the control end of the execution unit 103 according to the lock state signal fed back by the electromagnetic lock 104. Specifically, the intermediate control unit 👀2 includes a tri-state gate control unit, as shown in Figure 2 and Figure 3 shown, Figure 3 is a schematic structural diagram of the tri-state gate control unit provided by the embodiment of the present application. Among them, the input terminal of the tri-state gate control unit is connected to the unlocking signal output terminal of the main control unit 101, the output terminal of the tri-state gate control unit is connected to the control end of the power supply / power-off control switch of the execution unit 103, and the enable terminal of the tri-state gate control unit is connected to the output terminal 4 of the electromagnetic lock 104 that outputs the lock state signal. In this embodiment, corresponding to the lock state signal of the electromagnetic lock 104, if the electromagnetic lock 104 feeds back a lock closing signal, the tri-state gate control unit works in the open state; if the electromagnetic lock 104 feeds back a lock opening signal, the tri-state gate control unit works in the blocking state.

[0049] Specifically, in this embodiment, as shown in Figure 3As shown in the figure, the tri-state gate control unit includes a tri-state gate module U9 and an auxiliary circuit. The tri-state gate module U9 includes an enable terminal 1, an input terminal 2, a ground terminal 3, an output terminal 4, and a power supply terminal 5. The enable terminal 1 of the tri-state gate module U9 is connected to the output terminal 4 of the lock state signal of the electromagnetic lock 104. The enable terminal 1 of the tri-state gate module U9 has the function of enabling and disabling the tri-state gate module U9. That is, when the input voltage is high, the tri-state gate module U9 is in the open state, and when the input voltage is low, the tri-state gate module U9 activates the enable terminal 1 control, and its internal current source pulls the enable terminal 1 down to the ground terminal 3, and the tri-state gate module U9 is in the blocking state. Corresponding to the lock state signal of the electromagnetic lock 104 in this embodiment, when the lock closing signal corresponding to the locked state of the electromagnetic lock 104 is high, the enable terminal of the tri-state gate control unit is high, so that the tri-state gate control unit works in the open state; when the lock opening signal corresponding to the open state of the electromagnetic lock 104 is low, the enable terminal of the tri-state gate control unit is low, so that the tri-state gate control unit works in the blocking state. The input terminal 2 of the tri-state gate module U9 is connected to the unlocking signal output terminal of the main control unit 101, the output terminal 4 of the tri-state gate module U9 is connected to the control terminal of the power supply / power-off control switch of the execution unit 103, and the power supply terminal 5 of the tri-state gate module U9 is connected to the power supply.

[0050] The auxiliary circuit includes a power supply terminal, a first resistor R52, a second resistor R51, a first capacitor C60, and a second capacitor C61. Among them, the first resistor R52 is connected between the power supply terminal and the enable terminal 1 of the tri-state gate module U9, and the node between the first resistor R52 and the enable terminal 1 of the tri-state gate module U9 is grounded through the first capacitor C60; the second resistor R51 is connected between the unlocking signal output terminal of the main control unit 101 and the input terminal 2 of the tri-state gate module U9, and the node between the second resistor R51 and the input terminal 2 of the tri-state gate module U9 is grounded through the second capacitor C61.

[0051] It should be noted that in combination with Figure 2 As shown in the figure, in this embodiment, between the enable terminal 1 of the tri-state gate module U9 and the detection input terminal of the main control unit 101, a steady-state diode D10 connected in reverse is also provided; and the output terminal of the lock state signal of the magnetic lock 104 is also connected to the detection input terminal of the main control unit 101, that is, the output terminal of the lock state signal of the electromagnetic lock 104 is connected to the detection input terminal of the main control unit 101 through the steady-state diode D10 connected in reverse. The steady-state diode D10 is connected in series with the third resistor R45, which is used to prevent high voltage from breaking down the main control unit 101, thus playing a role in protecting the circuit.

