A battery power acquisition circuit, a battery power monitoring system and a method

Abstract

The present invention discloses a battery power acquisition circuit, a battery power monitoring system and a method, wherein the battery power acquisition circuit includes a voltage divider circuit, a current amplifying circuit and a current acquisition circuit, wherein the voltage divider circuit is connected between the positive and negative poles of the battery, the current amplifying circuit is connected to the voltage divider circuit, and the current acquisition circuit is connected to the current amplifying circuit. The present invention acquires the real-time dynamic power of the battery by acquiring the current and voltage of the battery, and performs integral calculations based on the current and voltage, so as to accurately understand the power status of the battery in real time, and provides a power monitoring basis for the control of the inspection robot, so that when the battery power of the inspection robot is lower than the set value, the robot can be controlled to return to the battery pack replacement station, effectively preventing the inspection robot from stopping halfway, causing the problem of personnel dragging the robot back to the battery pack replacement station.

Description

Technical Field

[0001] The present invention relates to the technical field of mining batteries, and in particular to a battery power acquisition circuit, a battery power monitoring system and a method. Background Art

[0002] During the inspection process, the mining inspection robot is powered by a lithium battery. In the mining environment, the battery temperature, discharge current and power are important parameters in the walking control of the inspection robot. When the battery temperature exceeds the set temperature and the discharge current exceeds the maximum set value, the inspection robot should stop and cut off the power immediately. When the power of the inspection robot is lower than the set value, the inspection robot stops patrolling and returns to the designated battery replacement station to prevent the inspection robot from being unable to return to the battery replacement point due to insufficient power.

[0003] The existing battery power monitoring system determines the battery power by collecting the battery voltage. Since the battery voltage is affected by the output load, it cannot monitor the battery power very well, which can easily lead to misjudgment of the battery power, making it impossible for the inspection robot to accurately predict its walking distance, causing more inconvenience to the operation of the robot. Summary of the invention

[0004] In view of the problems in the related art, the present invention provides a battery power acquisition circuit, a battery power monitoring system and a method.

[0005] The technical solution of the present invention is achieved in this way:

[0006] According to one aspect of the present invention, a battery power collection circuit is provided.

[0007] The battery power collection circuit includes a voltage divider circuit, a current amplifying circuit and a current collection circuit, wherein the voltage divider circuit is connected between the positive and negative electrodes of the battery, the current amplifying circuit is connected to the voltage divider circuit, and the current collection circuit is connected to the current amplifying circuit, wherein the voltage divider circuit is composed of a resistor R14, a resistor R15 and a resistor R16 connected in series between the positive and negative electrodes of the battery; the current amplifying circuit includes an LM324 chip U2, voltage stabilizing diodes D8-D9, a capacitor C5, and resistors R18-R2 0; wherein, the voltage zener diode D8 is connected between the resistor R16 and the Vout1 pin and Vin1- pin of the LM324 chip U2, and the Vin1+ pin of the LM324 chip U2 is connected between the resistor 15 and the resistor R16, the capacitor C5 is connected between the resistor R16 and the VCC pin of the LM324 chip U2, the resistor R18 is connected between the V3+ pin and the Vout4 pin and the V4- pin of the LM324 chip U2, and the V3+ The V4+ pin and the V4+ pin are connected to the current collection circuit, the resistors R19 and R20 are connected in parallel between the V3- pin and the Vout3 pin of the LM324 chip U2, and a voltage stabilizing diode D9 is connected between the Vout3 pin of the LM324 chip U2 and the resistor R16; the current collection circuit includes an INA169 chip U3, capacitors C2-C4, a reference resistor RS1 and a resistor R17, wherein the reference resistor RS1 and the capacitor C2 are connected in parallel to the INA169 The INA169 chip U3 is connected between the Vin+ pin and the Vin- pin, and is connected to the resistor R14. The capacitor C3 and the capacitor C4 are connected in parallel to the V+ pin of the INA169 chip U3, and the other ends of the parallel capacitors C3 and C4 are grounded. The resistor R17 is connected to the OUT pin of the INA169 chip U3, and the other end of the resistor R17 is grounded. The OUT pin of the INA169 chip U3 is connected to the V3+ pin and the V4+ pin of the LM324 chip U2.

