Device equipped with position detection function, robot and position detection method

Abstract

The present invention proposes a device and a robot and a position detection method configured with a position detection function, including: a control module, a power supply module; a permanent magnet synchronous motor, a motor output shaft and a reducer; when the device is in a power-off state, the control module starts in response to the phase voltage generated by the permanent magnet synchronous motor, and controls the power supply module to supply power to the control module and the absolute value encoder for a certain period of time; the position of the output end of the reducer is determined according to the position data and the latest number of turns reported by the absolute value encoder. The present invention can minimize the energy consumption of the power supply module, extend the battery life of its internal battery, save energy and electricity as much as possible, and respond to the power supply start-up timing based on the phase voltage, and the phase voltage is directly generated and output by the permanent magnet synchronous motor due to the change in position, without the need for processing by the intermediate logic circuit, so it has a fast response speed, and there will be no situation where the position data is lost due to untimely power supply start-up, and the power supply stability and reliability are higher.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial equipment, and in particular to a device equipped with a position detection function, a robot and a position detection method. Background Art

[0002] In some industrial equipment such as robots, a motor is provided to drive the movement of the joint module, and a position detection device is provided to record the position of the motor output shaft so as to detect the position of the joint module accordingly. During this process, the position detection device needs to be powered at all times to avoid loss of the position of the joint module due to power failure.

[0003] In some related technologies, in order to achieve reliable power supply, a main power supply and a backup power supply are usually configured to power the position detection device. Under normal circumstances, the main power supply is preferentially used to power the position detection device, and when the main power supply fails, the backup power supply is used to power the position detection device. However, due to cost and volume considerations, the backup power supply is usually a battery with a small size and capacity, and its battery life is difficult to last long. In addition, when position detection is not required, the battery will continue to power the position detection device, which will greatly accelerate the consumption of battery energy and further shorten the battery life.

[0004] In order to optimize the power supply mode in the above-mentioned related technologies and realize battery energy saving, in other related technologies, when position detection is not required, the battery can be controlled to stop supplying power to the position detection device, so that the consumption of battery energy can be reduced and battery energy saving can be realized. For example, the Chinese patent application with publication number CN102506907A discloses a position detection device, including: a main power supply, a backup power supply, a functional circuit, and a selection circuit. The functional circuit includes a position detection circuit, and the position detection circuit includes: a single-turn encoder; a circle recording unit and an information output unit. When the position detection device selects the backup power supply for power supply by the selection circuit, the control circuit conducts the power supply path from the backup power supply to the functional circuit when a trigger signal is received, and disconnects the power supply path from the backup power supply to the functional circuit when there is no trigger signal, that is, the functional circuit is triggered by the trigger signal to work, and the functional circuit stops working when there is no trigger, so that the functional circuit will not continue to work when the backup power supply is powered, thereby reducing the power consumption of the position detection device when the backup power supply is powered.

[0005] However, in the above scheme, firstly, the trigger signal for turning on the power supply is sent by the position sensor through detecting the movement of the rotating shaft, and the operation of the position sensor requires electric energy, so it always consumes electricity during the entire detection process. Secondly, in this scheme, on the one hand, the trigger signal is processed by multiple logic circuits and the control instructions are issued, and the multiple logic circuits involved also consume electricity; on the other hand, the trigger signal is responded to by the control switch circuit, and the control switch cannot directly respond to the trigger signal, and signal processing is required, so it also consumes electricity. Therefore, the energy saving for the backup power supply in the above scheme is not thorough, and some of the components need to consume electricity all the time. Therefore, although the above scheme can reduce the power consumption of the position detection device when the backup power supply is supplied, the degree of power consumption reduction is limited, and some components always need to consume electricity, and the energy saving is not thorough.

[0006] In addition, in the above scheme, the trigger signal is actually the position information detected by the position sensor, and the position information cannot be directly responded to and the power supply is turned on. Therefore, the position information needs to be logically processed, and after the electrical signal is output, it is responded to through the logic circuit or control switch, and the control signal is output to the power supply circuit to turn on the power supply. Therefore, the scheme involves multiple intermediate layers of logic processing processes, which also reduces its stability and reliability. At the same time, the large number of logic processing processes also reduces the response speed of the position detection device, which may lead to the power supply being turned on untimely and cause the detection position to be lost.

[0007] In summary, the current prior art has the problem that the energy saving of the backup power supply is not thorough and the response speed is not high, resulting in low power supply stability and reliability. Summary of the invention

[0008] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0009] To this end, one object of the present invention is to propose a device equipped with a position detection function, which can minimize the energy consumption of the power supply module, extend the life of its internal battery, save energy and electricity as much as possible, and respond to the power supply start-up timing based on the phase voltage. The phase voltage is directly generated and output by the permanent magnet synchronous motor due to position changes, and does not need to be processed by an intermediate logic circuit. Therefore, it has a fast response speed, and there will be no situation where the position data is lost due to untimely power supply startup, and the power supply stability and reliability are higher.

[0010] To this end, a second object of the present invention is to provide a robot.

[0011] To this end, the third object of the present invention is to provide a position detection method.

[0012] To this end, a fourth objective of the present invention is to provide an electronic device.

[0013] To this end, a fifth object of the present invention is to provide a computer-readable storage medium.

[0014] To this end, a sixth object of the present invention is to provide a computer program product.

[0015] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a device equipped with a position detection function, and the device equipped with a position detection function includes: a control module, a power supply module; a permanent magnet synchronous motor, a motor output shaft and a reducer, the rotor of the permanent magnet synchronous motor is fixedly connected to the motor output shaft, and the motor output shaft is transmission-connected to the input end of the reducer; and an absolute encoder for detecting the position of the motor output shaft; the control module is configured with the following functions: receiving the position data reported by the absolute encoder; when passing through the zero position, recording the latest number of turns; when the device is in a power-off state, the control module starts in response to the phase voltage generated by the permanent magnet synchronous motor, and the control module performs the following functions at startup: controlling the power supply module to supply power to the control module and the absolute encoder for a certain period of time; and determining the position of the output end of the reducer based on the position data and the latest number of turns reported by the absolute encoder.

[0016] According to the device configured with position detection function in the embodiment of the present invention, the rotor of the permanent magnet synchronous motor is fixedly connected to the motor output shaft, when the permanent magnet synchronous motor starts to rotate, its rotor will drive the motor output shaft to rotate, and at the same time, the stator of the permanent magnet synchronous motor can sense the rotation of the rotor to generate phase voltage, and the motor output shaft is rotatably connected to the input end of the reducer, when the motor output shaft rotates and causes its position to change, the absolute encoder will detect the position change and generate corresponding position data, so that the absolute encoder can detect the position data of the motor output shaft and report the position data to the control module, and at the same time, when the absolute encoder passes through the zero position, the control module can record the latest number of turns, thereby realizing position detection. When the device is in the power-off state, the control module can start in response to the phase voltage generated by the permanent magnet synchronous motor, and control the power supply module to supply power to the control module and the absolute encoder for a certain time, so that the absolute encoder generates the position data of the motor output shaft and reports it to the control module, and the control module obtains and records the position data, so that the position of the output end of the reducer can be determined based on the position data and the latest number of turns recorded by the control module. In this way, when position detection is required, for example, when the position of the motor output shaft changes, the permanent magnet synchronous motor will generate a phase voltage accordingly, and the start state or shutdown state of the absolute value encoder and the control module is determined according to the generated phase voltage, so that when the absolute value encoder and the control module are required to work, the power supply module is enabled to supply power to the two, and when the absolute value encoder and the control module are not required to work, the power supply module is controlled to stop supplying power. Since the present invention triggers the power supply start action based on the phase voltage without the need for processing by the intermediate logic circuit, when power is not required, the circuit in the present invention is in a state of basically no power consumption, so the energy saving is more thorough, so that the energy consumption of the power supply module can be reduced to the greatest extent, the battery life of its internal battery can be extended, and energy saving and power saving can be achieved as much as possible; and, the power supply start timing is responded to based on the phase voltage, and the phase voltage is directly generated and output by the permanent magnet synchronous motor due to the change in position, and does not need to be processed by the intermediate logic circuit, so its response speed is fast, and there will be no situation where the position data is lost due to untimely power supply start, and the power supply stability and reliability are higher.

[0017] In addition, the device configured with a position detection function according to an embodiment of the present invention may also have the following additional technical features:

[0018] In some embodiments, the device configured with a position detection function also includes: an operational amplifier circuit, the input end of the operational amplifier circuit is connected to the permanent magnet synchronous motor, and the output end of the operational amplifier circuit is connected to the power supply module; when the phase voltage generated by the permanent magnet synchronous motor is received through the input end of the operational amplifier circuit, the operational amplifier circuit amplifies the voltage of the phase voltage to generate a first enable signal, the voltage of the first enable signal is greater than the voltage of the phase voltage, and the first enable signal is output to the power supply module through the output end of the operational amplifier circuit; the power supply module provides a first voltage to the control module in response to the first enable signal, and the control module starts in response to the first voltage.

[0019] In some embodiments, the operational amplifier circuit is any one of an inverse proportional operational circuit, an in-phase proportional operational circuit, and a level comparison circuit.

[0020] In some embodiments, the operational amplifier circuit is a common-phase proportional operational circuit, including: an operational amplifier, the operational amplifier having a positive input terminal, a negative input terminal, a positive power supply input terminal, a negative power supply input terminal, an output terminal, a first resistor and a second resistor; the positive input terminal is connected to at least one phase of the stator of the permanent magnet synchronous motor, the negative input terminal is grounded through the first resistor, and is connected to the output terminal of the operational amplifier through the second resistor, the positive power supply input terminal is connected to a power supply that provides it with an operating voltage, the negative power supply input terminal is grounded, and the output terminal of the operational amplifier is connected to a power supply module to output a first enable signal to the power supply module through the output terminal of the operational amplifier.

[0021] In some embodiments, the operational amplifier circuit further includes: a third resistor connected between the stator of the permanent magnet synchronous motor and the positive input terminal of the operational amplifier.

[0022] In some embodiments, the operational amplifier circuit further includes: a first diode, an anode of the first diode is connected between the third resistor and the positive input terminal of the operational amplifier, and a cathode of the first diode is grounded.

[0023] In some embodiments, when a position change of the motor output shaft is detected, the control module controls the power supply module to extend the power supply to the control module and the absolute encoder for a preset time.

[0024] In some embodiments, the power supply module includes: a battery unit and a power supply enabling unit; the battery unit is connected to the control module and the absolute value encoder through the power supply enabling unit; when the control module is started, the control module controls the enabling state of the power supply enabling unit, thereby controlling the power supply state of the battery unit to the control module and the absolute value encoder.

[0025] In some embodiments, the input end of the power supply enable unit is connected to the battery unit, the output end of the power supply enable unit is connected to the control module and the absolute value encoder, and the enable end of the power supply enable unit is connected to the control module; the control module continuously outputs a second enable signal to the enable end of the power supply enable unit to continuously enable the power supply enable unit, thereby providing the electric energy output by the battery unit to the control module and the absolute value encoder to power them.

[0026] In some embodiments, the power supply enabling unit includes: a first power management component, when the enabling end of the first power management component receives a first enabling signal and / or a second enabling signal, the first power management component is turned on, otherwise, the first power management component is turned off.

[0027] In some embodiments, the battery unit includes: a first battery, the first battery is used to provide an operating voltage to the operational amplifier and to provide an input voltage to an input terminal of the first power management component.

[0028] In some embodiments, the battery unit includes: a second battery and a second power management component; the second power management component is used to convert the voltage output by the second battery, provide its operating voltage to the operational amplifier, and provide input voltage to the input end of the first power management component.

[0029] In some embodiments, the first power management component and the second power management component have at least one of a voltage stabilization function, a voltage conversion function, and a switching function.

[0030] In some embodiments, when the device is in a power-off state, only the operational amplifier and the second power management component are in an on state, and the first power management component switches between an on and off state according to whether the first enable signal and / or the second enable signal is received.

[0031] In some embodiments, the power supply enable unit includes: a third power management component and a first power management sub-unit; the input end of the third power management component is connected to the battery cell, the enable end of the third power management component is connected to the output end of the operational amplifier and the control module, the output end of the third power management component is connected to the input end of the first power management sub-unit, and the output end of the first power management sub-unit is connected to the control module and the absolute value encoder; when the enable end of the third power management component receives the first enable signal and / or the second enable signal, the third power management component is turned on to convert the electric energy input from the battery cell into a first target voltage, and transmit the first target voltage to the first power management sub-unit through the output end of the third power management component as the input voltage of the first power management sub-unit; the first power management sub-unit converts the first target voltage into a second target voltage, and transmits the second target voltage to the control module and the absolute value encoder through the output end of the first power management sub-unit to power the control module and the absolute value encoder.

[0032] In some embodiments, the first power management subunit includes: a fourth power management component; the input end of the fourth power management component is connected to the output end of the third power management component, and the output end of the fourth power management component is connected to the control module and the absolute value encoder; the fourth power management component converts the first target voltage output by the third power management component into a second target voltage, and transmits the second target voltage to the control module and the absolute value encoder.

[0033] In some embodiments, the first power management subunit includes: a plurality of fifth power management components connected in series; the plurality of fifth power management components perform multi-level voltage conversion on the first target voltage output by the third power management component, output a second target voltage, and transmit the second target voltage to the control module and the absolute value encoder.

[0034] In some embodiments, the battery unit includes: a third battery, the third battery is used to provide an operating voltage to the operational amplifier and to provide an input voltage to an input terminal of the third power management component.

[0035] In some embodiments, the battery unit includes: a fourth battery and a sixth power management component; the sixth power management component is used to convert the voltage output by the fourth battery to provide an operating voltage to the operational amplifier; the fourth battery is used to provide an input voltage to the input end of the third power management component.

[0036] In some embodiments, when the device is in a power-off state, only the operational amplifier and the sixth power management component are in an on state, and the third power management component switches between an on and off state according to whether the first enable signal and / or the second enable signal is received.

[0037] In some embodiments, the third power management component has at least one of a voltage stabilization function, a voltage conversion function, and a switching function.

[0038] In some embodiments, the device also includes: a first power supply device; the first power supply device is connected to the control module, and is used to provide a second voltage to the control module to put the control module in a standby state; the control module is used to wake up or start in response to the phase voltage generated by the permanent magnet synchronous motor in the standby state.

[0039] In some embodiments, the device also includes: a second power supply device; the second power supply device is connected to the permanent magnet synchronous motor and the control module, and when the second power supply device receives the phase voltage generated by the permanent magnet synchronous motor, it provides a third voltage to the control module; the control module starts in response to the third voltage.

[0040] In some embodiments, the device further includes: an isolation circuit; when the device is not in a power-off state, the isolation circuit isolates the power supply module to disable it, and when the device is in a power-off state, the isolation circuit does not isolate the power supply module to enable it.

[0041] In some embodiments, the isolation circuit includes: a fourth resistor, a second diode and a switching tube; one end of the fourth resistor is connected to the main power supply of the device, and the other end of the fourth resistor is connected to the cathode of the second diode; the base of the switching tube is connected to the anode of the second diode, the collector of the switching tube is connected to the power supply module, and the emitter of the switching tube is grounded.

[0042] In some embodiments, the control module is further used to: control the braking of the permanent magnet synchronous motor.

[0043] In some embodiments, the control module is also used to: control the permanent magnet synchronous motor to release the brakes until the absolute value encoder is started due to power supply from the power supply module; or, control the permanent magnet synchronous motor to release the brakes until the absolute value encoder is shut down due to power supply from the power supply module stopping.

[0044] In some embodiments, the device further comprises a main power supply for supplying power to the device when the device is started, wherein when the main power supply fails, the device is in a power-off state.

[0045] In some embodiments, the permanent magnet synchronous motor is a three-phase motor, and the phase voltage is generated by the stator induction rotor rotation of the three-phase motor.

[0046] In some embodiments, the control module is further used to: control the three-phase motors to be short-circuited in pairs, thereby causing the three-phase motors to be short-circuited and braked.

[0047] In some embodiments, the absolute encoder is a single-turn absolute encoder.

[0048] In order to achieve the above-mentioned object, an embodiment of the second aspect of the present invention provides a robot, comprising a device configured with a position detection function as in any embodiment of the first aspect of the present invention.