[0052] After the unlocking signal output by the main control unit 101 is transmitted to the execution unit 103 through the tri-state gate control unit, the execution unit 103 turns on the power supply path of the electromagnetic lock 104, and the electromagnetic lock 104 is opened; subsequently, the high level of the corresponding lock closing signal fed back by the electromagnetic lock 104 jumps to the low level of the corresponding lock opening signal, and the tri-state gate control unit is blocked. Specifically, please refer to Figure 4 , Figure 4 which is a schematic structural diagram of the execution unit provided by an embodiment of the present application. The execution unit 103 includes a controllable power tube, and the controllable power tube includes a control end and a main path. Among them, the control end is used to control the on and off states of the main path, and the main path is equivalent to a switch and can be in two states of on and off according to the control of the control end. The main path is connected in series with the electromagnetic coil of the electromagnetic lock 104 between the positive power supply and the ground power supply. When the main path is in the on state, the electromagnetic coil of the electromagnetic lock 104 is powered on and the electromagnetic lock 104 is opened; when the main path is in the off state, the electromagnetic coil of the electromagnetic lock 104 is not powered on and the electromagnetic lock 104 is locked.

[0053] Furthermore, the execution unit 103 can be implemented by various controllable power tubes. In this embodiment, a power field effect transistor Q4 is used. The power field effect transistor Q4 has a gate 1 (control end 1), a drain 2, and a source 3. The electromagnetic lock 104 includes an electromagnetic coil and a power supply P12V-SYS. Among them, the output end of the tri-state gate control unit is connected to the control end of the power supply / power-off control switch of the execution unit 103. Specifically, the output end of the tri-state gate control unit is connected to the gate 1 of the controllable power tube. The positive pole 1 of the electromagnetic coil of the electromagnetic lock 104 is connected to the power supply of the electromagnetic lock 104. The main path of the controllable power tube is between the source 3 and the drain 2 of the power field effect transistor Q4. If the gate 1 receives a high level, the source 3 and the drain 2 can be turned on. If the gate 1 receives a low level, the connection between the source 3 and the drain 2 is blocked. The power supply path of the electromagnetic lock 104 includes the source 3, the drain 2 connected in series, and the electromagnetic coil of the electromagnetic lock 104 connected in series between the positive power supply and the ground. Therefore, the opening control of the electromagnetic lock 104 can be realized by controlling the level provided to the gate 1.

[0054] In this embodiment, the execution unit 103 further includes: a noise reduction circuit and a fourth resistor R46. The output end of the tri-state gate control unit is connected to the control end 1 of the controllable power tube through the fourth resistor R46 and the noise reduction circuit connected in series. Among them, the noise reduction circuit includes a fifth resistor R50 and a third capacitor C59. The fifth resistor R50 and the third capacitor C59 are connected in parallel to the ground, and the noise reduction circuit is used to remove signal interference.

[0055] An embodiment of the present application provides an electromagnetic lock control system 100, including: a main control unit 101, an intermediate control unit 102, an execution unit 103, and an electromagnetic lock 104 that are electrically coupled to each other; the main control unit 101 is configured to output an unlocking signal; the intermediate control unit 102 opens the control path of the main control unit 101 to control the execution unit 103 in response to a lock closing signal corresponding to the locked state feedback by the electromagnetic lock 104; or, disconnects the control path of the main control unit 101 to control the execution unit 103 in response to a lock opening signal corresponding to the opened state feedback by the electromagnetic lock 104; the execution unit 103 is configured to control the power supply / power-off of the electromagnetic lock 104; the electromagnetic lock 104 performs an unlocking action when the execution unit 103 supplies power; and outputs a lock state signal, including: outputting a lock closing signal when it is in the locked state, and outputting a lock opening signal when it is in the opened state. In the embodiment of the present application, an intermediate control unit 102 is provided between the main control unit 101 and the execution unit 103 that controls the electromagnetic lock 104. According to the lock state signal feedback by the electromagnetic lock 104 received by the intermediate control unit 102, the control path of the main control unit 101 to control the execution unit 103 is correspondingly opened or disconnected, so that when the electromagnetic lock urchased.