[0008] In addition, the battery power collection circuit also includes: a power collection protection circuit, which includes MOS tubes Q5-Q6, voltage regulator diodes D6-D7, an emergency stop switch W3 and resistors R11-R13; wherein, the drain of the MOS tube Q5 is connected to the resistor R14, the source of the MOS tube Q5 is connected to the positive electrode of the battery, and the source and gate of the MOS tube Q5 are connected with a parallel voltage regulator diode D6 and a resistor R11, the emergency stop switch W3 is connected to the other end of the parallel voltage regulator diode D6 and the resistor R11, and the other end of the emergency stop switch W3 is connected to a resistor R12, the other end of the resistor R12 is connected to the drain of the MOS tube Q6, the source and gate of the MOS tube D6 are connected with a parallel voltage regulator diode D7 and a resistor R13, and the other end of the parallel voltage regulator diode D7 and the resistor R13 are connected to the negative electrode of the battery and the resistor 16.

[0009] In addition, the battery power collection circuit also includes: a power-on switch circuit, which includes MOS tubes Q3-Q4, voltage regulator diodes D4-D5, a power switch W1 and resistors R7-R10; wherein, the drain of the MOS tube Q3 is connected to the source of the MOS tube Q5, and the source and gate of the MOS tube Q3 are connected with a voltage regulator diode D5 and a resistor R9 in parallel; the source of the MOS tube Q3 is connected to the positive electrode of the battery, and the source of the MOS tube Q3 is connected with a resistor R7, the other end of the resistor R7 is connected with the power switch W1, the other end of the power switch W1 is connected to the gate of the MOS tube Q4, and the drain of the MOS tube Q4 is connected with the gate of the MOS tube Q3. A resistor R10 is connected, and a voltage regulator diode D4 and a resistor R8 are connected between the source and gate of the MOS tube Q4, and the other ends of the voltage regulator diode D4 and the resistor R8 in parallel are connected to the negative electrode of the battery and the resistor 16.

[0010] In addition, the battery power collection circuit also includes: a power comparison circuit, which includes an LM358 chip U1, MOS tubes Q1-Q2, voltage regulator diodes D1-D3 and resistors R1-R6; wherein, a resistor R1 is connected between the IN1+ pin of the LM358 chip U1 and the positive electrode of the battery, and a resistor R2 is connected between the IN1- pin of the LM358 chip U1 and the positive electrode of the battery; a resistor R3 and a reset switch W2 are connected in series between the OUT1 pin of the LM358 chip U1 and the negative electrode of the battery; and a voltage regulator diode D3 and a resistor R4 are connected in parallel between the OUT1 pin of the LM358 chip U1 and the GND pin; a resistor R1 is connected in series between the VCC pin of the LM358 chip U1 and the positive electrode of the battery. A voltage stabilizing diode D1 and a capacitor C1; a resistor R5 and a resistor R6 are connected in series between the OUT2 pin of the LM358 chip U1 and the negative electrode of the battery; the gate of the MOS tube Q2 is connected between the resistor R5 and the resistor R6, the drain of the MOS tube Q2 is connected between the power switch W1 and the resistor R7, and the source of the MOS tube Q2 is connected to the negative electrode of the battery; the IN2- pin of the LM358 chip U1 is connected to the resistor R2 and the drain of the MOS tube Q1, the source of the MOS tube Q1 is connected to the negative electrode of the battery, and the gate of the MOS tube Q1 is connected to the resistor R3, the IN2+ pin of the LM358 chip U1 is connected to the negative electrode of the battery, and a voltage stabilizing diode D2 is connected between the IN2+ pin of the LM358 chip U1 and the negative electrode of the battery.

[0011] According to another aspect of the present invention, a battery power monitoring system is provided. The battery power monitoring system has the above-mentioned battery power acquisition circuit, and the battery power monitoring system monitors the battery power through the current, voltage, temperature and power collected by the battery power acquisition circuit.