[0049] According to the robot of the embodiment of the present invention, the rotor of the permanent magnet synchronous motor is fixedly connected to the motor output shaft. When the permanent magnet synchronous motor starts to rotate, its rotor will drive the motor output shaft to rotate. At the same time, the stator of the permanent magnet synchronous motor can sense the rotation of the rotor to generate a phase voltage, and the motor output shaft is rotatably connected to the input end of the reducer. When the motor output shaft rotates and causes its position to change, the absolute encoder will detect the position change and generate corresponding position data. In this way, the absolute encoder can detect the position data of the motor output shaft and report the position data to the control module. At the same time, when the absolute encoder passes through the zero position, the control module can record the latest number of turns, thereby realizing position detection. When the device is in the power-off state, the control module can start in response to the phase voltage generated by the permanent magnet synchronous motor, and control the power supply module to supply power to the control module and the absolute encoder for a certain period of time, so that the absolute encoder generates the position data of the motor output shaft and reports it to the control module. The control module obtains and records the position data. Therefore, based on the position data and the latest number of turns recorded by the control module, the position of the output end of the reducer can be determined. In this way, when position detection is required, for example, when the position of the motor output shaft changes, the permanent magnet synchronous motor will generate a phase voltage accordingly, and the start state or shutdown state of the absolute value encoder and the control module is determined according to the generated phase voltage, so that when the absolute value encoder and the control module are required to work, the power supply module is enabled to supply power to the two, and when the absolute value encoder and the control module are not required to work, the power supply module is controlled to stop supplying power. Since the present invention triggers the power supply start action based on the phase voltage without the need for processing by the intermediate logic circuit, when power is not required, the circuit in the present invention is in a state of basically no power consumption, so the energy saving is more thorough, so that the energy consumption of the power supply module can be reduced to the greatest extent, the battery life of its internal battery can be extended, and energy saving and power saving can be achieved as much as possible; and, the power supply start timing is responded to based on the phase voltage, and the phase voltage is directly generated and output by the permanent magnet synchronous motor due to the change in position, and does not need to be processed by the intermediate logic circuit, so its response speed is fast, and there will be no situation where the position data is lost due to untimely power supply start, and the power supply stability and reliability are higher.

[0050] In some embodiments, the robot includes any one of a legged robot, a quadrupedal robot, a bipedal robot, a wheeled robot, a wheeled-legged robot, a quadrupedal robot, a humanoid robot, a cleaning robot, a transport robot, a mobile robot, and a robotic arm.

[0051] In order to achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a position detection method, which is used for a device equipped with a position detection function in any one of the embodiments of the first aspect of the present invention. The position detection method includes: when the device is powered off, in response to the phase voltage generated by the permanent magnet synchronous motor, controlling the power supply module to power the control module and the absolute encoder for a certain period of time; determining the position of the output end of the reducer based on the position data of the motor output shaft reported by the absolute encoder and the latest number of turns recorded by the control module, wherein when the position of the motor output shaft passes through zero, the control module records the latest number of turns.

[0052] According to the position detection method of the embodiment of the present invention, when the device is in the power-off state, the control module can start in response to the phase voltage generated by the permanent magnet synchronous motor, and control the power supply module to supply power to the control module and the absolute value encoder for a certain period of time, so that the absolute value encoder generates the position data of the motor output shaft, and reports it to the control module, and the control module obtains and records the position data. Therefore, based on the position data and the latest number of turns recorded by the control module, the position of the output end of the reducer can be determined. In this way, when position detection is required, for example, when the position of the motor output shaft changes, the permanent magnet synchronous motor will generate a corresponding phase voltage, and the start state or shutdown state of the absolute value encoder and the control module can be determined according to the generated phase voltage, so that when the absolute value encoder and the control module need to work, the power supply module is enabled to supply power to the two, and when the absolute value encoder and the control module are not needed to work, the power supply module is controlled to stop supplying power. Since the present invention triggers the power-on action based on the phase voltage without the need for processing through an intermediate logic circuit, the circuit in the present invention is in a state of basically no power consumption when no power is needed, thereby saving energy more thoroughly, thereby minimizing the energy consumption of the power supply module, extending the battery life of its internal battery, and saving energy and electricity as much as possible; and, the power-on timing is responded to based on the phase voltage, and the phase voltage is directly generated and output by the permanent magnet synchronous motor due to position changes, without the need for processing through an intermediate logic circuit, so its response speed is fast, and the position data loss due to untimely power-on will not occur, and the power supply stability and reliability are higher.

[0053] In order to achieve the above-mentioned purpose, an embodiment of the fourth aspect of the present invention proposes an electronic device, comprising: a processor, a memory, and a position detection program stored and running on the memory. When the position detection program is executed by the processor, it implements the position detection method of the embodiment of the third aspect of the present invention mentioned above.

[0054] According to the electronic device of the embodiment of the present invention, when the position detection program stored in the memory is executed by the processor, position detection can be realized, that is, when the device is in the power-off state, the control module can start in response to the phase voltage generated by the permanent magnet synchronous motor, and control the power supply module to supply power to the control module and the absolute value encoder for a certain period of time, so that the absolute value encoder generates the position data of the motor output shaft, and reports it to the control module, and the control module obtains and records the position data. Therefore, based on the position data and the latest number of turns recorded by the control module, the position of the output end of the reducer can be determined. In this way, when position detection is required, for example, when the position of the motor output shaft changes, the permanent magnet synchronous motor will generate a corresponding phase voltage, and the start-up state or shutdown state of the absolute value encoder and the control module can be determined according to the generated phase voltage, so that when the absolute value encoder and the control module need to work, the power supply module is enabled to supply power to the two, and when the absolute value encoder and the control module are not required to work, the power supply module is controlled to stop supplying power. Since the present invention triggers the power-on action based on the phase voltage without the need for processing through an intermediate logic circuit, the circuit in the present invention is in a state of basically no power consumption when no power is needed, thereby saving energy more thoroughly, thereby minimizing the energy consumption of the power supply module, extending the battery life of its internal battery, and saving energy and electricity as much as possible; and, the power-on timing is responded to based on the phase voltage, and the phase voltage is directly generated and output by the permanent magnet synchronous motor due to position changes, without the need for processing through an intermediate logic circuit, so its response speed is fast, and the position data loss due to untimely power-on will not occur, and the power supply stability and reliability are higher.

[0055] In order to achieve the above-mentioned purpose, an embodiment of the fifth aspect of the present invention proposes a computer-readable storage medium, on which a position detection program is stored. When the position detection program is executed by a processor, a position detection method as described in the embodiment of the third aspect of the present invention is implemented.

[0056] According to the computer-readable storage medium of an embodiment of the present invention, when the position detection program stored thereon is executed by the processor, position detection can be realized, that is, when the device is in a power-off state, the control module can start in response to the phase voltage generated by the permanent magnet synchronous motor, and control the power supply module to supply power to the control module and the absolute value encoder for a certain period of time, so that the absolute value encoder generates the position data of the motor output shaft, and reports it to the control module, and the control module obtains and records the position data. Therefore, based on the position data and the latest number of turns recorded by the control module, the position of the output end of the reducer can be determined. In this way, when position detection is required, for example, when the position of the motor output shaft changes, the permanent magnet synchronous motor will generate a corresponding phase voltage, and the start-up state or shutdown state of the absolute value encoder and the control module can be determined according to the generated phase voltage, so that when the absolute value encoder and the control module need to work, the power supply module is enabled to supply power to the two, and when the absolute value encoder and the control module are not required to work, the power supply module is controlled to stop supplying power. Since the present invention triggers the power-on action based on the phase voltage without the need for processing through an intermediate logic circuit, the circuit in the present invention is in a state of basically no power consumption when no power is needed, thereby saving energy more thoroughly, thereby minimizing the energy consumption of the power supply module, extending the battery life of its internal battery, and saving energy and electricity as much as possible; and, the power-on timing is responded to based on the phase voltage, and the phase voltage is directly generated and output by the permanent magnet synchronous motor due to position changes, without the need for processing through an intermediate logic circuit, so its response speed is fast, and the position data loss due to untimely power-on will not occur, and the power supply stability and reliability are higher.

[0057] In order to achieve the above-mentioned purpose, an embodiment of the sixth aspect of the present invention proposes a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the position detection method of the embodiment of the third aspect of the present invention.

[0058] According to the computer program product of the embodiment of the present invention, when the computer program in the computer program product is executed by the processor, position detection can be realized, that is, when the device is in the power-off state, the control module can start in response to the phase voltage generated by the permanent magnet synchronous motor, and control the power supply module to supply power to the control module and the absolute value encoder for a certain period of time, so that the absolute value encoder generates the position data of the motor output shaft, and reports it to the control module, and the control module obtains and records the position data. Therefore, based on the position data and the latest number of turns recorded by the control module, the position of the output end of the reducer can be determined. In this way, when position detection is required, for example, when the position of the motor output shaft changes, the permanent magnet synchronous motor will generate a corresponding phase voltage, and the start-up state or shutdown state of the absolute value encoder and the control module can be determined according to the generated phase voltage, so that when the absolute value encoder and the control module need to work, the power supply module is enabled to supply power to the two, and when the absolute value encoder and the control module are not required to work, the power supply module is controlled to stop supplying power. Since the present invention triggers the power-on action based on the phase voltage without the need for processing through an intermediate logic circuit, the circuit in the present invention is in a state of basically no power consumption when no power is needed, thereby saving energy more thoroughly, thereby minimizing the energy consumption of the power supply module, extending the battery life of its internal battery, and saving energy and electricity as much as possible; and, the power-on timing is responded to based on the phase voltage, and the phase voltage is directly generated and output by the permanent magnet synchronous motor due to position changes, without the need for processing through an intermediate logic circuit, so its response speed is fast, and the position data loss due to untimely power-on will not occur, and the power supply stability and reliability are higher.

[0059] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0061] Figure 1 is a structural block diagram of a device configured with a position detection function according to an embodiment of the present invention;

[0062] Figure 2 is a structural block diagram of a device equipped with a position detection function according to another embodiment of the present invention;

[0063] Figure 3 is a schematic diagram of an operational amplifier circuit according to an embodiment of the present invention;

[0064] Figure 4 is a schematic diagram of an operational amplifier circuit according to another embodiment of the present invention;

[0065] Figure 5 is a schematic diagram of an operational amplifier circuit according to yet another embodiment of the present invention;

[0066] Figure 6 is a structural block diagram of a power supply module according to an embodiment of the present invention;

[0067] Figure 7 is a structural block diagram of a power supply module according to another embodiment of the present invention;

[0068] Figure 8 is a structural block diagram of a power supply enabling unit according to an embodiment of the present invention;

[0069] Fig. 9 is a circuit diagram of a power supply enabling unit according to an embodiment of the present invention;

[0070] Fig.10 is a structural block diagram of a battery unit according to an embodiment of the present invention;

[0071] Fig.11 is a circuit diagram of a power supply enabling unit according to another embodiment of the present invention;

[0072] Fig.12 is a structural block diagram of a battery unit according to another embodiment of the present invention;

[0073] Fig.13 is a circuit diagram of a battery unit according to an embodiment of the present invention;

[0074] Fig.14 is a structural block diagram of an isolation circuit included in a device according to an embodiment of the present invention;

[0075] Fig.15 is a schematic diagram of an isolation circuit according to an embodiment of the present invention;

[0076] Fig.16 is a schematic diagram of an overall circuit according to an embodiment of the present invention;

[0077] Fig.17 is a structural block diagram of a power supply enabling unit according to another embodiment of the present invention;

[0078] Fig.18 is a structural block diagram of a first power management subunit according to an embodiment of the present invention;

[0079] Fig.19 is a structural block diagram of a first power management subunit according to another embodiment of the present invention;

[0080] Fig. 20 is a structural block diagram of a battery unit according to yet another embodiment of the present invention;

[0081] Fig.21 is a structural block diagram of a battery unit according to another embodiment of the present invention;

[0082] Fig. 22 is a schematic diagram of an overall circuit according to another embodiment of the present invention;

[0083] Fig.23 is a structural block diagram of a device equipped with a position detection function according to yet another embodiment of the present invention;

[0084] Fig.24 is a structural block diagram of a device equipped with a position detection function according to yet another embodiment of the present invention;

[0085] Fig.25 is a general structural block diagram of a device equipped with a position detection function according to an embodiment of the present invention;

[0086] Fig.26 is a detection graph of position data detected by a device equipped with a position detection function according to an embodiment of the present invention;

[0087] Fig. 27 yes Fig.26 A position data spectrum of a section of the output shaft of the motor driven by the output flange to rotate forward in the embodiment shown;

[0088] Fig.28 yes Fig.26 A position data spectrum of a section of the motor output shaft being reversed by the output flange in the embodiment shown;

[0089] Fig.29 yes Fig.26 Another position data spectrum of the embodiment shown in which the output flange drives the motor output shaft to reverse;

[0090] Fig.30 yes Fig.29 In the embodiment shown, the position data spectrum of k2 in the band of "-1403 to -1097ms";

[0091] Fig.31 yes Fig.30 A position data spectrum of a section of k2 in a partial band in the embodiment shown;

[0092] Fig.32 yes Fig.29 Another segment of position data spectrum of k2 in a partial band in the embodiment shown;

[0093] Fig.33 yes Fig.26 Another segment of position data spectrum in the embodiment shown, in which the output shaft of the motor is driven to rotate forward by the output flange;

[0094] Fig.34 yes Fig.33 A position data spectrum of a section of k2 in a partial band in the embodiment shown;

[0095] Fig.35 yes Fig.33 Another segment of position data spectrum of k2 in a partial band in the embodiment shown;

[0096] Fig.36 is a block diagram of a robot structure according to an embodiment of the present invention;

[0097] Fig.37 is a schematic diagram of a robot according to an embodiment of the present invention;

[0098] Fig.38 is a schematic diagram of a robot according to another embodiment of the present invention;

[0099] Fig.39 is a schematic diagram of a robot according to yet another embodiment of the present invention;

[0100] Fig.40 is a schematic diagram of the structure of a mechanical arm according to an embodiment of the present invention;

[0101] Fig.41 is a flow chart of a position detection method according to an embodiment of the present invention;

[0102] Fig.42 is a structural block diagram of an electronic device according to an embodiment of the present invention.

[0103] Reference numerals:

[0104] Device equipped with location detection function-1;

[0105] Control module-10; power supply module-11; permanent magnet synchronous motor-12; motor output shaft-13; reducer-14; absolute encoder-15; operational amplifier circuit-16; first power supply device-17; second power supply device-18; isolation circuit-19;

[0106] Battery unit-111; power supply enabling unit-112; operational amplifier-160;

[0107] First battery-1110; second battery-1111; second power management component-1112; third battery-1113; fourth battery-1114; sixth power management component-1115;

[0108] First power management component-1120; third power management component-1121; first power management subunit-1122;

[0109] Fourth power management component-11220; Fifth power management component-11221;

[0110] Robot-2;

[0111] Electronic device-3; processor-31; memory-32. DETAILED DESCRIPTION

[0112] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0113] The following combination Figure 1-Figure 35 A device equipped with a position detection function according to an embodiment of the present invention is described.

[0114] Figure 1 is a structural block diagram of a device configured with a position detection function according to an embodiment of the present invention. Figure 1 As shown, the device 1 equipped with a position detection function of the present invention mainly includes: a control module 10, a power supply module 11, a permanent magnet synchronous motor 12, a motor output shaft 13, a reducer 14 and an absolute encoder 15.

[0115] Among them, Figure 1 As shown, the rotor of the permanent magnet synchronous motor 12 is fixedly connected to the motor output shaft 13 , and the motor output shaft 13 is drivingly connected to the input end of the reducer 14 ; the absolute encoder 15 detects the position of the motor output shaft 13 .

[0116] The control module 10 is configured with the following functions: receiving the position data reported by the absolute encoder 15; recording the latest number of revolutions when crossing the zero position; when the device is in a power-off state, the control module 10 starts in response to the phase voltage generated by the permanent magnet synchronous motor 12, and the control module 10 performs the following functions at startup: controlling the power supply module 11 to supply power to the control module 10 and the absolute encoder 15 for a certain period of time; and determining the position of the output end of the reducer 14 based on the position data reported by the absolute encoder 15 and the latest number of revolutions.

[0117] The control module 10 is, for example, a single chip microcomputer. Fig.16 As shown, it can be recorded as MCU (Microcontroller Unit).

[0118] In an embodiment, when the rotor of the permanent magnet synchronous motor 12 is fixedly connected to the motor output shaft 13, and the motor output shaft 13 is transmission-connected to the input end of the reducer 14, the motion state of the entire device is accurately monitored by the absolute value encoder 15, and the absolute value encoder 15 is used to detect the position data of the motor output shaft 13, so as to report the position data of the motor output shaft 13 to the control module 10 in real time, and the control module 10 receives the position data reported by the absolute value encoder 15.

[0119] Specifically, when the absolute encoder 15 passes through the zero position, the control module 10 will record the current latest number of revolutions in order to calculate the rotation distance of the permanent magnet synchronous motor 12 and further determine the real-time position of the motor output shaft 13 .