[0056] In the above embodiment, an electromagnetic lock control system 100 is provided. In addition, a second embodiment of the present application also provides a robot. Since the robot embodiment is basically similar to the system embodiment, the description is relatively simple. For the details of the relevant technical features, please refer to the corresponding description of the system embodiment provided above. The following description of the robot embodiment is only illustrative. The robot embodiment is as follows:

[0057] Please refer to Figure 5 Understand this embodiment, Figure 5 It is a schematic diagram of the robot provided in the second embodiment of the present application.

[0058] This embodiment provides a robot 200, including: a robot main body 201 and an electromagnetic lock control system 100 disposed in the robot main body 210; the electromagnetic lock control system 100 includes: a main control unit 101, an intermediate control unit 102, an execution unit 103, and an electromagnetic lock 104 that are electrically coupled to each other; wherein, the main control unit 101, the intermediate control unit 102, and the execution unit 103 are disposed inside the robot main body 210, and the electromagnetic lock 104 is disposed on the rear hatch 220 of the robot main body 210 for opening or locking the rear hatch 220. Specifically, the main control unit 101 is configured to output an unlocking signal, and the intermediate control unit 102 opens the control path of the main control unit 101 to control the execution unit 103 in response to a lock closing signal corresponding to the locked state feedback by the electromagnetic lock 104; or, disconnects the control path of the main control unit 101 to control the execution unit 103 in response to a lock opening signal corresponding to the opened state feedback by the electromagnetic lock 104; the execution unit 103 is configured to control the power supply to / from the electromagnetic lock 104; when the execution unit 103 supplies power, the electromagnetic lock 104 performs an unlocking action and outputs a lock state signal, wherein the lock state signal includes: a lock closing signal is output when the electromagnetic lock is in the locked state, and a lock opening signal is output when the electromagnetic lock is in the opened state.

[0059] In this embodiment, the robot can be a companion robot, a cleaning robot, a reception robot, an inspection robot, or the like.

[0060] The above electromagnetic lock system can achieve better usage effects than the existing electromagnetic lock systems in different scenarios. Specific application scenarios are given below for illustration.

[0061] Application Scenario 1

[0062] The electromagnetic lock 104 is installed on the maintenance hatch of the robot. Here, the robot can be a companion robot, a cleaning robot, a reception robot, an inspection robot, etc. The electromagnetic lock 104 installed on the maintenance hatch of the robot is used to lock and unlock the maintenance hatch. Specifically, when the maintenance hatch of the robot is changed from the open state to the closed state by an external force, while the maintenance hatch is closing, the electromagnetic lock 104 will lock the maintenance hatch. At this time, the electromagnetic lock 104 will feedback the lock closing signal corresponding to the locked state to the intermediate control unit 102, and the lock closing signal is at a high level, thereby opening the control path for the main control unit 101 to control the execution unit 103. At this time, the main control unit 101 can send signals to the execution unit 103. That is to say, when the electromagnetic lock 104 is locked, the main control unit 101 can send signals to the execution unit 103 to realize the control of the main control unit 101 over the electromagnetic lock 104. When the robot fails, it is necessary to open the maintenance hatch to complete the maintenance of the robot. That is, an external force can trigger a button on the robot or a scanner installed thereon to identify the cabinet opening medium, thereby sending the opening instruction for triggering the opening of the hatch to the main control unit 101. The main control unit 101 outputs an unlocking signal according to this opening instruction. That is, the unlocking signal is transmitted from the main control unit 101 to the execution unit 103 through the intermediate control unit 102. The execution unit 103 supplies power to the electromagnetic lock 104, so that the electromagnetic lock 104 performs an unlocking action and opens the maintenance hatch. When the electromagnetic lock 104 is in the corresponding open state, it will feedback the lock opening signal corresponding to the open state to the intermediate control unit 102, and the lock opening signal is at a low level, thereby blocking the control path for the main control unit 101 to control the execution unit 103. That is to say, when the electromagnetic lock 104 is open, the intermediate control unit 102 has no output, so that the execution unit 103 is turned off and the power supply of the electromagnetic lock 104 is disconnected. Even if the main control unit 101 fails, the electromagnetic lock 104 will not cause a power short circuit when it is in the open state, thereby improving the electrical safety of the electromagnetic lock 104.