[0012] According to another aspect of the present invention, a battery power monitoring method is provided. The battery power monitoring method comprises the following steps: using the above-mentioned battery power acquisition circuit to acquire the current, voltage and temperature of the battery; performing integral calculation based on the acquired current and voltage to obtain the battery power; judging the battery state based on the battery power and temperature, and controlling the charging and discharging of the battery based on the judgment result. Beneficial Effects

[0013] The present invention acquires the real-time dynamic power of the battery by collecting the current and voltage of the battery and performing integral calculations based on the current and voltage, thereby being able to accurately understand the power status of the battery in real time, providing a power monitoring basis for the control of the inspection robot, and enabling the inspection robot to be controlled to return to the battery pack replacement station when the battery power is lower than a set level, thereby effectively preventing the inspection robot from stopping halfway and causing the problem of personnel dragging the robot back to the battery pack replacement station.

[0014] At the same time, the present invention can also effectively monitor the temperature of the battery, and solve the problem of over-temperature of the local device caused by over-temperature of the battery pack and excessive discharge current of the battery pack. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 is a circuit diagram of a battery power collection circuit according to an embodiment of the present invention;

[0017] Figure 2 is a structural block diagram of a battery power monitoring system for a mining inspection robot according to an embodiment of the present invention;

[0018] Figure 3 The present invention is a flowchart of a battery power monitoring system for a mining inspection robot controlling the robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0020] According to an embodiment of the present invention, a battery power acquisition circuit, a battery power monitoring system and a method are provided.

[0021] like Figure 1 As shown, the battery power collection circuit according to the embodiment of the present invention includes a voltage divider circuit, a current amplification circuit, a current collection circuit, a power collection protection circuit, a power-on switch circuit, and a power comparison circuit.

[0022] Specifically, the voltage divider circuit is composed of a series resistor R14, a resistor R15 and a resistor R16 located between the positive and negative electrodes of the battery; the current amplification circuit includes an LM324 chip U2, a voltage regulator diode D8-D9, a capacitor C5, and resistors R18-R20; wherein the voltage regulator diode D8 is connected between the resistor R16 and the Vout1 pin and the Vin1- pin of the LM324 chip U2, and the Vin1+ pin of the LM324 chip U2 is connected between the resistor 15 and the resistor R16, the capacitor C5 is connected between the resistor R16 and the VCC pin of the LM324 chip U2, the resistor R18 is connected between the V3+ pin and the Vout4 pin and the V4- pin of the LM324 chip U2, and the V3+ pin and the V4+ pin of the LM324 chip U2 are connected to the current acquisition circuit, and the resistor R19 and the resistor R20 are connected in parallel to the LM324 chip U2. A voltage zener diode D9 is connected between the V3-pin and the Vout3 pin of the chip U2, and between the Vout3 pin of the LM324 model chip U2 and the resistor R16; the current acquisition circuit includes an INA169 model chip U3, capacitors C2-C4, a reference resistor RS1 and a resistor R17, wherein the reference resistor RS1 and the capacitor C2 are connected in parallel between the Vin+ pin and the Vin- pin of the INA169 model chip U3, and are connected to the resistor R14, the capacitor C3 and the capacitor C4 are connected in parallel to the V+ pin of the INA169 model chip U3, and the other ends of the parallel capacitors C3 and C4 are grounded, the resistor R17 is connected to the OUT pin of the INA169 model chip U3, and the other end of the resistor R17 is grounded, and the OUT pin of the INA169 model chip U3 is connected to the V3+ pin and the V4+ pin of the LM324 model chip U2.

[0023] The power collection protection circuit includes MOS tubes Q5-Q6, voltage regulator diodes D6-D7, an emergency stop switch W3 and resistors R11-R13; wherein, the drain of the MOS tube Q5 is connected to the resistor R14, the source of the MOS tube Q5 is connected to the positive electrode of the battery, and the voltage regulator diode D6 and the resistor R11 are connected in parallel between the source and the gate of the MOS tube Q5, the emergency stop switch W3 is connected to the other end of the voltage regulator diode D6 and the resistor R11 in parallel, and the other end of the emergency stop switch W3 is connected to the resistor R12, the other end of the resistor R12 is connected to the drain of the MOS tube Q6, the voltage regulator diode D7 and the resistor R13 are connected in parallel between the source and the gate of the MOS tube D6, and the other ends of the voltage regulator diode D7 and the resistor R13 in parallel are connected to the negative electrode of the battery and the resistor 16.