[0120] If the device is in a power-off state, the control module 10 can start in response to the phase voltage generated by the permanent magnet synchronous motor 12. After the control module 10 is started, the power supply module 11 is controlled to supply power to the control module 10 and the absolute value encoder 15 for a certain period of time, so as to ensure that the power supply module 11 provides power to the control module 10 and the absolute value encoder 15. Then, according to the position data provided by the absolute value encoder 15 and the latest number of recorded turns, the control module 10 can accurately calculate the position of the output end of the reducer 14, so as to ensure that the device can quickly restore accurate position tracking and control even in the power-off state. In other words, when the device is in a power-off state, the power supply module 11, as a backup power supply, can provide the power required for the control module 10 and the absolute value encoder 15 to work, and then when the control module 10 and the absolute value encoder 15 need to start working, the power supply module 11 supplies power to the control module 10 and the absolute value encoder 15, so as to ensure that the position detection of the motor output shaft 13 can be performed in the power-off state in time, so as to prevent problems such as position loss or missed detection.

[0121] Thus, in the above-mentioned device 1 equipped with a position detection function, the rotor of the permanent magnet synchronous motor 12 is fixedly connected to the motor output shaft 13. When the permanent magnet synchronous motor 12 starts to rotate, its rotor will drive the motor output shaft 13 to rotate. At the same time, the stator of the permanent magnet synchronous motor 12 can sense the rotation of the rotor to generate a phase voltage, and the motor output shaft 13 is rotationally connected to the input end of the reducer 14. When the motor output shaft 13 rotates and causes its position to change, the absolute encoder 15 will detect the position change and generate corresponding position data. In this way, the absolute encoder 15 can detect the position data of the motor output shaft 13 and report the position data to the control module 10. At the same time, when the absolute encoder 15 passes the zero position, the control module 10 can record the latest number of turns, thereby realizing position detection. When the device is in the power-off state, the control module 10 can start in response to the phase voltage generated by the permanent magnet synchronous motor 12, and control the power supply module 11 to supply power to the control module 10 and the absolute value encoder 15 for a certain period of time, so that the absolute value encoder 15 generates the position data of the motor output shaft 13, and reports it to the control module 10, and the control module 10 obtains and records the position data. Therefore, based on the position data and the latest number of revolutions recorded by the control module 10, the position of the output end of the reducer 14 can be determined. In this way, when position detection is required, for example, when the position of the motor output shaft 13 changes, the permanent magnet synchronous motor 12 will generate a corresponding phase voltage, and the start-up state or shutdown state of the absolute value encoder 15 and the control module 10 can be determined according to the generated phase voltage, so that when the absolute value encoder 15 and the control module 10 need to work, the power supply module 11 is enabled to supply power to the two, and when the absolute value encoder 15 and the control module 10 are not required to work, the power supply module 11 is controlled to stop supplying power. Since the present invention triggers the power-on action based on the phase voltage without the need for processing through an intermediate logic circuit, the circuit in the present invention is in a state of basically no power consumption when no power is needed, thereby saving energy more thoroughly, thereby minimizing the energy consumption of the power supply module, extending the battery life of its internal battery, and saving energy and electricity as much as possible; and, the power-on timing is responded to based on the phase voltage, and the phase voltage is directly generated and output by the permanent magnet synchronous motor due to position changes, without the need for processing through an intermediate logic circuit, so its response speed is fast, and the position data loss due to untimely power-on will not occur, and the power supply stability and reliability are higher.

[0122] In one embodiment of the present invention, Figure 2As shown, the device 1 equipped with a position detection function also includes: an operational amplifier circuit 16, the input end of the operational amplifier circuit 16 is connected to the permanent magnet synchronous motor 12, and the output end of the operational amplifier circuit 16 is connected to the power supply module 11; when the phase voltage generated by the permanent magnet synchronous motor 12 is received through the input end of the operational amplifier circuit 16, the operational amplifier circuit 16 amplifies the voltage of the phase voltage to generate a first enable signal, the voltage of the first enable signal is greater than the voltage of the phase voltage, and the first enable signal is output to the power supply module 11 through the output end of the operational amplifier circuit 16; the power supply module 11 provides a first voltage to the control module 10 in response to the first enable signal, and the control module 10 starts in response to the first voltage.

[0123] In an embodiment, Figure 2 As shown, an operational amplifier circuit 16 is further provided in the device, and the input end of the operational amplifier circuit 16 is connected to the permanent magnet synchronous motor 12 to capture the phase voltage generated by the permanent magnet synchronous motor 12 during the rotation process, wherein the phase voltage is a voltage signal generated by one phase (such as the stator) of the permanent magnet synchronous motor 12. Once the input end of the operational amplifier circuit 16 detects the phase voltage generated by the permanent magnet synchronous motor 12, the operational amplifier circuit 16 will amplify the voltage value of the phase voltage to generate a first enable signal.

[0124] Therefore, the operational amplifier circuit 16 amplifies the phase voltage input thereto, for example, the phase voltage can be amplified by a certain ratio, such as 1+R2 / R1, to generate a corresponding first enable signal. The voltage of the first enable signal obtained after amplification is relatively high, which is convenient for the power supply module 11 to detect and respond in time, and then quickly provide the first voltage to the control module 10, so that the control module 10 is started accordingly.

[0125] In one embodiment of the present invention, the operational amplifier circuit 16 can be any one of an inverse proportional operational circuit, an in-phase proportional operational circuit, and a level comparison circuit.

[0126] In an embodiment, the operational amplifier circuit 16 is designed to be any one of a reverse proportional operational circuit, a common-phase proportional operational circuit or a level comparison circuit. In this way, a corresponding circuit can be selected according to specific application requirements and characteristics of each circuit, thereby increasing the applicability and flexibility of the operational amplifier circuit 16.

[0127] In one embodiment of the present invention, Figure 3As shown, the operational amplifier circuit 16 is an in-phase proportional operational circuit, including: an operational amplifier 160, the operational amplifier 160 has a positive input terminal P1, a negative input terminal P3, a positive power input terminal P5, a negative power input terminal P2, an output terminal P4, a first resistor R1 and a second resistor R2; the positive input terminal P1 is connected to at least one phase of the stator of the permanent magnet synchronous motor 12, the negative input terminal P3 is grounded through the first resistor R1, and is connected to the output terminal P4 of the operational amplifier 160 through the second resistor R2, the positive power input terminal P5 is connected to a power supply V1 that provides a working voltage for it, the negative power input terminal P2 is grounded, and the output terminal P4 of the operational amplifier 160 is connected to the power supply module 11 to output the first enable signal VS2 to the power supply module 11 through the output terminal P4 of the operational amplifier 160.

[0128] In an embodiment, Figure 3 As shown, the operational amplifier circuit 16 is an in-phase proportional operational circuit, and its core component is an operational amplifier 160. The operational amplifier 160 has multiple key pins, such as a positive input terminal P1, a negative input terminal P3, a positive power input terminal P5, a negative power input terminal P2, and an output terminal P4. In addition, the operational amplifier circuit 16 also includes a first resistor R1 and a second resistor R2.

[0129] Specifically, the positive input terminal P1 is connected to at least one phase of the stator of the permanent magnet synchronous motor 12. When the permanent magnet synchronous motor 12 is running, its rotor rotates, driving the motor output shaft 13 to rotate, and then the motor output shaft 13 will drive the reducer 14 to move, so that the position of the output end of the reducer 14 changes. Therefore, the absolute value encoder 15 and the control module 10 need to work at this time to record the position data of the motor output shaft 13, and then obtain the position of the output end of the reducer 14 to achieve position detection. Specifically, when the rotor of the permanent magnet synchronous motor 12 rotates, its stator will generate a phase voltage, and the phase voltage generated by at least one stator connected to the positive input terminal P1 of the operational amplifier 160 will be directly input to the positive input terminal P1, ensuring that the operational amplifier 160 can detect and process the phase voltage generated by the permanent magnet synchronous motor 12 in real time, and then generate a first enable signal VS2 to enable and start the power supply module 11, thereby generating a first voltage to start the control module 10.

[0130] The negative input terminal P3 is grounded through the first resistor R1, thereby setting a negative feedback reference point. At the same time, the negative input terminal P3 is also connected to the output terminal P4 of the operational amplifier 160 through the second resistor R2 to form a feedback network, thereby ensuring the gain and stability of the operational amplifier 160.

[0131] In a specific embodiment, when the operational amplifier 160 is working, the phase voltage can be amplified according to a certain ratio according to the resistance values ​​of the first resistor R1 and the second resistor R2. Among them, the voltages of the positive input terminal P1 and the negative input terminal P3 are the same, and the amplification ratio of the phase voltage by the operational amplifier 160 depends on the resistance values ​​of the first resistor R1 and the second resistor R2, and the amplification ratio is, for example, 1+R2 / R1. After the phase voltage is amplified according to the amplification ratio, a first enable signal VS2 is generated according to the amplified phase voltage, and the first enable signal VS2 is output to the output terminal P4.

[0132] The positive input terminal P5 of the power supply is connected to the power supply V1, which provides the voltage required for the operation of the operational amplifier 160 to ensure its normal operation. The negative input terminal P2 of the power supply is directly grounded, providing a stable reference potential for the operational amplifier circuit 16.

[0133] The output terminal P4 of the operational amplifier 160 is connected to the power supply module 11. After the operational amplifier 160 processes the phase voltage and generates the first enable signal VS2, the first enable signal VS2 is transmitted to the power supply module 11 through the output terminal P4. After detecting the first enable signal VS2, the power supply module 11 is enabled according to the first enable signal VS2, that is, it starts working to output the first voltage to the control module 10. The control module 10 starts according to the first voltage and starts working to control the power supply module 11 to supply power to the control module 10 and the absolute encoder 15, thereby realizing position detection.

[0134] In one embodiment of the present invention, Figure 4 As shown, the operational amplifier circuit 16 further includes: a third resistor R3 , and the third resistor R3 is connected between the stator of the permanent magnet synchronous motor 12 and the positive input terminal P1 of the operational amplifier 160 .

[0135] In an embodiment, Figure 4 As shown, the third resistor R3 is connected between the stator of the permanent magnet synchronous motor 12 and the positive input terminal P1 of the operational amplifier 160, so that the phase voltage VS1 generated by the stator of the permanent magnet synchronous motor 12 will be transmitted to the positive input terminal P1 of the operational amplifier 160 through the third resistor R3. The third resistor R3 can play a role in current limiting, thereby preventing the current flowing into the operational amplifier 160 from being too high and damaging the operational amplifier 160, thereby protecting the operational amplifier circuit 16.

[0136] In one embodiment of the present invention, Figure 5 As shown, the operational amplifier circuit 16 further includes: a first diode D1, an anode of the first diode D1 is connected between the third resistor R3 and the positive input terminal P1 of the operational amplifier 160, and a cathode of the first diode D1 is grounded.

[0137] In an embodiment, Figure 5 As shown, the anode of the first diode D1 is connected between the third resistor R3 and the positive input terminal P1 of the operational amplifier 160, and the cathode of the first diode D1 is grounded. In this way, the third resistor R3 and the first diode D1 together constitute a protection circuit to limit the voltage range of the phase voltage VS1 so that the input phase voltage VS1 is within the safe voltage range of the operational amplifier 160, thereby protecting the operational amplifier 160.

[0138] Specifically, when the phase voltage VS1 generated by the permanent magnet synchronous motor 12 does not exceed the preset voltage threshold, the first diode D1 is in a cut-off state, and the phase voltage VS1 is directly transmitted to the positive input terminal P1 of the operational amplifier 160 through the third resistor R3; when the phase voltage VS1 generated by the permanent magnet synchronous motor 12 exceeds the preset voltage threshold, the first diode D1 is in a conducting state, and the excessive phase voltage VS1 will be transmitted to the anode of the first diode D1 through the third resistor R3, and then transmitted to the ground through the cathode of the first diode D1, thereby limiting the voltage value of the phase voltage VS1 transmitted to the positive input terminal P1 of the operational amplifier 160, protecting the operational amplifier 160, and then protecting the operational amplifier circuit 16.

[0139] In one embodiment of the present invention, when a position change of the motor output shaft 13 is detected, the control module 10 controls the power supply module 11 to extend the power supply to the control module 10 and the absolute encoder 15 for a preset time.

[0140] In the embodiment, when a change in the position of the motor output shaft 13 is detected, the control module 10 and the absolute encoder 15 will start to work, that is, the absolute encoder 15 starts to detect and output position data, and the control module 10 reads and records the position data. During the working process of the absolute encoder 15 and the control module 10, a certain amount of power is required to maintain the operation of the absolute encoder 15 and the control module 10. Since the device is in a power-off state, the control module 10 controls the power supply module 11 to start. In order to ensure that the position data of the motor output shaft 13 can be completely read and recorded when the position changes, and to prevent the position data from being missed due to insufficient power supply, in the embodiment of the present invention, when the position change of the motor output shaft 13 is detected, the control module 10 controls the power supply module 11 to extend the power supply of the control module 10 and the absolute encoder 15 for a preset time, that is, to achieve delayed power supply, so as to ensure that within a certain period of time after the position change of the motor output shaft 13 occurs, the control module 10 and the absolute encoder 15 can be continuously in the power-on working state, so as to maintain continuous and stable operation, and the absolute encoder 15 can also output accurate position data uninterruptedly, so as to support the control module 10 to accurately record the position change of the motor output shaft 13, and to prevent the position detection from being inaccurate and incomplete due to the missing of position data caused by insufficient power supply. Among them, the preset time can be flexibly set according to actual needs.

[0141] In one embodiment of the present invention, Figure 6 As shown, the power supply module 11 includes: a battery unit 111 and a power supply enabling unit 112; the battery unit 111 is connected to the control module 10 and the absolute value encoder 15 through the power supply enabling unit 112; when the control module 10 is started, the power supply state of the battery unit 111 to the control module 10 and the absolute value encoder 15 is controlled by controlling the enabling state of the power supply enabling unit 112.

[0142] In an embodiment, Figure 6 As shown, the power supply module 11 can be understood as an integrated power management unit, which mainly includes a battery unit 111 and a power supply enabling unit 112. The battery unit 111 is connected to the control module 10 and the absolute value encoder 15 through the power supply enabling unit 112. The battery unit 111 can store electric energy and can output electric energy as a power supply, thereby providing the control module 10 and the absolute value encoder 15 with the electric energy required for operation. The power supply enabling unit 112 is located between the battery unit 111 and the control module 10 and the absolute value encoder 15, so as to control the enabling state of the power supply enabling unit 112, thereby controlling the power supply state of the battery unit 111 to the control module 10 and the absolute value encoder 15.

[0143] Specifically, when the control module 10 is started, the power supply state of the power supply enabling unit 112 is controlled, for example, the power supply enabling state of the power supply enabling unit 112 includes controlling the power supply enabling unit 112 to be turned on or off, and then the power supply state of the battery unit 111 to the control module 10 and the absolute value encoder 15 is controlled accordingly, such as controlling the battery unit 111 to start or stop supplying power to the control module 10 and the absolute value encoder 15. Specifically, when it is detected that the position of the motor output shaft 13 changes, the phase voltage VS1 generated by the permanent magnet synchronous motor 12 is amplified by the operational amplifier circuit 16 to generate a first enable signal VS2, and the first enable signal VS2 is output to the power supply enabling unit 112 to enable the power supply enabling unit 112, and then, the power supply enabling unit 112 converts the voltage output by the battery unit 111 into a first voltage and outputs it to the control module 10, so that the control module 10 starts. After the control module 10 is started, the enabling state of the power supply enabling unit 112 can be controlled to be in the on state, so that the battery unit 111 provides the control module 10 and the absolute value encoder 15 with the power required for work through the power supply enabling unit 112, and the power supply can be delayed for a preset time. When it is detected that the position of the motor output shaft 13 has not changed, or when the position data is detected from the absolute value encoder 15, and the control module 10 reads and records the position data, the control module 10 can control the enabling state of the power supply enabling unit 112 to be in the off state, so that the battery unit 111 stops providing power to the absolute value encoder 15 and the control module 10 through the power supply enabling unit 112, so that the control module 10 and the absolute value encoder 15 are in a power-off state, that is, when there is no need to detect the position, the control module 10 and the absolute value encoder 15 are stopped from being powered on, thereby reducing the energy consumption of the battery unit 111 and achieving the purpose of energy saving. Therefore, the control module 10 can control the enabling state of the power supply enabling unit 112, and then control the power supply state of the battery unit 111 to the control module 10 and the absolute value encoder 15, so as to ensure that when the control module 10 and the absolute value encoder 15 are working, the battery unit 111 can provide the required power to the control module 10 and the absolute value encoder 15 through the power supply enabling unit 112; when the control module 10 and the absolute value encoder 15 are not needed to work, the battery unit 111 stops providing power to the control module 10 and the absolute value encoder 15, so as to minimize the power consumption of the battery unit 111 and extend the battery life of the battery unit 111.