[0063] Application Scenario 2

[0064] The electromagnetic lock 104 is installed on a cabinet, which can specifically be an object storage cabinet for the express delivery industry, a storage cabinet in a supermarket, or a cabinet for workers to place clothes in a workshop, etc. The electromagnetic lock 104 installed on the cabinet can achieve the locking and unlocking of the cabinet. Specifically, the cabinet can be used as a wardrobe for storing clothes or as a cabinet for encapsulating high-voltage switchgear. This application scenario will be described taking the cabinet as a wardrobe as an example. Specifically, after the clothes are stored, the cabinet is changed from the open state to the closed state by an external force. At the same time when the cabinet is closed, the electromagnetic lock 104 will lock the cabinet. At this time, the electromagnetic lock 104 will feedback a lock closing signal corresponding to the locked state to the intermediate control unit 102, and the lock closing signal is a high level, thereby opening the control path for the main control unit 101 to control the execution unit 103. At this time, the main control unit 101 can send a signal to the execution unit 103. That is to say, when the electromagnetic lock 104 is locked, the main control unit 101 can send a signal to the execution unit 103 to realize the control of the main control unit 101 over the electromagnetic lock 104. When opening the cabinet to take out the clothes, the external force can trigger a button on the cabinet or a cabinet scanner to identify the cabinet opening medium, thereby sending an opening instruction for triggering the cabinet opening to the main control unit 101. The main control unit 101 outputs an unlocking signal according to the opening instruction, that is, the unlocking signal is transmitted from the main control unit 101 to the execution unit 103 through the intermediate control unit 102. The execution unit 103 supplies power to the electromagnetic lock 104, so that the electromagnetic lock 104 performs an unlocking action and opens the cabinet. When the electromagnetic lock 104 is in the corresponding open state, it will feedback a lock opening signal corresponding to the open state to the intermediate control unit 102, and the lock opening signal is a low level, thereby blocking the control path for the main control unit 101 to control the execution unit 103. That is to say, when the electromagnetic lock 104 is open, the intermediate control unit 102 has no output, so that the execution unit 103 is turned off and the power supply of the electromagnetic lock 104 is disconnected. Even if the main control unit 101 fails, the electromagnetic lock 104 will not cause a power short circuit when it is in the open state, thereby improving the electrical safety of the electromagnetic lock 104.

[0065] Although this application is disclosed above with preferred embodiments, it is not used to limit this application. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of this application. Therefore, the protection scope of this application should be subject to the scope defined by the claims of this application.

Claims

1. An electromagnetic lock control system, characterized in that, Including: A main control unit, an intermediate control unit, an execution unit, and an electromagnetic lock that are electrically coupled to each other; The main control unit is used to output an unlocking signal; The intermediate control unit opens the control path of the main control unit to control the execution unit in response to a lock closing signal corresponding to the locked state fed back by the electromagnetic lock; Or, in response to a lock opening signal corresponding to the opened state fed back by the electromagnetic lock, disconnects the control path of the main control unit to control the execution unit; The execution unit is used to control the power supply / power-off of the electromagnetic lock; The electromagnetic lock performs an unlocking action when the execution unit supplies power; And outputs a lock state signal, including: when it is in a locked state itself, outputs the lock closing signal, and when it is in an opened state itself, outputs the lock opening signal.