[0024] The power-on switch circuit includes MOS tubes Q3-Q4, voltage-stabilizing diodes D4-D5, a power switch W1, and resistors R7-R10; wherein, the drain of the MOS tube Q3 is connected to the source of the MOS tube Q5, and a voltage-stabilizing diode D5 and a resistor R9 are connected in parallel between the source and the gate of the MOS tube Q3; the source of the MOS tube Q3 is connected to the positive electrode of the battery, and the source of the MOS tube Q3 is connected to the resistor R7, the other end of the resistor R7 is connected to the power switch W1, the other end of the power switch W1 is connected to the gate of the MOS tube Q4, and the drain of the MOS tube Q4 is connected to the gate of the MOS tube Q3 with a resistor R10, the voltage-stabilizing diode D4 and the resistor R8 are connected in parallel between the source and the gate of the MOS tube Q4, and the other ends of the voltage-stabilizing diode D4 and the resistor R8 are connected to the negative electrode of the battery and the resistor 16.

[0025] The power comparison circuit includes an LM358 chip U1, MOS tubes Q1-Q2, voltage-stabilizing diodes D1-D3 and resistors R1-R6; wherein, a resistor R1 is connected between the IN1+ pin of the LM358 chip U1 and the positive electrode of the battery, and a resistor R2 is connected between the IN1- pin of the LM358 chip U1 and the positive electrode of the battery; a resistor R3 and a reset switch W2 are connected in series between the OUT1 pin of the LM358 chip U1 and the negative electrode of the battery; and a voltage-stabilizing diode D3 and a resistor R4 are connected in parallel between the OUT1 pin of the LM358 chip U1 and the GND pin; a voltage-stabilizing diode D1 and a capacitor C are connected in series between the VCC pin of the LM358 chip U1 and the positive electrode of the battery. 1; a resistor R5 and a resistor R6 are connected in series between the OUT2 pin of the LM358 chip U1 and the negative electrode of the battery; the gate of the MOS tube Q2 is connected between the resistor R5 and the resistor R6, the drain of the MOS tube Q2 is connected between the power switch W1 and the resistor R7, and the source of the MOS tube Q2 is connected to the negative electrode of the battery; the IN2- pin of the LM358 chip U1 is connected to the resistor R2 and the drain of the MOS tube Q1, the source of the MOS tube Q1 is connected to the negative electrode of the battery, and the gate of the MOS tube Q1 is connected to the resistor R3, the IN2+ pin of the LM358 chip U1 is connected to the negative electrode of the battery, and a voltage regulator diode D2 is connected between the IN2+ pin of the LM358 chip U1 and the negative electrode of the battery.

[0026] When in use, the INA169 chip U3, capacitor C2, reference resistor RS1, resistor R17, capacitor C4, and capacitor C3 form a battery current acquisition circuit. The collected current is amplified by the amplifier circuit composed of the LM324 chip U2, resistor R18, resistor R19, and resistor R20, and then sent to the single-chip AD acquisition I / O port. The battery voltage is divided by resistors R14, R15, and R16, and then sent to the single-chip I / O port by the LM324 chip U2. The single-chip calculates the real-time dynamic power of the battery by integrating the collected current and voltage. The battery power acquisition protection circuit contains the emergency stop power composed of MOS tube Q5, resistor R11, voltage regulator diode D6, emergency stop switch W3, resistor R12, MOS tube Q6, voltage regulator diode D7, and resistor R13. When the battery is abnormal, the W3 emergency stop switch can be manually disconnected to disconnect the battery discharge. The battery power-on switch is composed of MOS tube Q3, resistor R9, voltage zener diode D5, resistor R10, MOS tube Q4, resistor R7, power switch W1, resistor R8, and voltage zener diode D4. The power-on of the switch is affected by the battery power. When the battery power is lower than the set value or the temperature is higher than the set value, the power switch cannot be powered on. The comparison circuit and control circuit are composed of resistor R1, resistor R2, resistor R3, resistor R4, resistor R5, resistor R6, voltage zener diode D1, voltage zener diode D2, voltage zener diode D3, LM358 model chip U1, MOS tube Q1, and MOS tube Q2. When the battery power is lower than the set value or the temperature is higher than the set value, the single-chip microcomputer sends a power-off control signal, MOS tube Q2 is turned on, MOS tube Q4 is turned off, the entire power is cut off, the single-chip microcomputer stops working, and enters the low power consumption mode. When the battery abnormality is handled, the reset switch W2 is turned on, the power switch and the emergency stop switch are turned on, and the battery discharges normally.