[0144] In one embodiment of the present invention, Figure 7As shown, the input terminal a of the power supply enabling unit 112 is connected to the battery unit 111, the output terminal b of the power supply enabling unit 112 is connected to the control module 10 and the absolute value encoder 15, and the enable terminal c of the power supply enabling unit 112 is connected to the control module 10; the control module 10 continuously outputs a second enable signal to the enable terminal c of the power supply enabling unit 112 to continuously enable the power supply enabling unit 112, thereby providing the electric energy output by the battery unit 111 to the control module 10 and the absolute value encoder 15 to power them.

[0145] In an embodiment, Figure 7 As shown, the input terminal a of the power supply enabling unit 112 is directly connected to the battery unit 111, and the output terminal b of the power supply enabling unit 112 is connected to the control module 10 and the absolute value encoder 15, so that the power supply enabling unit 112 can receive electric energy from the battery unit 111, but the received electric energy will not be directly provided to the control module 10 and the absolute value encoder 15 through the output terminal b of the power supply enabling unit 112, but through the control module 10 to control the enabling state of the power supply enabling unit 112, it is determined whether the power supply enabling unit 112 needs to transmit the electric energy of the battery unit 111 to the control module 10 and the absolute value encoder 15 to power both.

[0146] Specifically, after the control module 10 is started, the control module 10 can continuously output a second enable signal to the enable terminal c of the power supply enable unit 112, for example, denoted as PC. When the power supply enable unit 112 receives the second enable signal PC, the power supply enable unit 112 is activated and enters a continuous enable state, thereby outputting the electric energy output by the battery unit 111 to the control module 10 and the absolute value encoder 15 through its output terminal b, so as to power the control module 10 and the absolute value encoder 15. In this way, the power supply to the control module 10 and the absolute value encoder 15 can be effectively and accurately controlled, that is, power is supplied when position detection is required, and no power is supplied when position detection is not required, thereby effectively reducing the power consumption of the battery unit 111 and achieving the purpose of energy saving.

[0147] In one embodiment of the present invention, Figure 8 and Fig. 9 As shown, the power supply enabling unit 112 includes: a first power management component 1120. When the enabling terminal c of the first power management component 1120 receives the first enabling signal VS2 and / or the second enabling signal PC, the first power management component 1120 is turned on, otherwise, the first power management component 1120 is turned off. Thus, when there is no need to work, the first power management component 1120 remains in a closed state and does not need to be powered on, thereby reducing the energy consumption of the battery unit 111.

[0148] In an embodiment, in combination Figure 8 and Fig. 9As shown, when the enable terminal c of the first power management component 1120 receives the first enable signal VS2 and / or the second enable signal PC, it means that the control module 10 and the absolute value encoder 15 need the electrical energy required for work. Therefore, the first power management component 1120 is turned on. After the first power management component 1120 is turned on, the electrical energy received from the battery unit 111 is transmitted to the control module 10 and the absolute value encoder 15 through the output terminal b of the first power management component 1120, thereby providing the control module 10 and the absolute value encoder 15 with the electrical energy required for work.

[0149] If the enable terminal c of the first power management component 1120 does not receive the first enable signal VS2 and / or the second enable signal PC, it means that the control module 10 and the absolute value encoder 15 do not need to work, or the motor output shaft 13 does not change position, and there is no need to supply power to the control module 10 and the absolute value encoder 15. Therefore, the first power management component 1120 is turned off, that is, the battery unit 111 stops supplying power to the control module 10 and the absolute value encoder 15 through the first power management component 1120, which can reduce the power consumption of the battery unit 111 and achieve the purpose of energy saving.

[0150] In one embodiment of the present invention, Fig.10 and Fig.11 As shown, the battery unit 111 includes: a first battery 1110 , the first battery 1110 is used to provide an operating voltage to the operational amplifier 160 , and to provide an input voltage to an input terminal a of the first power management component 1120 .

[0151] In an embodiment, in combination Fig.10 and Fig.11 As shown, the first battery 1110 is connected to the input terminal a of the first power management component 1120, and provides an operating voltage to the operational amplifier 160 through the enable terminal c of the first power management component 1120, thereby ensuring stable operation of the operational amplifier 160, enabling the operational amplifier 160 to amplify the phase voltage VS1 and generate a first enable signal VS2.

[0152] At the same time, the first battery 1110 also transmits input voltage to the input terminal a of the first power management component 1120, ensuring that when the control module 10 and the absolute value encoder 15 are working, the first power management component 1120 can transmit the electric energy output by the first battery 1110 to the control module 10 and the absolute value encoder 15, thereby providing normal power supply for the control module 10 and the absolute value encoder 15.

[0153] In a specific embodiment, Fig.11As shown, the first power management component 1120 also includes a VIN pin P11, a VSS pin P12, a CE pin P13, a NC pin P14 and a VOUT pin P15. Among them, the VSS pin P12 is grounded, the VIN pin P11 is connected to the first battery 1110 through the fourth diode D4, and the fourth diode D4 can limit the input voltage within the working range of the first power management component 1120. The first capacitor C1 and the second capacitor C2 are connected in parallel, and the VIN pin P11 is grounded through the first capacitor C1 and the second capacitor C2, respectively, so as to play a role in filtering and stabilizing the input voltage. The first battery 1110 can input a voltage to the VIN pin P11 through the fourth diode D4, and output a voltage through the VOUT pin P15. For example, the first battery 1110 inputs a 5V voltage to the VIN pin P11 through the fourth diode D4, and after the voltage stabilization and voltage reduction of the first power management component 1120, a 3.3V voltage can be output through the VOUT pin P15, and the VOUT pin P15 is also grounded through the third capacitor C3.

[0154] The CE pin P13 is connected to the ninth resistor R9, and a corresponding voltage, such as 5V, can be input to the CE pin P13 through the ninth resistor R9 to turn on the first power management component 1120. At the same time, the CE pin P13 can control the on or off state of the first power management component 1120. In addition, the CE pin P13 is also connected to two parallel diodes, namely the fifth diode D5 and the sixth diode D6. When the second enable signal PC is a high-level signal, the fifth diode D5 is turned on, and the CE pin P13 is in a high-level state. At this time, the first power management component 1120 is in a conducting state; if the enable signal VS2 is a low-level signal, the sixth diode D6 is in a cut-off state, and the CE pin P13 is in a low-level state. At this time, the first power management component 1120 is in a shut-off state. The CE pin P13 is also grounded through the tenth resistor R10 to achieve the effect of stabilizing the voltage of the CE pin P13.

[0155] In a specific embodiment, the first battery 1110 includes a storage battery or a farad capacitor. More specifically, the first battery 1110 may include but is not limited to a lithium ion battery, a dry cell or a battery pack composed of dry cells, a lithium ion capacitor or an aluminum electrolytic capacitor.

[0156] In one embodiment of the present invention, Fig.12 and Fig.13 As shown, the battery unit 111 includes: a second battery 1111 and a second power management component 1112; the second power management component 1112 is used to convert the voltage output by the second battery 1111, provide its operating voltage to the operational amplifier 160, and provide input voltage to the input terminal a of the first power management component 1120.

[0157] In an embodiment, Fig.12 As shown, the battery unit 111 mainly includes a second battery 1111 and a second power management component 1112, and the second battery 1111 can provide an input voltage for the second power management component 1112. Then, the second power management component 1112 can convert the voltage output by the second battery 1111, such as boosting, bucking or stabilizing, and output a working voltage suitable for the operational amplifier 160, so that the operational amplifier 160 can work normally accordingly. At the same time, the second power management component 1112 can convert the voltage output by the second battery 1111, such as boosting, bucking or stabilizing, and output a voltage suitable for the first power management component 1120, thereby providing the first power management component 1120 with a corresponding input voltage, and then, the first power management component 1120 can power the control module 10 and the absolute value encoder 15 based on the input voltage.

[0158] Combination Fig.13 As shown, the second battery 1111 is connected to the input terminal P6 of the second power management component 1112, i.e., the second VIN pin, through the fifth resistor R5. The fifth resistor R5 can limit the current input current to protect the circuit. After receiving the voltage output by the second battery 1111, the second power management component 1112 performs conversion processing on the output voltage, such as boosting, bucking, or stabilizing the voltage. After the conversion processing, the second power management component 1112 outputs the converted voltage through its output terminal P10 (i.e., the VOUT pin). For example, the converted voltage can provide the operating voltage to the operational amplifier 160 through the power supply V1, and provide the input voltage to the input terminal a of the first power management component 1120.

[0159] In a specific embodiment, the second power management component 1112 can perform voltage reduction processing on the voltage output by the second battery 1111 to output a voltage suitable for the operational amplifier 160 and the first power management component 1120. For example, the voltage output by the second battery 1111 is but not limited to 48V, and after the voltage reduction processing by the second power management component 1112, the output voltage after voltage reduction processing is but not limited to 5V, and then the voltage after voltage reduction processing is output to the operational amplifier 160 as the operating voltage of the operational amplifier 160, and the voltage after voltage reduction processing is output to the first power management component 1120 as the input voltage of the first power management component 1120.

[0160] In a specific embodiment, Fig.13As shown, the second power management component 1112 further includes a CE pin P8, an NC pin P9 and a VSS pin P7, wherein the VSS pin P7 is grounded, and the CE pin P8 is grounded through a third diode D3, and when the voltage between the CE pin P8 and the ground is higher than the preset enable threshold of the second power management component 1112, the second power management component 1112 is in the on state, and if the voltage between the CE pin P8 and the ground is not higher than the preset enable threshold of the second power management component 1112, the second power management component 1112 is in the off state. The NC pin P9 is suspended.

[0161] The CE pin P8 is also grounded through the third diode D3, and connected to the second switch tube Q2 through the sixth resistor R6. The second battery 1111 provides an input voltage to the input terminal P6 of the second power management component 1112 through the fifth resistor R5, and after the voltage conversion of the second power management component 1112, its output terminal P10 outputs a voltage, and then connects to the power source V1 through the eighth resistor R8, thereby providing a working voltage to the operational amplifier 160, and providing an input voltage to the input terminal a of the first power management component 1120.

[0162] In a specific embodiment, the second battery 1111 includes a storage battery or a farad capacitor. More specifically, the second battery 1111 may include but is not limited to a lithium ion battery, a dry cell or a battery pack composed of dry cells, a lithium ion capacitor or an aluminum electrolytic capacitor.

[0163] In one embodiment of the present invention, the first power management component 1120 and the second power management component 1112 have at least one of a voltage stabilization function, a voltage conversion function, and a switching function.

[0164] In an embodiment, the first power management component 1120 and the second power management component 1112 may have at least one of a voltage stabilization function, a voltage conversion function, and a switching function.

[0165] For example, when the device is in a power-off state, the first power management component 1120 may have a switching function, and the switching state of the first power management component 1120 is determined according to whether the first enable signal VS2 and the second enable signal PC can be received. For example, when at least one of the first enable signal VS2 and the second enable signal PC is received, the first power management component 1120 is in an on state; when the first enable signal VS2 or the second enable signal PC is not received, the first power management component 1120 is in an off state, thereby realizing the switching function.

[0166] When the first power management component 1120 supplies power to the absolute value encoder 15 and the control module 10, the input voltage with a higher voltage received from the second power management component 1112 can be converted into a working voltage with a lower voltage suitable for the absolute value encoder 15 and the control module 10, that is, the step-down function is realized; and the first power management component 1120 can stabilize the voltage after the step-down process so that it can be stably output to the absolute value encoder 15 and the control module 10, thereby realizing the voltage stabilization function. Similarly, when the second power management component 1112 supplies power to the first power management component 1120, the input voltage with a higher voltage received by the second power management component 1112 can be converted into a working voltage with a lower voltage suitable for the first power management component 1120, that is, the step-down function is realized. Thus, the step-down function is provided; and the second power management component 1112 can stabilize the voltage after the step-down process so that it can be stably output to the first power management component 1120, thereby realizing the voltage stabilization function.

[0167] In a specific embodiment, the first power management component 1120 and the second power management component 1112 may be configured as chips having voltage stabilization function, voltage reduction function and switching function.

[0168] In one embodiment of the present invention, Fig.16 As shown, when the device is in the power-off state, only the operational amplifier 160 and the second power management component 1112 are in the on state, and the first power management component 1120 switches between the on and off states according to whether the first enable signal VS2 and / or the second enable signal PC is received.

[0169] In the embodiment of the present invention, Fig.16 As shown, for example, when the device is in a power-off state, it can still have a position detection function, that is, it can detect the position change of the motor output shaft 13 in real time and obtain the position data. At this time, only the operational amplifier 160 and the second power management component 1112 are in the on state, and other components are in a power-off state and do not consume power. This ensures that the device can still detect the position change of the motor output shaft 13 in real time under extremely low power consumption to prevent the loss of position data.

[0170] The working state of the first power management component 1120 is more flexible, and the on or off state of the first power management component 1120 is switched according to whether the first enable signal VS2 and / or the second enable signal PC are received. For example, if the first power management component 1120 receives at least one of the first enable signal VS2 and the second enable signal PC, the first power management component 1120 will switch to the on state to power the control module 10 and the absolute value encoder 15; if neither the first enable signal VS2 nor the second enable signal PC is received, the first power management component 1120 will remain in the off state, at which time the first power management component 1120 does not consume power, thereby further reducing the power consumption of the device.

[0171] In a specific embodiment, the operational amplifier 160 is configured as, for example, but not limited to, an operational amplifier of the LMV321 model, and the second power management component 1112 is configured as, for example, a voltage regulator chip, which may be, for example, but not limited to, a voltage regulator chip of the LM5164 model. The operating voltage of the LMV321 is 3.3V, and the quiescent current is about 80µA, so its quiescent power consumption is about 0.000264W; the operating voltage of the LM5164 is 7.4V, and the quiescent current is about 3µA, so its quiescent power consumption is about 0.0000222W; that is, when the device is in a power-off state, and the first power management component 1120 does not receive the first enable signal VS2 and / or the second enable signal PC, that is, when there is no need to turn on the power supply to the control module 10 and the absolute encoder 15, the overall standby power consumption in the entire device is about 0.0002862W, so the power consumption is very low, thereby saving the energy consumption of the power supply module 11 to the greatest extent, extending the battery life of its internal battery, and saving energy and power as much as possible. Taking the 403035 battery commonly used in industry as an example, its capacity is 0.4Ah and its voltage is 7.4V. If this battery is used as the output power supply of the power supply module 11, when the device is in a power-off state, the static battery life of the device can reach 0.4Ah*7.4V / 0.0002862W≈10342h, that is, the static battery life of the device in standby mode can reach 10342 hours, or 430 days.

[0172] In another specific embodiment, the operational amplifier 160 is configured as, for example, but not limited to, an operational amplifier of the LPV521 model, and the second power management component 1112 is configured as, for example, a voltage regulator chip, specifically, but not limited to, a voltage regulator chip of the LM5164 model. The maximum operating voltage of the LPV521 operational amplifier is 5.5V, and the maximum quiescent current is 400nA, so its quiescent power consumption is about 0.0000022W; the operating voltage of the LM5164 is 7.4V, and the quiescent current is about 3µA, so its quiescent power consumption is about 0.0000222W; that is to say, when the device is in a power-off state, and the first power management component 1120 does not receive the first enable signal VS2 and / or the second enable signal PC, that is, there is no need to turn on the power supply to the control module 10 and the absolute encoder 15, the overall standby power consumption of the entire device is about 0.0000244W, so the power consumption is very low, thereby saving the energy consumption of the power supply module 11 to the greatest extent, extending the battery life of its internal battery, and saving energy and power as much as possible. Taking the 403035 battery commonly used in industry as an example, its capacity is 0.4Ah and its voltage is 7.4V. If this battery is used as the output power supply of the power supply module 11, when the device is in a power-off state, the static battery life of the device can reach 0.4Ah*7.4V / 0.0000244W≈121311h, that is, the static battery life of the device in standby mode can reach 121311 hours, or 5054 days.

[0173] In another specific embodiment, the operational amplifier 160 is configured as, for example, but not limited to, a TLVx369 operational amplifier, and the second power management component 1112 is configured as, for example, a voltage regulator chip, specifically, but not limited to, a LM5164 voltage regulator chip. The maximum operating voltage of the TLVx369 operational amplifier is 5.5V, and the maximum quiescent current is 800nA, so its quiescent power consumption is about 0.0000044W; the operating voltage of the LM5164 is 7.4V, and the quiescent current is about 3µA, so its quiescent power consumption is about 0.0000222W; that is to say, when the device is in a power-off state, and the first power management component 1120 does not receive the first enable signal VS2 and / or the second enable signal PC, that is, there is no need to turn on the power supply to the control module 10 and the absolute encoder 15, the overall standby power consumption of the entire device is about 0.0000266W, so the power consumption is very low, thereby saving the energy consumption of the power supply module 11 to the greatest extent, extending the battery life of its internal battery, and saving energy and power as much as possible. Taking the 403035 battery commonly used in industry as an example, its capacity is 0.4Ah and its voltage is 7.4V. If this battery is used as the output power supply of the power supply module 11, when the device is in a power-off state, the static battery life of the device can reach 0.4Ah*7.4V / 0.0000266W≈111278h, that is, the static battery life of the device in standby mode can reach 111278 hours, or 4636 days.

