Power failure protection circuit, method and device, storage medium and robot

Abstract

The invention provides a power failure protection circuit, method and device, a storage medium and a robot. The power failure protection circuit comprises a super capacitor; the first end of the charging and discharging control module is electrically connected with the super capacitor, and the second end of the charging and discharging control module is electrically connected with the power supply bus; the first end of the discharge protection module is electrically connected with the second end of the charge and discharge control module; the sampling module is used for collecting fault monitoring signals, and the signal output end of the sampling module is electrically connected with the signal input end of the discharge protection module; wherein the discharge protection module controls the on-off state between the charge and discharge control module and the load according to the fault monitoring signal. According to the invention, the time of continuously supplying power to the system by the super capacitor as a standby power supply is prolonged, the influence of the fault of the super capacitor on the power supply of the load is prevented, the problem of output oscillation of the super capacitor power supply circuit is suppressed, and the power supply stability is improved.

Description

Technical Field

[0001] The present application relates to the field of system power supply technology, and in particular to a power-off protection circuit, method, device, storage medium and robot. Background Art

[0002] In industrial robot control systems, there are situations where the controller loses power suddenly, such as loose power supply, sudden power outage, etc. At this time, the robot control system needs to store field data when the system loses power, so an additional power supply system is needed to ensure that the robot control system still has power supply when the main power supply fails.

[0003] In the related art, after the main power source is powered off, the system is powered by a backup power source, but the backup power source has a problem of poor power supply stability. Summary of the invention

[0004] The present application aims to solve the technical problem of poor power supply stability existing in the prior art or related technology.

[0005] To this end, a first aspect of the present application proposes a power-off protection circuit.

[0006] A second aspect of the present application provides a power-off protection method.

[0007] A third aspect of the present application provides a power-off protection device.

[0008] A fourth aspect of the present application provides a power-off protection device.

[0009] A fifth aspect of the present application provides a readable storage medium.

[0010] The sixth aspect of the present application proposes a robot.

[0011] In view of this, according to the first aspect of the present application, a power-off protection circuit is proposed, including: a supercapacitor; a charge and discharge control module, a first end of the charge and discharge control module is electrically connected to the supercapacitor, a second end of the charge and discharge control module is electrically connected to the power supply bus, and the charge and discharge control module is used to output a first power supply signal when the power supply bus is powered off, and the first power supply signal includes a voltage signal output by the supercapacitor; a discharge protection module, a first end of the discharge protection module is electrically connected to the second end of the charge and discharge control module, and the second end of the discharge protection module is used to output the first power supply signal to the load; a sampling module, used to collect fault monitoring signals, and the signal output end of the sampling module is electrically connected to the signal input end of the discharge protection module; wherein the discharge protection module controls the on-off state between the charge and discharge control module and the load according to the fault monitoring signal.

[0012] In this technical solution, the power-off protection circuit is used to use the supercapacitor as a backup power supply to supply power to the load when the load loses power, and to provide protection during the process of the supercapacitor supplying power to the load. Specifically, when the power supply bus is not in a power-off state, the power supply bus can continue to supply power to the load, and the voltage signal of the power supply bus can be transmitted to the supercapacitor through the charge and discharge control module, that is, the supercapacitor is powered by the voltage signal of the power supply bus. It should be noted that the supercapacitor is an electrochemical element that stores energy through polarized electrolytes, and the energy storage process is reversible. Therefore, when the power supply bus is not powered off, the power supply bus can simultaneously supply power to the load and charge the supercapacitor.

[0013] In this technical solution, the power-off protection circuit includes a charge-discharge control module, which can control the charge-discharge state of the supercapacitor. Specifically, when the power supply bus is not powered off, the charge-discharge control module can transmit the power of the power supply bus to the supercapacitor to charge the supercapacitor. When the power supply bus is in a power-off state, the charge-discharge control module outputs the voltage signal on the supercapacitor in the form of a switching power supply as a first power supply signal, and the first power supply signal can power the load in the subsequent circuit.

[0014] In this technical solution, the power-off protection circuit also includes a sampling module and a discharge protection module. The sampling module can obtain a fault monitoring signal, and the fault monitoring signal can reflect whether there is a fault when the supercapacitor supplies power to the load. The discharge protection module is connected between the charge and discharge control module and the load. The discharge protection module can control the on-off state of the path between the charge and discharge control module and the load according to the fault monitoring signal obtained by the sampling module.