[0027] In one embodiment of the present invention, the battery power acquisition circuit can be applied to a battery power monitoring system, and the battery power monitoring system monitors the battery power through the current, voltage, temperature and power collected by the battery power acquisition circuit.

[0028] Specifically, when applied to the battery power monitoring system of a mining inspection robot, the system structure can be as follows: Figure 2As shown in the figure, the lithium battery, battery power monitoring system, battery power-off protection circuit and battery interface form an independent battery box unit. The wireless communication system and the inspection robot main control system form the power acquisition and control unit of the inspection robot. The host computer forms the control unit of the robot. Among them, the power acquisition and control unit is connected to the battery interface. First, the battery power-off protection circuit is controlled to open, and the battery power starts to output power for the power acquisition and control unit. At the same time, the battery interface can exchange power information with the power acquisition and control unit, and can collect the total voltage of the battery pack, the voltage of the single cell, the temperature, and the discharge current, and manage and control the battery discharge. After the battery power is collected and controlled by the power acquisition and control unit, it is transmitted to the host computer through the wireless communication system to provide power parameter data for the host computer to control the movement of the inspection robot. The host computer can set the power value of the robot to return to replace the battery box. When the power is lower than the set return power value, the inspection robot will stop the inspection task and return to the battery box replacement station. At the same time, the display screen of the inspection robot can display the battery power value in real time. When the battery temperature exceeds the set temperature and the discharge current exceeds the maximum set value, the inspection robot should stop and power off immediately.

[0029] When using the battery power monitoring system of the mining inspection robot to control the mining inspection robot, the process can be as follows: Figure 3 As shown, it includes: 1. The battery power monitoring system reads the battery pack information (power, voltage, current, temperature); 2. The battery pack information is collected by the inspection robot main control system; 3. The main control system analyzes and judges the battery pack information and transmits the data to the host computer through the wireless communication system; 4. Determine whether the battery pack temperature exceeds the set value. If it exceeds the set value, the robot stops and cuts off the power. Otherwise, it determines whether the robot discharge current exceeds the set value; 5. Determine whether the battery pack discharge current exceeds the set value. If it exceeds the set value, the robot stops and cuts off the power. Otherwise, it determines whether the robot battery power exceeds the return set value; 6. Determine whether the robot battery power exceeds the return set value. If it exceeds, the robot returns to the battery pack replacement station. If not, continue to execute 2.

[0030] In actual application, when the battery pack is first connected to the battery power monitoring system, the difference between the battery voltage and the maximum charging voltage needs to be less than 100mV, and the charging current needs to be reduced to C / 10. The battery can be considered fully charged and the battery capacity is considered to be 100%; when the battery is discharged to the minimum discharge voltage, the battery capacity is considered to be 0%; the battery is charged and the coulomb metering method is used to calculate the battery power Q0 from 0% to 100%. After connecting to the battery power monitoring system and going through the above steps, the battery's real-time capacity Q is compared with Q0 by the coulomb metering method for power monitoring; the remaining percentage of power = (Q0-Q) ÷ Q0 × 100%. When the battery is used for 10 days or more than 10 times, the battery power is corrected once Q1, including: when the battery is discharged to the lowest discharge voltage, the battery capacity is considered to be 0%; when the difference between the battery voltage and the highest charging voltage is less than 100mV, and the charging current is reduced to C / 10, the battery power Q1 is calculated by the coulomb measurement method; for the calculation of the battery's real-time capacity Q remaining percentage, the formula is: remaining percentage = (Q1-Q) ÷ Q0 × 100%. When in use, when the battery power is lower than the set capacity, the battery will issue an alarm that the battery needs maintenance, and the inspection robot will return to the battery replacement station to wait for maintenance.