[0174] In a specific embodiment, the operational amplifier 160 is configured as, for example, but not limited to, a TSU101 operational amplifier, and the second power management component 1112 is configured as, for example, a voltage regulator chip, specifically, but not limited to, a LM5164 voltage regulator chip. The maximum operating voltage of the TSU101 operational amplifier is 5.5V, and the maximum quiescent current is 580nA, so its quiescent power consumption is about 0.00000319W; the operating voltage of the LM5164 is 7.4V, and the quiescent current is about 3µA, so its quiescent power consumption is about 0.0000222W; that is to say, when the device is in a power-off state, and the first power management component 1120 does not receive the first enable signal VS2 and / or the second enable signal PC, that is, there is no need to turn on the power supply to the control module 10 and the absolute encoder 15, the overall standby power consumption of the entire device is about 0.000002539W, so the power consumption is very low, thereby saving the energy consumption of the power supply module 11 to the greatest extent, extending the battery life of its internal battery, and saving energy and power as much as possible. Taking the 403035 battery commonly used in industry as an example, its capacity is 0.4Ah and its voltage is 7.4V. If this battery is used as the output power supply of the power supply module 11, when the device is in a power-off state, the static battery life of the device can reach 0.4Ah*7.4V / 0.00002539W≈116581h, that is, the static battery life of the device in standby mode can reach 116581 hours, or 4857 days.

[0175] In another specific embodiment, the operational amplifier 160 is configured as, for example, but not limited to, a TSU102 operational amplifier, and the second power management component 1112 is configured as, for example, a voltage regulator chip, specifically, but not limited to, a LM5164 voltage regulator chip. The maximum operating voltage of the TSU102 operational amplifier is 5.5V, and the maximum quiescent current is 580nA, so its quiescent power consumption is about 0.00000319W; the operating voltage of the LM5164 is 7.4V, and the quiescent current is about 3µA, so its quiescent power consumption is about 0.0000222W; that is to say, when the device is in a power-off state, and the first power management component 1120 does not receive the first enable signal VS2 and / or the second enable signal PC, that is, there is no need to turn on the power supply to the control module 10 and the absolute encoder 15, the overall standby power consumption of the entire device is about 0.000002539W, so the power consumption is very low, thereby saving the energy consumption of the power supply module 11 to the greatest extent, extending the battery life of its internal battery, and saving energy and power as much as possible. Taking the 403035 battery commonly used in industry as an example, its capacity is 0.4Ah and its voltage is 7.4V. If this battery is used as the output power supply of the power supply module 11, when the device is in a power-off state, the static battery life of the device can reach 0.4Ah*7.4V / 0.00002539W≈116581h, that is, the static battery life of the device in standby mode can reach 116581 hours, or 4857 days.

[0176] In another specific embodiment, the operational amplifier 160 is configured as, for example, but not limited to, a TSU104 operational amplifier, and the second power management component 1112 is configured as, for example, a voltage regulator chip, specifically, but not limited to, a LM5164 voltage regulator chip. The maximum operating voltage of the TSU104 operational amplifier is 5.5V, and the maximum quiescent current is 580nA, so its quiescent power consumption is about 0.00000319W; the operating voltage of the LM5164 is 7.4V, and the quiescent current is about 3µA, so its quiescent power consumption is about 0.0000222W; that is to say, when the device is in a power-off state, and the first power management component 1120 does not receive the first enable signal VS2 and / or the second enable signal PC, that is, there is no need to turn on the power supply to the control module 10 and the absolute encoder 15, the overall standby power consumption of the entire device is about 0.000002539W, so the power consumption is very low, thereby saving the energy consumption of the power supply module 11 to the greatest extent, extending the battery life of its internal battery, and saving energy and power as much as possible. Taking the 403035 battery commonly used in industry as an example, its capacity is 0.4Ah and its voltage is 7.4V. If this battery is used as the output power supply of the power supply module 11, when the device is in a power-off state, the static battery life of the device can reach 0.4Ah*7.4V / 0.00002539W≈116581h, that is, the static battery life of the device in standby mode can reach 116581 hours, or 4857 days.

[0177] In another embodiment of the present invention, Fig.17 and Fig. 22 As shown, the power supply enabling unit 112 includes: a third power management component 1121 and a first power management sub-unit 1122; the input terminal a of the third power management component 1121 is connected to the battery unit 111, the enabling terminal c of the third power management component 1121 is connected to the output terminal P4 of the operational amplifier 160 and the control module 10, the output terminal of the third power management component 1121 is connected to the input terminal of the first power management sub-unit 1122, and the output terminal b of the first power management sub-unit 1122 is connected to the control module 10 and the absolute value encoder 15.

[0178] When the enable terminal c of the third power management component 1121 receives the first enable signal VS2 and / or the second enable signal PC, the third power management component 1121 is turned on to convert the electric energy input from the battery unit 111 into a first target voltage, and transmit the first target voltage to the first power management sub-unit 1122 through the output terminal of the third power management component 1121 as the input voltage of the first power management sub-unit 1122; the first power management sub-unit 1122 converts the first target voltage into a second target voltage, and transmits the second target voltage to the control module 10 and the absolute value encoder 15 through the output terminal b of the first power management sub-unit 1122 to power the control module 10 and the absolute value encoder 15.

[0179] In an embodiment, in combination Fig.17 and Fig. 22 As shown, the power supply enabling unit 112 is composed of a third power management component 1121 and a first power management sub-unit 1122 working in cooperation. The input terminal a of the third power management component 1121 is directly connected to the battery cell 111 to ensure that electric energy is obtained from the battery cell 111, and its enabling terminal c is connected to the output terminal P4 of the operational amplifier 160 and the control module 10. When the operational amplifier 160 outputs the first enabling signal VS2, and / or the control module 10 outputs the second enabling signal PC, and the third power management component 1121 receives at least one of the first enabling signal VS2 and the second enabling signal PC, the third power management component 1121 will be turned on and enter the working state to convert the electric energy input from the battery cell 111 into the first target voltage.

[0180] The output end of the third power management component 1121 is connected to the input end of the first power management sub-unit 1122 to transmit the first target voltage to the first power management sub-unit 1122 through the output end of the third power management component 1121 as the input voltage of the first power management sub-unit 1122. Furthermore, the first power management sub-unit 1122, as the next stage of power conversion, is responsible for further converting the first target voltage into a second target voltage.

[0181] Since the output terminal b of the first power management subunit 1122 is connected to the control module 10 and the absolute value encoder 15, the second target voltage is transmitted to the control module 10 and the absolute value encoder 15 through the output terminal b of the first power management subunit 1122 to power the control module 10 and the absolute value encoder 15.

[0182] In one embodiment of the present invention, Fig.18As shown, the first power management subunit 1122 includes: a fourth power management component 11220; the input end of the fourth power management component 11220 is connected to the output end of the third power management component 1121, and the output end b of the fourth power management component 11220 is connected to the control module 10 and the absolute value encoder 15; the fourth power management component 11220 converts the first target voltage output by the third power management component 1121 into a second target voltage, and transmits the second target voltage to the control module 10 and the absolute value encoder 15.

[0183] Specifically, if Fig.18 As shown, the input end of the fourth power management component 11220 is connected to the output end of the third power management component 1121, and is used to receive the first target voltage converted by the third power management component 1121. The output end b of the fourth power management component 11220 is connected to the control module 10 and the absolute value encoder 15. Subsequently, the fourth power management component 11220 further converts the first target voltage to generate the second target voltage required by the control module 10 and the absolute value encoder 15. Finally, the fourth power management component 11220 stably transmits the converted second target voltage to the control module 10 and the absolute value encoder 15 through its output end b, and supplies power to the control module 10 and the absolute value encoder 15, so that the control module 10 and the absolute value encoder 15 can be powered and work.

[0184] In a specific embodiment, the fourth power management component 11220 includes, for example, but is not limited to, a chip having at least one of a voltage stabilization function, a voltage reduction function, and a switching function.

[0185] In another embodiment of the present invention, Fig.19 and Fig. 22 As shown, the first power management subunit 1122 includes: a plurality of fifth power management components 11221 connected in series; the plurality of fifth power management components 11221 perform multi-level voltage conversion on the first target voltage output by the third power management component 1121, output a second target voltage, and transmit the second target voltage to the control module 10 and the absolute value encoder 15.

[0186] In an embodiment, in combination Fig.19 and Fig. 22As shown, the first power management subunit 1122 is composed of a plurality of fifth power management components 11221 connected in series, and the plurality of fifth power management components 11221 receive the first target voltage outputted from the third power management component 1121, and then the first target voltage is converted step by step through the plurality of fifth power management components 11221, for example, including but not limited to step-by-step voltage reduction, and then the voltage is gradually adjusted to a second target voltage that meets the requirements of the control module 10 and the absolute value encoder 15. This multi-stage conversion method not only improves the accuracy and stability of voltage conversion, but also generates voltages of various different voltage values ​​in the multi-stage voltage conversion process. Therefore, in a specific embodiment, interfaces can be reserved at the output ends of the plurality of fifth power management components 11221 connected in series, so as to facilitate connection to other power terminals, and then provide voltages of different voltage values ​​to the power terminals. For example, according to the different voltage requirements of the power terminals, the power terminals can be connected to the end of the corresponding fifth power management component 11221 that outputs the adaptation voltage, so as to facilitate the fifth power management component 11221 to provide the power terminals with the required voltage, thereby improving the utilization rate and flexibility of the circuit.

[0187] In one embodiment of the present invention, Figure 1 and Fig. 20 As shown, the battery unit 111 includes: a third battery 1113 , the third battery 1113 is used to provide an operating voltage to the operational amplifier 160 , and to provide an input voltage to an input terminal a of the third power management component 1121 .

[0188] In an embodiment, Fig. 20 As shown, the third battery 1113 is used to provide a stable operating voltage to the operational amplifier 160 to ensure that the operational amplifier 160 can amplify the phase voltage VS1; secondly, the third battery 1113 also serves as an input voltage source to provide input voltage to the input terminal a of the third power management component 1121.

[0189] Specifically, if Fig. 20 As shown, the third battery 1113 is connected to the input terminal a of the power supply enabling unit 112, and provides the operating voltage to the operational amplifier 160 through the enabling terminal c of the power supply enabling unit 112, so as to ensure the stable operation of the operational amplifier 160, so that the operational amplifier 160 amplifies the phase voltage VS1 and generates the first enabling signal VS2.

[0190] At the same time, combined Fig.19As shown, the third battery 1113 also provides an input voltage to the input terminal a of the third power management component 1121, ensuring that when the control module 10 and the absolute value encoder 15 need to work, the third power management component 1121 can transmit the electric energy output by the third battery 1113 to the control module 10 and the absolute value encoder 15, thereby providing power for the control module 10 and the absolute value encoder 15 normally.

[0191] In a specific embodiment, the third battery 1113 includes a storage battery or a farad capacitor. More specifically, the third battery 1113 may include but is not limited to a lithium-ion battery, a dry cell or a battery pack composed of dry cells, a lithium-ion capacitor or an aluminum electrolytic capacitor.

[0192] In one embodiment of the present invention, Fig.21 As shown, the battery unit 111 includes: a fourth battery 1114 and a sixth power management component 1115; the sixth power management component 1115 is used to convert the voltage output by the fourth battery 1114 to provide an operating voltage to the operational amplifier 160; the fourth battery 1114 is used to provide an input voltage to the input terminal a of the third power management component 1121.

[0193] In an embodiment, Fig.21 As shown, the battery unit 111 mainly includes a fourth battery 1114 and a sixth power management component 1115, and the fourth battery 1114 can provide an input voltage for the sixth power management component 1115. Then the sixth power management component 1115 can convert the voltage output by the fourth battery 1114, such as boosting, bucking or stabilizing, and output a working voltage suitable for the operational amplifier 160, so that the operational amplifier 160 can work normally accordingly. At the same time, the sixth power management component 1115 can convert the voltage output by the fourth battery 1114, such as boosting, bucking or stabilizing, and output a voltage suitable for the third power management component 1121, thereby providing the third power management component 1121 with a corresponding input voltage, and then the third power management component 1121 can power the control module 10 and the absolute value encoder 15 based on the input voltage.

[0194] In a specific embodiment, the fourth battery 1114 includes a storage battery or a farad capacitor. More specifically, the fourth battery 1114 may include but is not limited to a lithium-ion battery, a dry cell or a battery pack composed of dry cells, a lithium-ion capacitor or an aluminum electrolytic capacitor.

[0195] In one embodiment of the present invention, when the device is in a power-off state, only the operational amplifier 160 and the sixth power management component 1115 are in an on state, and the third power management component 1121 switches between an on state and an off state depending on whether the first enable signal VS2 and / or the second enable signal PC is received.

[0196] In an embodiment, when the device is in a power-off state, by controlling the state of the third power management component 1121, the device can still have a certain responsiveness at the lowest power consumption.

[0197] For example, when the device is in a power-off state, it can still have a detection function, that is, it can detect the position changes of the motor output shaft 13 in real time and obtain position data. At this time, only the operational amplifier 160 and the sixth power management component 1115 are in the on state, and other components are in a power-off state and do not consume power. This ensures that the device can still detect the position changes of the motor output shaft 13 in real time under low power consumption to prevent the loss of position data.

[0198] The working state of the third power management component 1121 is more flexible, and the on or off state of the third power management component 1121 is switched according to whether the first enable signal VS2 and / or the second enable signal PC are received. For example, if the third power management component 1121 receives at least one of the first enable signal VS2 and the second enable signal PC, the third power management component 1121 will switch to the on state to power the control module 10 and the absolute value encoder 15; if it does not receive any of the first enable signal VS2 and the second enable signal PC, it will remain in the off state, at which time the third power management component 1121 does not consume power, thereby further reducing the power consumption of the device.

[0199] In a specific embodiment, the operational amplifier 160 is configured as, for example, but not limited to, an operational amplifier of the LMV321 model, and the sixth power management component 1115 is configured as, for example, a voltage regulator chip, which may be, for example, but not limited to, a voltage regulator chip of the LM5164 model. The operating voltage of the LMV321 is 3.3V, and the quiescent current is about 80µA, so its quiescent power consumption is about 0.000264W; the operating voltage of the LM5164 is 7.4V, and the quiescent current is about 3µA, so its quiescent power consumption is about 0.0000222W; that is, when the device is in a power-off state, and the third power management component 1121 does not receive the first enable signal VS2 and / or the second enable signal PC, that is, when there is no need to turn on the power supply to the control module 10 and the absolute encoder 15, the overall standby power consumption in the entire device is about 0.0002862W, so the power consumption is very low, thereby saving the energy consumption of the power supply module 11 to the greatest extent, extending the battery life of its internal battery, and saving energy and power as much as possible. Taking the 403035 battery commonly used in industry as an example, its capacity is 0.4Ah and its voltage is 7.4V. If this battery is used as the output power supply of the power supply module 11, when the device is in a power-off state, the static battery life of the device can reach 0.4Ah*7.4V / 0.0002862W≈10342h, that is, the static battery life of the device in standby mode can reach 10342 hours.

[0200] In one embodiment of the present invention, the third power management component 1121 has at least one of a voltage stabilization function, a voltage conversion function, and a switching function.

[0201] For example, when the device is in a power-off state, the third power management component 1121 may have a switching function, and the switching state of the third power management component 1121 is determined according to whether the first enable signal VS2 and the second enable signal PC can be received. For example, when at least one of the first enable signal VS2 and the second enable signal PC is received, the third power management component 1121 is in an on state; when the first enable signal VS2 or the second enable signal PC is not received, the third power management component 1121 is in an off state, thereby realizing the switching function.

[0202] When the third power management component 1121 supplies power to the absolute value encoder 15 and the control module 10, the higher voltage input voltage received from the battery unit 111 can be converted into a lower voltage operating voltage suitable for the operation of the first power management sub-unit 1122, that is, the voltage reduction function is realized; and the third power management component 1121 can stabilize the voltage after the voltage reduction process so that it can be stably output to the absolute value encoder 15 and the control module 10, thereby realizing the voltage stabilization function.

[0203] In a specific embodiment, the third power management component 1121 can be configured as a chip with voltage stabilization function, voltage reduction function and switching function.