2. The electromagnetic lock control system according to claim 1, wherein The intermediate control unit includes a tri-state gate control unit; the input end of the tri-state gate control unit is connected to the unlocking signal output end of the main control unit, the output end of the tri-state gate control unit is connected to the control end of the power supply / power-off control switch of the execution unit, and the enable end of the tri-state gate control unit is connected to the output end of the electromagnetic lock that outputs the lock state signal; Correspondingly, if the electromagnetic lock feeds back the lock closing signal, the tri-state gate control unit works in an open state; if the electromagnetic lock feeds back the lock opening signal, the tri-state gate control unit works in a blocking state.

3. The electromagnetic lock control system according to claim 2, wherein, The tri-state gate control unit includes: a tri-state gate module and an auxiliary circuit, and the auxiliary circuit includes a first resistor, a second resistor, a first capacitor, and a second capacitor; wherein, The first resistor is connected between the power supply terminal and the enable end of the tri-state gate module, and the node between the first resistor and the enable end of the tri-state gate module is grounded through the first capacitor; The second resistor is connected between the unlocking signal output end of the main control unit and the input end of the tri-state gate module, and the node between the second resistor and the input end of the tri-state gate module is grounded through the second capacitor; The output end of the tri-state gate module is connected to the control end of the power supply / power-off control switch of the execution unit.

4. The electromagnetic lock control system according to claim 2, wherein In the lock state signal, the lock opening signal is at a low level, the lock closing signal is at a high level, the tri-state gate control unit works in an open state when the enable end is at a high level, and the tri-state gate control unit works in a blocking state when the enable end is at a low level.

5. The electromagnetic lock control system according to claim 4, wherein After the unlocking signal output by the main control unit is transmitted to the execution unit through the tri-state gate control unit, the execution unit opens the power supply path of the electromagnetic lock, and the electromagnetic lock opens; then, the high level of the lock closing signal fed back by the electromagnetic lock jumps to the low level of the corresponding lock opening signal, and the tri-state gate control unit is blocked.

6. The electromagnetic lock control system according to claim 5, wherein Also including: The output end of the lock state signal is connected to the detection input end of the main control unit; after the main control unit detects the lock opening signal through the detection input end, it stops outputting the unlocking signal.

7. The electromagnetic lock control system according to claim 6, characterized in that, The output end of the lock state signal is connected to the detection input end of the main control unit through a steady-state diode connected in reverse.

8. The electromagnetic lock control system according to claim 2, wherein The execution unit includes a controllable power tube; The output end of the tri-state gate control unit is connected to the control end of the power supply / power-off control switch of the execution unit. Specifically, the output end of the tri-state gate control unit is connected to the control end of the controllable power transistor; The main path of the controllable power transistor is connected in series with the electromagnetic coil of the electromagnetic lock.

9. The electromagnetic lock control system according to claim 8, wherein, The controllable power transistor is a power field effect transistor.

10. The electromagnetic lock control system according to claim 8, characterized in that, It further includes: A noise reduction circuit, and the output end of the tri-state gate control unit is connected to the control end of the controllable power transistor through the noise reduction circuit.

11. A robot, characterized in that, It includes: A robot main body and an electromagnetic lock control system arranged in the robot main body; The electromagnetic lock control system includes: a main control unit, an intermediate control unit, an execution unit and an electromagnetic lock that are electrically coupled to each other. Among them, the main control unit, the intermediate control unit and the execution unit are arranged inside the robot main body, and the electromagnetic lock is arranged on the rear hatch of the robot main body for opening or locking the rear hatch; The main control unit is used to output an unlocking signal; The intermediate control unit opens the control path of the main control unit to control the execution unit in response to the lock closing signal corresponding to the locked state feedback by the electromagnetic lock; or disconnects the control path of the main control unit to control the execution unit in response to the lock opening signal corresponding to the opened state feedback by the electromagnetic lock; The execution unit is used to control the power supply / power-off of the electromagnetic lock; When the execution unit supplies power, the electromagnetic lock performs an unlocking action; and outputs a lock state signal, including: when it is in a locked state, it outputs the lock closing signal, and when it is in an opened state, it outputs the lock opening signal.

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