[0031] In summary, with the help of the above technical solution of the present invention, by collecting the current and voltage of the battery and performing integral calculations based on the current and voltage, the real-time dynamic power of the battery is obtained, so that the power status of the battery can be accurately understood in real time, providing a power monitoring basis for the control of the inspection robot, so that when the battery power of the inspection robot is lower than the set value, the robot can be controlled to return to the battery pack replacement station, effectively preventing the inspection robot from stopping halfway and causing the problem of personnel dragging the robot back to the battery pack replacement station. At the same time, the present invention can also effectively monitor the temperature of the battery, and solve the problem of overheating of the local device caused by overheating of the battery pack and over-limit of the battery pack discharge current.

[0032] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A battery power collection circuit, characterized in that: It includes a voltage divider circuit, a current amplifying circuit and a current collecting circuit, wherein the voltage divider circuit is connected between the positive electrode and the negative electrode of the battery, the current amplifying circuit is connected to the voltage divider circuit, and the current collecting circuit is connected to the current amplifying circuit, wherein: The voltage divider circuit is composed of a series connection of resistors R14, R15 and R16 located between the positive and negative electrodes of the battery; the current amplification circuit includes an LM324 chip U2, voltage zener diodes D8-D9, a capacitor C5, and resistors R18-R20; wherein the voltage zener diode D8 is connected between the resistor R16 and the Vout1 pin and Vin1- pin of the LM324 chip U2, and the Vin1+ pin of the LM324 chip U2 is connected between the resistor 15 and the resistor R16, and the capacitor C5 is connected to the resistor R 16 and the VCC pin of the LM324 model chip U2, the resistor R18 is connected between the V3+ pin and the Vout4 pin and the V4- pin of the LM324 model chip U2, and the V3+ pin and the V4+ pin of the LM324 model chip U2 are connected to the current acquisition circuit, the resistor R19 and the resistor R20 are connected in parallel between the V3- pin and the Vout3 pin of the LM324 model chip U2, and a voltage stabilizing diode D9 is connected between the Vout3 pin of the LM324 model chip U2 and the resistor R16; The current acquisition circuit includes an INA169 chip U3, capacitors C2-C4, a reference resistor RS1 and a resistor R17, wherein the reference resistor RS1 and the capacitor C2 are connected in parallel between the Vin+ pin and the Vin- pin of the INA169 chip U3, and are connected to the resistor R14, the capacitor C3 and the capacitor C4 are connected in parallel to the V+ pin of the INA169 chip U3, and the other ends of the parallel capacitors C3 and C4 are grounded, the resistor R17 is connected to the OUT pin of the INA169 chip U3, and the other end of the resistor R17 is grounded, and the OUT pin of the INA169 chip U3 is connected to the V3+ pin and the V4+ pin of the LM324 chip U2; It also includes: a power collection protection circuit, which includes MOS tubes Q5-Q6, voltage stabilizing diodes D6-D7, an emergency stop switch W3 and resistors R11-R13; a power-on switch circuit, which includes MOS tubes Q3-Q4, voltage stabilizing diodes D4-D5, a power switch W1 and resistors R7-R10; a power comparison circuit, which includes an LM358 chip U1, MOS tubes Q1-Q2, voltage stabilizing diodes D1-D3 and resistors R1-R6; Among them, the drain of the MOS tube Q5 is connected to the resistor R14, the source of the MOS tube Q5 is connected to the positive electrode of the battery, and the source and gate of the MOS tube Q5 are connected with a parallel Zener diode D6 and a resistor R11, the emergency stop switch W3 is connected to the other end of the parallel Zener diode D6 and the resistor R11, and the other end of the emergency stop switch W3 is connected to a resistor R12, and the other end of the resistor R12 is connected to the drain of the MOS tube Q6, the source and gate of the MOS tube D6 are connected with a parallel Zener diode D7 and a resistor R13, and the other ends of the parallel Zener diode D7 and the resistor R13 are connected to the negative electrode of the battery and the resistor 16; The drain of the MOS tube Q3 is connected to the source of the MOS tube Q5, and a parallel voltage regulator diode D5 and a resistor R9 are connected between the source and the gate of the MOS tube Q3; the source of the MOS tube Q3 is connected to the positive electrode of the battery, and a resistor R7 is connected to the source of the MOS tube Q3, and the other end of the resistor R7 is connected to a power switch W1, and the other end of the power switch W1 is