[0204] In another embodiment of the present invention, Fig.23 As shown, the device 1 equipped with the position detection function further includes: a first power supply device 17. The first power supply device 17 is connected to the control module 10, and is used to provide a second voltage to the control module 10 so that the control module 10 is in a standby state; the control module 10 is used to wake up or start in response to the phase voltage VS1 generated by the permanent magnet synchronous motor 12 in the standby state.

[0205] In an embodiment, Fig.23 As shown, the first power supply device 17 is connected to the control module 10, and is used to provide the control module 10 with a second voltage, so that the control module 10 is in a standby state, wherein the second voltage is the voltage required to maintain the control module 10 in the standby state, and its voltage value is generally small, so the required energy consumption is also low. The standby state can be understood as a low power consumption state. In the standby state, the power consumption of the control module 10 is very low, but it can be awakened and started at any time, so that the control module 10 can keep running in the standby state without completely powering off, and at the same time reduce power consumption and save energy.

[0206] In addition, when the control module 10 is in the standby state, it still maintains the ability to respond to the external voltage signal and can be awakened and started at any time. Specifically, when the permanent magnet synchronous motor 12 generates the phase voltage VS1, the control module 10 can detect the phase voltage VS1 and wake up and start in response to the phase voltage VS1, so that the control module 10 is converted from the standby state to the working state, which can improve the response speed of the control module 10, and when the control module 10 does not need to be awakened and started, it is placed in the standby state, thereby reducing the power consumption generated by the control module 10 and achieving the purpose of energy saving.

[0207] In a specific embodiment, the first power supply device 17 may include a battery having a voltage lower than a preset voltage value, that is, a battery having a relatively small voltage, thereby reducing costs.

[0208] In another embodiment of the present invention, Fig.24 As shown, the device 1 equipped with the position detection function further includes: a second power supply device 18. The second power supply device 18 is connected to the permanent magnet synchronous motor 12 and the control module 10, and when the second power supply device 18 receives the phase voltage VS1 generated by the permanent magnet synchronous motor 12, it provides a third voltage to the control module 10; the control module 10 starts in response to the third voltage.

[0209] In an embodiment, Fig.24 As shown, the second power supply device 18 is connected to the permanent magnet synchronous motor 12 and the control module 10. When the permanent magnet synchronous motor 12 generates a phase voltage VS1, the second power supply device 18 can receive the phase voltage VS1 generated by the permanent magnet synchronous motor 12, and generate a third voltage according to the phase voltage VS1. The second power supply device 18 transmits the generated third voltage to the control module 10. The control module 10 can receive and start in response to the third voltage, and then control the power supply module 11 to power the control module 10 and the absolute encoder 15.

[0210] In addition, the control module 10 is started according to the third voltage generated by the second power supply device 18, so that the startup of the control module 10 can be effectively controlled. For example, when the second power supply device 18 does not receive the phase voltage VS1 generated by the permanent magnet synchronous motor 12, the second power supply device 18 will not generate the third voltage, and the control module 10 will not have the corresponding third voltage to respond and start, so that the control module 10 can be put in a standby state, thereby saving electric energy. In addition, the third voltage required for the start of the control module 10 is provided by the second power supply device 18, so that the energy consumption of the power supply module 11 can be further reduced. Furthermore, the second power supply device 18 only needs to provide the voltage required for the start of the control module 10, and its power supply time and required voltage are relatively short, so the energy consumption is also relatively low, which can further reduce the energy consumption.

[0211] In a specific embodiment, the second power supply device 18 may include a battery with a voltage lower than a preset voltage value and a smaller volume, that is, a battery with a smaller voltage, thereby reducing costs.

[0212] In one embodiment of the present invention, Fig.14 As shown, the device 1 equipped with the position detection function further includes an isolation circuit 19. When the device is not in a power-off state, the isolation circuit 19 isolates the power supply module 11 to disable it, and when the device is in a power-off state, the isolation circuit 19 does not isolate the power supply module 11 to enable it.

[0213] In an embodiment, Fig.14 As shown, the isolation circuit 19 is connected to the power supply module 11 and can control whether the power supply module 11 is started according to the state of the device 1 equipped with the position detection function.

[0214] Specifically, when the device is not in the power-off state, the main power supply is used to power the device 1 equipped with the position detection function. At this time, the power supply module 11 is not needed. Therefore, the isolation circuit 19 will isolate the power supply module 11 and disable it to prevent the power supply module 11 from consuming power.

[0215] When the device is in a power-off state, the main power supply is cut off. At this time, the power supply module 11 is needed for power supply. Therefore, the isolation circuit 19 will not isolate the power supply module 11 to enable it, so that the power supply module 11 is normally enabled to power the control module 10 and the absolute encoder 15, ensuring that when the device is in a power-off state, the position change of the motor output shaft 13 can still be detected.

[0216] By adding an isolation circuit 19 to control the activation state of the power supply module 11, when the main power supply is not powered off, the power supply module 11 is isolated and disabled, so that it does not consume power. When the main power supply is powered off, the power supply module 11 is not isolated and enabled as a backup power supply. In this way, the energy consumption of the power supply module 11 can be effectively reduced, the battery life of the power supply module 11 can be extended, and it can also be ensured that when the main power supply is powered off, when it is necessary to detect the position change, the control module 10 and the absolute value encoder 15 can be powered on quickly and work normally to prevent the loss of position data.

[0217] In one embodiment of the present invention, Fig.15 As shown, the isolation circuit 19 includes: a fourth resistor R4, a second diode D2 and a switch tube Q1; one end of the fourth resistor R4 is connected to the main power supply of the device, and the other end of the fourth resistor R4 is connected to the cathode of the second diode D2; the base of the switch tube Q1 is connected to the anode of the second diode D2, the collector of the switch tube Q1 is connected to the power supply module 11, and the emitter of the switch tube Q1 is grounded.

[0218] In an embodiment, Fig.15As shown, the isolation circuit 19 controls the working state of the switch tube Q1 by controlling the fourth resistor R4 and the second diode D2, thereby achieving the purpose of isolating the power supply module 11.

[0219] Specifically, one end of the fourth resistor R4 is connected to the main power supply of the device, the other end of the fourth resistor R4 is connected to the cathode of the second diode D2, the base of the switch tube Q1 is connected to the anode of the second diode D2, the collector of the switch tube Q1 is connected to the power supply module 11, and the emitter of the switch tube Q1 is grounded.

[0220] The base of the switch tube Q1 is connected to the main power supply through the second diode D2 and the fourth resistor R4 connected in series. This connection mode provides an adjustable reference voltage, i.e., the main power supply, for the entire circuit to control the working state of the switch tube Q1 according to the state of the main power supply. For example, when the input voltage of the main power supply is high, the second diode D2 will be reverse biased, stabilize the voltage across it, and limit the current flowing to the switch tube Q1, so that the switch tube Q1 is in the off state, so that the power supply module 11 is enabled to supply power to the control module 10 and the absolute value encoder 15. When the input voltage of the main power supply is low, the forward bias voltage of the second diode D2 will not be sufficient to maintain its voltage stabilization function, and the second diode D2 will no longer limit the input voltage of the base of the switch tube Q1. At this time, the switch tube Q1 starts to conduct, the main power supply supplies power to the device, and isolates the power supply module 11, so that the power supply module 11 is in the disabled state, thereby achieving the purpose of energy saving and power saving.

[0221] Among them, the fourth resistor R4 can limit the current from the base of the switch tube Q1 to the ground, protect the switch tube Q1 from the impact of excessive current, and ensure that the base voltage of the switch tube Q1 can be stabilized within a suitable range, thereby accurately controlling the switching state of the switch tube Q1 and protecting the isolation circuit 19.

[0222] In a specific embodiment, the CE pin P8 is connected to the isolation circuit 19 through the third diode D3 and the seventh resistor R7, so that the connection between the battery cell 111 and the isolation circuit 19 can be realized. Through the mutual control between the battery cell 111 and the isolation circuit 19, the effective control of the entire circuit can be realized, thereby achieving the purpose of energy saving and power saving.

[0223] In one embodiment of the present invention, the control module 10 is further used to control the braking of the permanent magnet synchronous motor 12 .

[0224] In an embodiment, the control module 10 is used to control the permanent magnet synchronous motor 12 to brake, and its main purpose is to prevent the loss of rotor position information due to delayed startup during the power-on process of the absolute encoder 15. Specifically, when the absolute encoder 15 is just powered on, due to the inherent delay in the startup of the internal circuit, the absolute encoder 15 cannot immediately start to accurately obtain the position information of the rotor. If the rotor rotates significantly during this period of time, the absolute encoder 15 will over-circle, resulting in distortion of the position data. In order to avoid this situation, the control module 10 will control the permanent magnet synchronous motor 12 to brake, so that the permanent magnet synchronous motor 12 remains stationary for a short time until the absolute encoder 15 is fully started, that is, the position data can be detected and output. In this way, it is possible to ensure that the position data of the rotor is accurately obtained, avoid losing circles, and thus ensure the reliability of the position detection data.

[0225] In one embodiment of the present invention, the control module 10 is also used to: control the permanent magnet synchronous motor 12 to release the brake until the absolute value encoder 15 is started due to the power supply of the power supply module 11; or control the permanent magnet synchronous motor 12 to release the brake until the absolute value encoder 15 is turned off due to the power supply of the power supply module 11 stops supplying power.

[0226] In the embodiment, the control module 10 monitors the power supply status of the absolute encoder 15 , and determines whether to release the brake of the permanent magnet synchronous motor 12 according to the working status of the absolute encoder 15 .

[0227] Specifically, when the power supply module 11 supplies power to the absolute encoder 15 and starts it successfully, the control module 10 will monitor this state change and immediately control the permanent magnet synchronous motor 12 to release the braking state, allowing the permanent magnet synchronous motor 12 to operate normally. This ensures that the permanent magnet synchronous motor 12 can only start working under the premise that the absolute encoder 15 can accurately detect the rotor position information, effectively preventing the problem of position information loss caused by the power-on delay of the absolute encoder 15.

[0228] On the other hand, if the power supply module 11 stops supplying power to the absolute encoder 15, causing the absolute encoder 15 to shut down, the control module 10 will also detect this change and control the permanent magnet synchronous motor 12 to release the brake. Although the position data cannot be detected when the absolute encoder 15 is turned off, the permanent magnet synchronous motor 12 is still controlled to release the brake, which can avoid problems such as overheating caused by continuous braking of the permanent magnet synchronous motor 12. At the same time, releasing the brake can allow the absolute encoder 15 to be safely shut down, thereby saving energy.

[0229] In one embodiment of the present invention, the device further comprises a main power supply for supplying power to the device when the device is started, wherein when the main power supply fails, the device is in a power-off state.

[0230] In the embodiment, the device is designed with a main power source, such as a large-capacity battery or a mains power source, to provide the required power when the device is started and operates normally. However, if the main power source loses power, such as when the device is in transit or the mains power is off, the main power source will lose power. At this time, the power supply is interrupted or insufficient, and the device will not be able to maintain its current working state and will be in a power-off state.

[0231] In the power-off state, for example, the control module 10 and the absolute encoder 15 may be powered by the power supply module 11. When the control module 10 is not needed to work, the control module 10 is in a standby state, that is, a low power consumption state, which can effectively save energy.

[0232] In one embodiment of the present invention, the permanent magnet synchronous motor 12 is a three-phase motor, and the phase voltage VS1 is generated by the stator induction rotor rotation of the three-phase motor.

[0233] In the embodiment, during the operation of the permanent magnet synchronous motor 12, as the rotor position changes, in order to maintain the appropriate phase relationship between the internal magnetic field of the permanent magnet synchronous motor 12 and the rotor magnetic field to generate a continuous electromagnetic torque, it is necessary to dynamically adjust the voltage (for example, including the phase voltage VS1) and current supplied to each phase winding of the stator. This adjustment can be achieved by the control system of the permanent magnet synchronous motor 12 (such as the control module 10), according to the rotor position information detected and output by the absolute encoder 15, the current required voltage and current values ​​are calculated, and the direct current is converted into a three-phase alternating current with an appropriate phase and amplitude through power electronic devices such as an inverter, and supplied to the stator winding, thereby generating a phase voltage VS1.

[0234] In one embodiment of the present invention, the control module 10 is further used to control the three-phase motor to be short-circuited in pairs, thereby causing the three-phase motor to be short-circuited and braked.

[0235] Among them, short-circuit braking is a method of quickly reducing the motor speed and stopping its rotation by directly connecting the phase windings of a three-phase motor.

[0236] For example, during the short-circuit braking process, the three-phase motors can be controlled to be short-circuited in pairs according to the short-circuit braking command issued by the control module 10, that is, the input ends of each phase of the three-phase motor are controlled to be short-circuited with each other, thereby causing the three-phase motor to be short-circuited and braked. The braking short-circuit will cause an electromagnetic torque in the opposite direction of the rotor movement to be generated inside the three-phase motor, namely, the braking torque, thereby rapidly reducing the rotation speed of the three-phase motor and eventually stopping it, thereby improving the braking efficiency of the permanent magnet synchronous motor 12, thereby avoiding the permanent magnet synchronous motor 12 from consuming a certain amount of energy, and being able to quickly be in a low power consumption state, thereby achieving the purpose of energy saving and power saving.

[0237] In one embodiment of the present invention, the absolute encoder 15 is a single-turn absolute encoder.

[0238] In the embodiment, the absolute encoder 15 adopts a single-turn absolute encoder, which can detect the position change of the motor output shaft 13 and directly output the position change data, and the position detection accuracy is high, and the position data can be quickly reported to the control module 10. At the same time, when the position of the absolute encoder 15 passes through the zero point, the control module 10 can record the latest number of turns. Based on the position data and the latest number of turns read and recorded by the control module 10, the accuracy and stability of the position determination of the output end of the reducer 14 can be improved.

[0239] In a specific embodiment of the present invention, Fig. 22 As shown, the connection relationship of the circuit is briefly summarized, namely:

[0240] like Fig. 22 As shown, in the battery cell 111, the VIN pin of the sixth power management component 1115 is connected to the eleventh resistor R11, and then grounded through the fifteenth capacitor C15, the CE pin of the sixth power management component 1115 is grounded through the seventh diode D7, and the VIN pin of the sixth power management component 1115 is grounded through the twelfth resistor R12 and the seventh diode D7.

[0241] In the power supply enabling unit 112, each pin of the third power management component 1121 is connected to corresponding components. Specifically, the input voltage (for example, 36V) can be connected to the VIN pin of the third power management component 1121 through the first inductor L1, and the VIN pin is grounded through two parallel fourth capacitors C4 and fifth capacitors C5. The RON pin of the third power management component 1121 is grounded through the fifteenth resistor R15, and the EN pin of the third power management component 1121 is connected to the operational amplifier circuit 16 through the ninth diode D9. The EN pin is also grounded through the fourteenth resistor R14. A GND pin of the third power management component 1121 is connected to the digital ground (i.e., DGND), and the other GND pin is grounded (i.e., GND) through the sixteenth resistor R16.

[0242] The SW pin of the third power management component 1121 is connected to the fifth power management component 11221 through the second inductor L2 and the third inductor L3. At the same time, its SW pin is also grounded through the second inductor L2, the eighteenth resistor R18 and the seventeenth resistor R17, and is also grounded through two parallel eighth capacitors C8 and ninth capacitors C9.

[0243] The BST pin of the third power management component 1121 is connected to the connection line between its SW pin and the second inductor L2 through the sixth capacitor C6, and its FB pin is connected between the second inductor L2 and the third inductor L3 through the seventh capacitor C7.

[0244] Between the third power management component 1121 and the fifth power management component 11221, the third power management component 1121 is also connected to two parallel capacitors, namely, the tenth capacitor C10 and the eleventh capacitor C11, through the second inductor L2 and the third inductor L3.

[0245] like Fig. 22 As shown, the number of the fifth power management components 11221 in the power supply enabling unit 112 includes, for example, but is not limited to, two, wherein the specific number of the fifth power management components 11221 is set according to the actual needs of the circuit. Specifically, the output end (i.e., OUT pin) of one of the fifth power management components is connected to the input end (i.e., VIN pin) of another fifth power management component 11221, and after the input end of the other fifth power management component 11221 receives the voltage, it outputs the voltage through its output end, and the output end of this fifth power management component 11221 is grounded through the fourteenth capacitor C14, that is, the grounding ends (i.e., GND pins) of the two fifth power management components 11221 are both grounded. At the same time, the third power management component 1121 is also connected between the two fifth power management components 11221 through the twelfth capacitor C12, the thirteenth capacitor C13 and the tenth diode D10.

[0246] The power supply enabling unit 112 is also connected to the control module 10 (ie, MCU) through an eighth diode D8 , wherein the eighth diode D8 is connected between the ninth diode D9 and the thirteenth resistor R13 .

[0247] In a specific embodiment of the present invention, Fig. 22 The circuit diagram shown in the figure is combined with Fig.25 The structural block diagram shown can briefly summarize the working principle of the circuit, namely:

[0248] The battery unit 111 is connected to the operational amplifier circuit 16, and can provide the operational amplifier circuit 16 with the power required for operation. The operational amplifier circuit 16 includes an operational amplifier 160, wherein the battery unit 111 is connected to the positive input terminal P5 of the power supply of the operational amplifier 160, and can provide the power required for operation of the operational amplifier 160. The negative input terminal P3 of the operational amplifier 160 is connected between the control module 10 (i.e., MCU) and the permanent magnet synchronous motor 12 (i.e., Motor) through the third resistor R3, and can detect the phase voltage VS1 output from the permanent magnet synchronous motor 12, and is grounded through the first diode D1. At the same time, the positive input terminal P1 of the operational amplifier 160 is grounded through the first resistor R1, and the positive input terminal P1 is connected to the ground through the first resistor R2. The second resistor R2 is connected to the ninth diode D9, and then connected to the third power management component 1121 of the power supply enable unit 112 through the ninth diode D9. At the same time, the output terminal P4 of the operational amplifier 160 is connected between the second resistor R2 and the ninth diode D9. In this way, after the operational amplifier 160 converts the phase voltage VS1 into the first enable signal VS2, it can output the first enable signal VS2 through the output terminal P4, and then transmit it to the third power management component 1121 through the ninth diode D9. The third power management component 1121 can switch between the on and off states according to whether the first enable signal VS2 is received.

[0249] The third power management component 1121 is connected to multiple fifth power management components 11221 connected in series. Therefore, the multiple fifth power management components 11221 can receive the first target voltage output from the third power management component 1121, and then perform step-by-step voltage conversion on the first target voltage through the multiple fifth power management components 11221, and then gradually adjust the voltage to a second target voltage that meets the requirements of the control module 10 and the absolute encoder 15.

[0250] like Fig. 22 As shown, the control module 10 is also connected to the power supply enabling unit 112 , and the control module 10 is also connected to the absolute encoder 15 , so that the control module 10 can receive the phase voltage VS1 output from the permanent magnet synchronous motor 12 , and read the position data reported by the absolute encoder 15 .

[0251] When the operational amplifier 160 detects the phase voltage VS1 generated by the permanent magnet synchronous motor 12, the phase voltage VS1 is amplified to generate a first enable signal VS2, and the first enable signal VS2 is output to the power supply enable unit 112 to start the power supply enable unit 112. After the power supply enable unit 112 is started, the power of the battery unit 111 is transmitted to the control module 10 and the absolute value encoder 15 to supply power to the control module 10 and the absolute value encoder 15. When the control module 10 is started, a second enable signal PC is continuously output to the power supply enable unit 112. The power supply enable unit 112 is continuously turned on according to the second enable signal PC, and the power of the battery unit 111 is continuously transmitted to the control module 10 and the absolute value encoder 15 to supply power to the control module 10 and the absolute value encoder 15, thereby realizing continuous power supply and meeting the power required for the control module 10 and the absolute value encoder 15 to work. The continuous power supply time is a certain time, which is greater than or equal to the time required for the absolute value encoder 15 to detect the position data.

[0252] According to the device 1 equipped with a position detection function in an embodiment of the present invention, the rotor of the permanent magnet synchronous motor 12 is fixedly connected to the motor output shaft 13. When the permanent magnet synchronous motor 12 starts to rotate, its rotor will drive the motor output shaft 13 to rotate. At the same time, the stator of the permanent magnet synchronous motor 12 can sense the rotation of the rotor to generate a phase voltage, and the motor output shaft 13 is rotationally connected to the input end of the reducer 14. When the motor output shaft 13 rotates and causes its position to change, the absolute encoder 15 will detect the position change and generate corresponding position data. In this way, the absolute encoder 15 can detect the position data of the motor output shaft 13 and report the position data to the control module 10. At the same time, when the absolute encoder 15 passes the zero position, the control module 10 can record the latest number of turns, thereby realizing position detection. When the device is in the power-off state, the control module 10 can start in response to the phase voltage generated by the permanent magnet synchronous motor 12, and control the power supply module 11 to supply power to the control module 10 and the absolute value encoder 15 for a certain period of time, so that the absolute value encoder 15 generates the position data of the motor output shaft 13, and reports it to the control module 10, and the control module 10 obtains and records the position data. Therefore, based on the position data and the latest number of revolutions recorded by the control module 10, the position of the output end of the reducer 14 can be determined. In this way, when position detection is required, for example, when the position of the motor output shaft 13 changes, the permanent magnet synchronous motor 12 will generate a corresponding phase voltage, and the start-up state or shutdown state of the absolute value encoder 15 and the control module 10 can be determined according to the generated phase voltage, so that when the absolute value encoder 15 and the control module 10 need to work, the power supply module 11 is enabled to supply power to the two, and when the absolute value encoder 15 and the control module 10 are not required to work, the power supply module 11 is controlled to stop supplying power. Since the present invention triggers the power-on action based on the phase voltage without the need for processing through an intermediate logic circuit, the circuit in the present invention is in a state of basically no power consumption when no power is needed, thereby saving energy more thoroughly, thereby minimizing the energy consumption of the power supply module, extending the battery life of its internal battery, and saving energy and electricity as much as possible; and, the power-on timing is responded to based on the phase voltage, and the phase voltage is directly generated and output by the permanent magnet synchronous motor due to position changes, without the need for processing through an intermediate logic circuit, so its response speed is fast, and the position data loss due to untimely power-on will not occur, and the power supply stability and reliability are higher.

[0253] In order to verify the feasibility and the advantage of fast response speed of the device 1 equipped with a position detection function according to the embodiment of the present invention, in an actual experiment, the device 1 equipped with a position detection function according to the embodiment of the present invention was tested by VOFA+ software to obtain relevant position data maps. For example, Figure 26-Figure 35 An example of a location data graph for one segment is shown.

[0254] The following combination Figure 26-Figure 35 The feasibility and advantages of fast response speed of the device 1 equipped with the position detection function are described. Figure 26-Figure 35 In the graph, the horizontal axis represents the timing, and the vertical axis represents the change of the detected position of the motor output shaft 13. Curve k1 is the position data detected by the absolute encoder 15, and its point data represents the position of the motor output shaft 13. The continuous band (i.e. k1) reflects the position change of the motor output shaft 13.

[0255] For the curve k1, the curve from the crest to the trough represents that the absolute encoder 15 rotates forward, and the curve from the trough to the crest represents that the absolute encoder 15 rotates backward. Figure 26-Figure 35 In the figure, curve k2 is the number of turns data calculated and fitted by curve k1. The number of turns data can reflect the position of the motor output shaft 13 of the device 1 equipped with a position detection function, and the continuous number of turns can reflect the position change of the motor output shaft 13 of the device 1 equipped with a position detection function, that is, the position and position change of the motor output shaft 13 driven by the permanent magnet synchronous motor 12 after being decelerated by the reducer 14, and the above position refers to the rotation angle of the motor output shaft 13 or the output flange around its axis.

[0256] The above-mentioned detected position data graphs are all generated by rotating the output flange and thereby driving the motor output shaft 13 to rotate, that is, simulating the situation that after the device 1 equipped with the position detection function is powered on, the output flange is driven to rotate due to the movement of the structural parts connected to the output flange, thereby driving the motor output shaft 13 to rotate, that is, simulating the situation that the device 1 equipped with the position detection function is affected by movement, vibration or collision when it is powered off.

[0257] See also Fig.26 , Fig.26 The detection of a continuous position data map can preliminarily prove the feasibility and reliability of the embodiment of the present invention.

[0258] See also Fig. 27 ,exist Fig. 27 In the figure, the smooth band in the curve k2 indicates that the motor output shaft 13 is not rotating. At the same time, after a set time, the device 1 equipped with the position detection function enters a power-off state. In the power-off state, the device 1 equipped with the position detection function consumes almost no power. In some embodiments, some components (such as the operational amplifier 160 and the first power management component 1120) are in a standby state and have a relatively low power consumption.

[0259] See also Fig.28 , Fig.28 This is an example of the motor output shaft 13 being reversed. Figure 26-Figure 28 It can be proved that the embodiments of the present invention can be effectively implemented in the case where the motor output shaft 13 rotates forward or reversely.

[0260] See also Fig.29 and Fig.30 , Fig.29 This is a position data map of a section of the motor output shaft 13 driven to reverse direction by the output flange. Fig.30 for Fig.29 In the illustrated embodiment, k2 is in the position data spectrum of the "-1403~-1097ms" band. Among them, the Ta1 partial band represents that the motor output shaft 13 does not rotate, the position does not change, and the device 1 equipped with the position detection function is in the power-off state. At Ta21, the motor output shaft 13 starts to rotate. At Ta22, the device 1 equipped with the position detection function is powered on to obtain the initial reading of the absolute encoder 15. Ta3 and Ta4 are two zero-crossing moments, that is, Ta3 and Ta4 are zero-crossing positions, indicating that the motor output shaft 13 rotates one circle at the Ta3 moment. At this time, the control module 10 will record the latest number of circles accordingly, that is, add one or subtract one from the existing number of circles. The motor output shaft 13 rotates another circle at the Ta4 moment. At this time, the control module 10 will record the latest number of circles accordingly. It should be noted that due to hardware and software working logic problems, the initial reading of the current absolute encoder 15 after power-on is 0, not the actual position. The Ta23 moment is the actual position data detected by the absolute encoder 15. Therefore, it can be seen that from Ta21 to Ta23, the curve k2 produces a process of a sudden drop and then a sudden rise. The actual position change is the position of the curve k2 from Ta21 to Ta23.

[0261] See also Fig.31 and Fig.32 , Fig.31 yes Fig.30 In the illustrated embodiment, a position data spectrum of k2 in a partial band is shown, in which it is recorded that when the horizontal axis timing is -1209ms, the position data detected by the absolute encoder 15 is 715528. Fig.32 for Fig.29 Another segment of the position data spectrum of k2 in a partial band in the illustrated embodiment records that when the horizontal axis timing is -1207ms, the position data detected by the absolute encoder 15 is 726457. It can be seen that the device 1 equipped with the position detection function in the embodiment of the present invention can be switched from the power-off state to the power-on state in only 1 millisecond, and the position data detected by the absolute encoder 15 for the motor output shaft 13 can be restored in only 2 milliseconds. Therefore, the response speed is very fast, and there is no risk of the motor output shaft 13 over-circling due to slow power-on response, thereby causing a reading error or loss of position data.

[0262] See also Fig.33 , Fig.34 and Fig.35 , Fig.33 for Fig.26 Another position data spectrum of the embodiment shown is another section of the output shaft of the motor driven by the output flange to rotate forward. Fig.34 for Fig.33 In the illustrated embodiment, a position data spectrum of k2 in a partial band is shown, in which it is recorded that when the horizontal axis timing is at -23909ms, the position data detected by the absolute encoder 15 is 863649. Fig.35 for Fig.33 Another segment of the position data spectrum of k2 in a partial band in the illustrated embodiment records that when the horizontal axis timing is -23907ms, the position data detected by the absolute encoder 15 is 874571. It can be seen that the device 1 equipped with the position detection function in the embodiment of the present invention can be switched from the power-off state to the power-on state in only 1 millisecond, and can restore the position data detected by the absolute encoder 15 for the motor output shaft 13 in only 2 milliseconds. Therefore, the response speed is very fast, and there is no risk of the motor output shaft 13 over-circling due to slow power-on response, thereby causing a reading error or loss of position data.

[0263] Reference below Fig.36 A robot according to an embodiment of the present invention is described.

[0264] Fig.36 is a block diagram of a robot according to an embodiment of the present invention. Fig.36 As shown, the robot 2 of the present invention includes a device 1 configured with a position detection function as described in any one of the above embodiments of the present invention.

[0265] According to the robot 2 of the embodiment of the present invention, the rotor of the permanent magnet synchronous motor 12 is fixedly connected to the motor output shaft 13. When the permanent magnet synchronous motor 12 starts to rotate, its rotor will drive the motor output shaft 13 to rotate. At the same time, the stator of the permanent magnet synchronous motor 12 can sense the rotation of the rotor to generate phase voltage, and the motor output shaft 13 is rotationally connected to the input end of the reducer 14. When the motor output shaft 13 rotates and causes its position to change, the absolute encoder 15 will detect the position change and generate corresponding position data. In this way, the absolute encoder 15 can detect the position of the motor output shaft 13 and report the position data to the control module 10. At the same time, when the absolute encoder 15 passes the zero position, the control module 10 can record the latest number of turns, thereby realizing position detection. When the device is in the power-off state, the control module 10 can start in response to the phase voltage generated by the permanent magnet synchronous motor 12, and control the power supply module 11 to supply power to the control module 10 and the absolute value encoder 15 for a certain period of time, so that the absolute value encoder 15 generates the position data of the motor output shaft 13, and reports it to the control module 10, and the control module 10 obtains and records the position data. Therefore, based on the position data and the latest number of revolutions recorded by the control module 10, the position of the output end of the reducer 14 can be determined. In this way, when position detection is required, for example, when the position of the motor output shaft 13 changes, the permanent magnet synchronous motor 12 will generate a corresponding phase voltage, and the start-up state or shutdown state of the absolute value encoder 15 and the control module 10 can be determined according to the generated phase voltage, so that when the absolute value encoder 15 and the control module 10 need to work, the power supply module 11 is enabled to supply power to the two, and when the absolute value encoder 15 and the control module 10 are not required to work, the power supply module 11 is controlled to stop supplying power. Since the present invention triggers the power-on action based on the phase voltage without the need for processing through an intermediate logic circuit, the circuit in the present invention is in a state of basically no power consumption when no power is needed, thereby saving energy more thoroughly, thereby minimizing the energy consumption of the power supply module, extending the battery life of its internal battery, and saving energy and electricity as much as possible; and, the power-on timing is responded to based on the phase voltage, and the phase voltage is directly generated and output by the permanent magnet synchronous motor due to position changes, without the need for processing through an intermediate logic circuit, so its response speed is fast, and the position data loss due to untimely power-on will not occur, and the power supply stability and reliability are higher.

[0266] In one embodiment of the present invention, the robot 2 includes any one of a legged robot, a quadruped robot, a bipedal robot, a wheeled robot, a wheel-legged robot, a quadrupedal robot, a humanoid robot, a cleaning robot, a transport robot, a mobile robot and a robotic arm.

[0267] like Fig.37 As shown, a structural schematic diagram of a bipedal robot is exemplarily shown.

[0268] like Fig.38 As shown, a structural schematic diagram of a four-wheeled legged robot is exemplified.

[0269] like Fig.39 As shown, a structural schematic diagram of a humanoid robot is exemplarily shown.

[0270] like Fig.40 As shown, a structural schematic diagram of a robotic arm is exemplarily shown.

[0271] Reference below Fig.41 The position detection method of an embodiment of the present invention is described. The position detection method can be used for the device 1 equipped with a position detection function described in any of the above embodiments of the present invention. Specifically, it can be used for the control module 10 of the device 1 equipped with a position detection function, that is, the control module 10 can execute the position detection method to perform position detection.

[0272] like Fig.41 As shown, the position detection method at least includes step S1 and step S2.

[0273] Step S1, when the device is powered off, in response to the phase voltage generated by the permanent magnet synchronous motor, the power supply module is controlled to supply power to the control module and the absolute encoder for a certain period of time.

[0274] Step S2, determining the position of the output end of the reducer according to the position data of the motor output shaft reported by the absolute encoder and the latest number of revolutions recorded by the control module, wherein when the position of the motor output shaft passes through zero, the control module records the latest number of revolutions.

[0275] In one embodiment of the present invention, the permanent magnet synchronous motor is controlled to release the brake until the absolute value encoder is started due to the power supply of the power supply module; or the permanent magnet synchronous motor is controlled to release the brake until the absolute value encoder is turned off due to the power supply of the power supply module stops supplying.

[0276] In one embodiment of the present invention, the main power supply provides power to the device when the device is started, wherein, in the event that the main power supply fails, the device is in a power-off state.

[0277] In one embodiment of the present invention, the permanent magnet synchronous motor is a three-phase motor, and the phase voltage is generated by the stator induction rotor rotation of the three-phase motor.

[0278] In one embodiment of the present invention, the absolute encoder is a single-turn absolute encoder.