connected to the gate of the MOS tube Q4, and a resistor R10 is connected between the drain of the MOS tube Q4 and the gate of the MOS tube Q3, and a parallel voltage regulator diode D4 and a resistor R8 are connected between the source and the gate of the MOS tube Q4, and the other ends of the parallel voltage regulator diode D4 and the resistor R8 are connected to the negative electrode of the battery and the resistor 16; Among them, a resistor R1 is connected between the IN1+ pin of the LM358 chip U1 and the positive electrode of the battery, and a resistor R2 is connected between the IN1- pin of the LM358 chip U1 and the positive electrode of the battery; a resistor R3 and a reset switch W2 are connected in series between the OUT1 pin of the LM358 chip U1 and the negative electrode of the battery; and a parallel Zener diode D3 and a resistor R4 are connected between the OUT1 pin and the GND pin of the LM358 chip U1; a Zener diode D1 and a capacitor C1 are connected in series between the VCC pin of the LM358 chip U1 and the positive electrode of the battery; and a Zener diode D1 and a capacitor C1 are connected in series between the OUT2 pin of the LM358 chip U1 and the negative electrode of the battery. A resistor R5 and a resistor R6 are connected in series; the gate of the MOS tube Q2 is connected between the resistor R5 and the resistor R6, the drain of the MOS tube Q2 is connected between the power switch W1 and the resistor R7, and the source of the MOS tube Q2 is connected to the negative electrode of the battery; the IN2- pin of the LM358 chip U1 is connected to the resistor R2 and the drain of the MOS tube Q1, the source of the MOS tube Q1 is connected to the negative electrode of the battery, and the gate of the MOS tube Q1 is connected to the resistor R3, the IN2+ pin of the LM358 chip U1 is connected to the negative electrode of the battery, and a voltage regulator diode D2 is connected between the IN2+ pin of the LM358 chip U1 and the negative electrode of the battery; When in use, the INA169 chip U3, capacitor C2, reference resistor RS1, resistor R17, capacitor C4, and capacitor C3 form a battery current acquisition circuit. The collected current is amplified by the amplifier circuit composed of the LM324 chip U2, resistor R18, resistor R19, and resistor R20, and then sent to the single-chip AD acquisition I / O port; the battery voltage is divided by resistors R14, R15, and R16, and then transmitted by the LM324 chip U2, and then sent to the single-chip I / O port. The single-chip calculates the real-time dynamic power of the battery by integrating the collected current and voltage; the battery power acquisition protection circuit includes MOS tube Q5, resistor R11, voltage regulator diode D6, emergency stop switch W3, resistor R12 , MOS tube Q6, voltage regulator diode D7, resistor R13 constitute the emergency stop power. When the battery is abnormal, the W3 emergency stop switch can be manually disconnected to disconnect the battery discharge; the battery power-on switch is composed of MOS tube Q3, resistor R9, voltage regulator diode D5, resistor R10, MOS tube Q4, resistor R7, power switch W1, resistor R8, voltage regulator diode D4. The power-on of this switch is affected by the battery power. When the battery power is lower than the set value or the temperature is higher than the set value, the power switch cannot be powered on; the resistor R1, resistor R2, resistor R3, resistor R 4. Resistor R5, resistor R6, zener diode D1, zener diode D2, zener diode D3, LM358 chip U1, MOS tube Q1, MOS tube Q2 form a comparison circuit and a control circuit. When the battery power is lower than the set value or the temperature is higher than the set value, the single-chip microcomputer sends a power-off control signal, MOS tube Q2 is turned on, MOS tube Q4 is turned off, the entire power is cut off, the single-chip microcomputer stops working and enters a low power consumption mode. When the battery abnormality is handled, the reset switch W2 is turned on, the power switch and the emergency stop switch are turned on, and the battery discharges normally.

2. A battery power monitoring system, characterized in that: The battery power monitoring system has the battery power acquisition circuit according to claim 1, and the battery power monitoring system monitors the battery power through the current, voltage and temperature acquired by the battery power acquisition circuit.

3. A battery power monitoring method, characterized in that: The following steps are involved: Using the battery power collection circuit described in claim 1 to collect the current, voltage and temperature of the battery; Perform integration calculation based on the collected current and voltage to obtain the battery power; The battery status is judged according to the battery power and temperature, and the charging and discharging of the battery is controlled according to the judgment result.

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