[0279] According to the position detection method of the embodiment of the present invention, when the device is in the power-off state, the control module can start in response to the phase voltage generated by the permanent magnet synchronous motor, and control the power supply module to supply power to the control module and the absolute value encoder for a certain period of time, so that the absolute value encoder generates the position data of the motor output shaft, and reports it to the control module, and the control module obtains and records the position data. Therefore, based on the position data and the latest number of turns recorded by the control module, the position of the output end of the reducer can be determined. In this way, when position detection is required, for example, when the position of the motor output shaft changes, the permanent magnet synchronous motor will generate a corresponding phase voltage, and the start state or shutdown state of the absolute value encoder and the control module can be determined according to the generated phase voltage, so that when the absolute value encoder and the control module need to work, the power supply module is enabled to supply power to the two, and when the absolute value encoder and the control module are not needed to work, the power supply module is controlled to stop supplying power. Since the present invention triggers the power-on action based on the phase voltage without the need for processing through an intermediate logic circuit, the circuit in the present invention is in a state of basically no power consumption when no power is needed, thereby saving energy more thoroughly, thereby minimizing the energy consumption of the power supply module, extending the battery life of its internal battery, and saving energy and electricity as much as possible; and, the power-on timing is responded to based on the phase voltage, and the phase voltage is directly generated and output by the permanent magnet synchronous motor due to position changes, without the need for processing through an intermediate logic circuit, so its response speed is fast, and the position data loss due to untimely power-on will not occur, and the power supply stability and reliability are higher.

[0280] Reference below Fig.42 An electronic device according to an embodiment of the present invention is described. Fig.42 As shown, the electronic device 3 includes: a processor 31, a memory 32, and a position detection program stored and running on the memory 32. When the position detection program is executed by the processor 31, the position detection method described in the above embodiment of the present invention is implemented.

[0281] According to the electronic device 3 of the embodiment of the present invention, when the position detection program stored in the memory 32 is executed by the processor 31, position detection can be realized, that is, when the device is in the power-off state, the control module can start in response to the phase voltage generated by the permanent magnet synchronous motor, and control the power supply module to supply power to the control module and the absolute value encoder for a certain period of time, so that the absolute value encoder generates the position data of the motor output shaft, and reports it to the control module, and the control module obtains and records the position data. Therefore, based on the position data and the latest number of turns recorded by the control module, the position of the output end of the reducer can be determined. In this way, when position detection is required, for example, when the position of the motor output shaft changes, the permanent magnet synchronous motor will generate a corresponding phase voltage, and the start state or shutdown state of the absolute value encoder and the control module can be determined according to the generated phase voltage, so that when the absolute value encoder and the control module need to work, the power supply module is enabled to supply power to the two, and when the absolute value encoder and the control module are not required to work, the power supply module is controlled to stop supplying power. Since the present invention triggers the power-on action based on the phase voltage without the need for processing through an intermediate logic circuit, the circuit in the present invention is in a state of basically no power consumption when no power is needed, thereby saving energy more thoroughly, thereby minimizing the energy consumption of the power supply module, extending the battery life of its internal battery, and saving energy and electricity as much as possible; and, the power-on timing is responded to based on the phase voltage, and the phase voltage is directly generated and output by the permanent magnet synchronous motor due to position changes, without the need for processing through an intermediate logic circuit, so its response speed is fast, and the position data loss due to untimely power-on will not occur, and the power supply stability and reliability are higher.

[0282] A further embodiment of the present invention also discloses a computer-readable storage medium.

[0283] The computer-readable storage medium of the present invention stores a position detection program, and when the position detection program is executed by a processor, the position detection method described in the above embodiment of the present invention is implemented.

[0284] According to the computer-readable storage medium of an embodiment of the present invention, when the position detection program stored thereon is executed by the processor, position detection can be realized, that is, when the device is in a power-off state, the control module can start in response to the phase voltage generated by the permanent magnet synchronous motor, and control the power supply module to supply power to the control module and the absolute value encoder for a certain period of time, so that the absolute value encoder generates the position data of the motor output shaft, and reports it to the control module, and the control module obtains and records the position data. Therefore, based on the position data and the latest number of turns recorded by the control module, the position of the output end of the reducer can be determined. In this way, when position detection is required, for example, when the position of the motor output shaft changes, the permanent magnet synchronous motor will generate a corresponding phase voltage, and the start-up state or shutdown state of the absolute value encoder and the control module can be determined according to the generated phase voltage, so that when the absolute value encoder and the control module need to work, the power supply module is enabled to supply power to the two, and when the absolute value encoder and the control module are not required to work, the power supply module is controlled to stop supplying power. Since the present invention triggers the power-on action based on the phase voltage without the need for processing through an intermediate logic circuit, the circuit in the present invention is in a state of basically no power consumption when no power is needed, thereby saving energy more thoroughly, thereby minimizing the energy consumption of the power supply module, extending the battery life of its internal battery, and saving energy and electricity as much as possible; and, the power-on timing is responded to based on the phase voltage, and the phase voltage is directly generated and output by the permanent magnet synchronous motor due to position changes, without the need for processing through an intermediate logic circuit, so its response speed is fast, and the position data loss due to untimely power-on will not occur, and the power supply stability and reliability are higher.

[0285] A further embodiment of the present invention also discloses a computer program product.

[0286] The computer program product of the present invention includes a computer program, and when the computer program is executed by a processor, the position detection method described in the above embodiment of the present invention is implemented.

[0287] According to the computer program product of the embodiment of the present invention, when the computer program in the computer program product is executed by the processor, position detection can be realized, that is, when the device is in the power-off state, the control module can start in response to the phase voltage generated by the permanent magnet synchronous motor, and control the power supply module to supply power to the control module and the absolute value encoder for a certain period of time, so that the absolute value encoder generates the position data of the motor output shaft, and reports it to the control module, and the control module obtains and records the position data. Therefore, based on the position data and the latest number of turns recorded by the control module, the position of the output end of the reducer can be determined. In this way, when position detection is required, for example, when the position of the motor output shaft changes, the permanent magnet synchronous motor will generate a corresponding phase voltage, and the start state or shutdown state of the absolute value encoder and the control module can be determined according to the generated phase voltage, so that when the absolute value encoder and the control module need to work, the power supply module is enabled to supply power to the two, and when the absolute value encoder and the control module are not required to work, the power supply module is controlled to stop supplying power. Since the present invention triggers the power-on action based on the phase voltage without the need for processing through an intermediate logic circuit, the circuit in the present invention is in a state of basically no power consumption when no power is needed, thereby saving energy more thoroughly, thereby minimizing the energy consumption of the power supply module, extending the battery life of its internal battery, and saving energy and electricity as much as possible; and, the power-on timing is responded to based on the phase voltage, and the phase voltage is directly generated and output by the permanent magnet synchronous motor due to position changes, without the need for processing through an intermediate logic circuit, so its response speed is fast, and the position data loss due to untimely power-on will not occur, and the power supply stability and reliability are higher.

[0288] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0289] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A device configured with a position detection function, comprising: Control module, power supply module; A permanent magnet synchronous motor, a motor output shaft and a reducer, wherein the rotor of the permanent magnet synchronous motor is fixedly connected to the motor output shaft, and the motor output shaft is drivingly connected to the input end of the reducer; and, An absolute encoder, used to detect the position of the motor output shaft; The control module is configured with the following functions: Receiving position data reported by the absolute encoder; When passing through zero position, the latest number of laps is recorded; It is characterized in that When the device is in a power-off state, the control module starts in response to the phase voltage generated by the permanent magnet synchronous motor, and the control module performs the following functions when starting: controlling the power supply module to supply power to the control module and the absolute encoder for a certain period of time; and, The position of the output end of the reducer is determined according to the position data reported by the absolute encoder and the latest number of revolutions.

2. The device according to claim 1, characterized in that Also includes: An operational amplifier circuit, wherein an input end of the operational amplifier circuit is connected to the permanent magnet synchronous motor, and an output end of the operational amplifier circuit is connected to the power supply module; When the phase voltage generated by the permanent magnet synchronous motor is received through the input end of the operational amplifier circuit, the operational amplifier circuit amplifies the voltage of the phase voltage to generate a first enable signal, the voltage of the first enable signal is greater than the voltage of the phase voltage, and outputs the first enable signal to the power supply module through the output end of the operational amplifier circuit; The power supply module provides a first voltage to the control module in response to the first enable signal, and the control module starts up in response to the first voltage.

3. The device according to claim 2, characterized in that The operational amplifier circuit is any one of an inverse proportional operational circuit, an in-phase proportional operational circuit and a level comparison circuit.

4. The device according to claim 2, characterized in that The operational amplifier circuit is an in-phase proportional operational circuit, comprising: An operational amplifier, the operational amplifier comprising a positive input terminal, a negative input terminal, a positive power input terminal, a negative power input terminal, an output terminal, a first resistor and a second resistor; The positive input terminal is connected to at least one of the stators of the permanent magnet synchronous motor, the negative input terminal is grounded through the first resistor, and is connected to the output terminal of the operational amplifier through the second resistor, the positive input terminal of the power supply is connected to a power supply that provides a working voltage for it, the negative input terminal of the power supply is grounded, and the output terminal of the operational amplifier is connected to the power supply module to output the first enable signal to the power supply module through the output terminal of the operational amplifier.

5. The device according to claim 4, characterized in that The operational amplifier circuit also includes: A third resistor is connected between the stator of the permanent magnet synchronous motor and the positive input terminal of the operational amplifier.

6. The device according to claim 5, characterized in that The operational amplifier circuit also includes: A first diode, wherein an anode of the first diode is connected between the third resistor and the positive input terminal of the operational amplifier, and a cathode of the first diode is grounded.

7. The device according to claim 1, characterized in that When a position change of the motor output shaft is detected, the control module controls the power supply module to extend the power supply to the control module and the absolute encoder for a preset time.

8. The device according to claim 4, characterized in that The power supply module comprises: Battery unit and power enabling unit; The battery unit is connected to the control module and the absolute encoder through the power supply enabling unit; When the control module is started, the enabling state of the power supply enabling unit is controlled, thereby controlling the power supply state of the battery unit to the control module and the absolute encoder.

9. The device according to claim 8, characterized in that The input end of the power supply enabling unit is connected to the battery unit, the output end of the power supply enabling unit is connected to the control module and the absolute value encoder, and the enabling end of the power supply enabling unit is connected to the control module; The control module continuously outputs a second enable signal to the enable terminal of the power supply enable unit to continuously enable the power supply enable unit, thereby providing the electric energy output by the battery unit to the control module and the absolute value encoder to power them.

10. The device according to claim 9, characterized in that The power supply enabling unit comprises: The first power management component is turned on when the enable end of the first power management component receives the first enable signal and / or the second enable signal, otherwise, the first power management component is turned off.

11. The device according to claim 10, characterized in that The battery unit includes: a first battery, wherein the first battery is used to provide an operating voltage to the operational amplifier and to provide an input voltage to an input terminal of the first power management component.

12. The device according to claim 10, characterized in that The battery unit includes: a second battery and a second power management component; The second power management component is used to convert the voltage output by the second battery, provide the operating voltage to the operational amplifier, and provide an input voltage to the input terminal of the first power management component.

13. The device according to claim 12, characterized in that The first power management component and the second power management component have at least one of a voltage stabilization function, a voltage conversion function, and a switching function.

14. The device according to claim 12, characterized in that When the device is in the power-off state, only the operational amplifier and the second power management component are in the on state, and the first power management component switches between the on and off states according to whether the first enable signal and / or the second enable signal are received.

15. The device according to claim 9, characterized in that The power supply enabling unit includes: a third power management component and a first power management subunit; The input end of the third power management component is connected to the battery unit, the enable end of the third power management component is connected to the output end of the operational amplifier and the control module, the output end of the third power management component is connected to the input end of the first power management subunit, and the output end of the first power management subunit is connected to the control module and the absolute value encoder; When the enable terminal of the third power management component receives the first enable signal and / or the second enable signal, the third power management component is turned on to convert the electric energy input from the battery unit into a first target voltage, and transmit the first target voltage to the first power management sub-unit through the output terminal of the third power management component as an input voltage of the first power management sub-unit; The first power management subunit converts the first target voltage into a second target voltage, and transmits the second target voltage to the control module and the absolute value encoder through the output end of the first power management subunit to power the control module and the absolute value encoder.

16. The device according to claim 15, characterized in that The first power management subunit includes: a fourth power management component; The input end of the fourth power management component is connected to the output end of the third power management component, and the output end of the fourth power management component is connected to the control module and the absolute value encoder; The fourth power management component converts the first target voltage output by the third power management component into the second target voltage, and transmits the second target voltage to the control module and the absolute value encoder.

17. The device according to claim 15, characterized in that The first power management subunit includes: a plurality of fifth power management components connected in series; The plurality of fifth power management components perform multi-level voltage conversion on the first target voltage output by the third power management component, output the second target voltage, and transmit the second target voltage to the control module and the absolute value encoder.

18. The device according to any one of claims 15 to 17, characterized in that The battery unit comprises: A third battery is used to provide an operating voltage to the operational amplifier and an input voltage to an input terminal of the third power management component.

19. The device according to any one of claims 15 to 17, characterized in that The battery unit includes: a fourth battery and a sixth power management component; The sixth power management component is used to convert the voltage output by the fourth battery to provide an operating voltage to the operational amplifier; The fourth battery is used to provide an input voltage to an input terminal of the third power management component.

20. The device according to claim 19, characterized in that When the device is in the power-off state, only the operational amplifier and the sixth power management component are in the on state, and the third power management component switches between the on and off states according to whether the first enable signal and / or the second enable signal is received.

21. The device according to claim 15, characterized in that The third power management component has at least one of a voltage stabilization function, a voltage conversion function and a switching function.

22. The device according to claim 1, characterized in that The device further comprises: a first power supply device; The first power supply device is connected to the control module and is used to provide a second voltage to the control module so that the control module is in a standby state; The control module is used for waking up or starting in response to the phase voltage generated by the permanent magnet synchronous motor in the standby state.

23. The device according to claim 1, characterized in that The device further comprises: a second power supply device; The second power supply device is connected to the permanent magnet synchronous motor and the control module, and provides a third voltage to the control module when the second power supply device receives the phase voltage generated by the permanent magnet synchronous motor; The control module is activated in response to the third voltage.

24. The device according to claim 1, characterized in that The device also includes: an isolation circuit; When the device is not in a power-off state, the isolation circuit isolates the power supply module to make it inactive; when the device is in a power-off state, the isolation circuit does not isolate the power supply module to make it active.

25. The device according to claim 24, characterized in that The isolation circuit comprises: a fourth resistor, a second diode and a switch tube; One end of the fourth resistor is connected to the main power supply of the device, and the other end of the fourth resistor is connected to the cathode of the second diode; The base of the switch tube is connected to the anode of the second diode, the collector of the switch tube is connected to the power supply module, and the emitter of the switch tube is grounded.

26. The device according to claim 1, characterized in that The control module is also used to control the braking of the permanent magnet synchronous motor.

27. The device according to claim 26, characterized in that The control module is further used to: until the absolute value encoder is started due to the power supply of the power supply module, control the permanent magnet synchronous motor to release the brake; or, When the absolute value encoder is turned off due to the power supply module stopping supplying power, the permanent magnet synchronous motor is controlled to release the brake.

28. The device according to claim 1, characterized in that The device further comprises a main power supply for supplying power to the device when the device is started, wherein when the main power supply is powered off, the device is in the power-off state.

29. The device according to claim 1, characterized in that The permanent magnet synchronous motor is a three-phase motor, and the phase voltage is generated by the stator induction rotor rotation of the three-phase motor.

30. The device according to claim 29, characterized in that The control module is also used to control the three-phase motors to be short-circuited in pairs, thereby causing the three-phase motors to be short-circuited and braked.

31. The device according to claim 1, characterized in that The absolute value encoder is a single-turn absolute value encoder.

32. A robot, characterized in that: Comprising a device equipped with a position detection function as described in any one of claims 1-31.

33. The robot according to claim 32, characterized in that The robot includes any one of a legged robot, a quadruped robot, a bipedal robot, a wheeled robot, a wheel-legged robot, a quadrupedal robot, a humanoid robot, a cleaning robot, a transport robot, a mobile robot and a robotic arm.

34. A position detection method, characterized in that: For a device equipped with a position detection function as claimed in any one of claims 1 to 31, the position detection method comprises: When the device is powered off, in response to the phase voltage generated by the permanent magnet synchronous motor, the power supply module is controlled to supply power to the control module and the absolute encoder for a certain period of time; Determine the position of the output end of the reducer according to the position data of the motor output shaft reported by the absolute encoder and the latest number of revolutions recorded by the control module; When the position of the motor output shaft passes through zero, the control module records the latest number of revolutions.

35. An electronic device, characterized in that: include: A processor, a memory, and a position detection program stored and running on the memory, wherein the position detection program implements the position detection method as claimed in claim 34 when executed by the processor.

36. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a position detection program, and when the position detection program is executed by the processor, it implements the position detection method as described in claim 34.

37. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the position detection method according to claim 34 is implemented.

Images