[0015] Specifically, when the discharge protection module determines that there is a fault when the supercapacitor supplies power to the subsequent load based on the acquired fault monitoring signal, the discharge protection module cuts off the path between the charge and discharge control module and the load, so that the first power supply signal output by the charge and discharge control module will not be transmitted to the load, thereby avoiding faults caused by continuing to supply power to the load in a faulty state.

[0016] In the related art, there is a method of delaying the backup power supply to the load after the backup power supply supplies power to the load for a period of time. This method cannot guarantee the effect of the backup power supply to the load during the power supply time. For example, the backup power supply itself is not fully charged, resulting in the power supply time being less than the delay time, and the backup power supply has already had problems such as undervoltage, overvoltage, overcurrent, etc. before the delay.

[0017] In the technical solution of the present application, a supercapacitor and a charge-discharge control module are provided in the power-off protection circuit, so that when the power supply bus loses power, the load can obtain power from the supercapacitor and the charge-discharge control module, thereby avoiding problems such as data loss caused by load power failure. In addition, a sampling module and a discharge protection module are also provided in the power-off protection circuit, so that the power supply status is monitored when the supercapacitor supplies power to the load, and the power supply process is controlled in a timely manner, so as to extend the time for the supercapacitor to continue to supply power to the system as a backup power supply as much as possible, and prevent the influence of the supercapacitor failure on the load power supply, and suppress the problem of output oscillation of the supercapacitor power supply circuit, thereby improving the stability of the power supply.

[0018] In some technical solutions, optionally, the sampling module includes:

[0019] An undervoltage monitoring submodule, wherein a sampling end of the undervoltage monitoring submodule is electrically connected to the supercapacitor, a signal output end of the undervoltage monitoring submodule is electrically connected to the discharge protection module, and the undervoltage monitoring submodule is used to output an undervoltage signal to the discharge protection module when it is detected that the discharge voltage of the supercapacitor is lower than a first voltage threshold; wherein, when the discharge protection module receives the undervoltage signal, it controls the circuit between the charge and discharge control module and the load to be in an open circuit state.

[0020] In this technical solution, the sampling module includes an undervoltage monitoring submodule, which is electrically connected to the supercapacitor and can collect the discharge voltage of the supercapacitor when the supercapacitor supplies power to the load. And the collected discharge voltage is compared with the first voltage threshold. When the discharge voltage is lower than the first voltage threshold, it is determined that the supercapacitor is in an undervoltage state. At this time, the undervoltage monitoring submodule transmits an undervoltage signal to the discharge protection module. When the discharge protection module receives the undervoltage signal transmitted by the undervoltage monitoring submodule, the path between the charge and discharge control module and the load is switched to an open circuit state, so that the first power supply signal output by the supercapacitor and the charge and discharge control module stops transmitting to the load, effectively avoiding the load failure caused by the power supply to the load when the supercapacitor is undervoltage.

[0021] Specifically, the undervoltage monitoring submodule is used to perform undervoltage protection on the supercapacitor. When the discharge voltage of the supercapacitor is lower than the first voltage threshold, it is determined that the voltage on the supercapacitor cannot continue to supply power to the load in the form of a switching power supply for a long time. At this time, in order to avoid the adverse effects of unstable power supply voltage on the load, the supercapacitor is switched to supply power to the load through the discharge protection module.

[0022] In the technical solution of the present application, by setting an undervoltage monitoring submodule in the sampling module, the discharge voltage of the supercapacitor can be monitored. When the supercapacitor is in an undervoltage state, the supercapacitor is stopped from supplying power to the load, thereby improving the stability of the supercapacitor as a backup power supply to the load.

[0023] In some technical solutions, optionally, the sampling module includes:

[0024] The fault detection submodule is electrically connected to the load, and the signal output end of the fault detection submodule is electrically connected to the discharge protection module. The fault detection submodule is used to output a load fault signal to the discharge protection module when the load is in a fault state.

[0025] In this technical solution, the sampling module includes a fault detection submodule, which is electrically connected to the load. The fault detection submodule can detect whether the load is in a fault state. When the fault detection submodule detects that the load is in a fault state, it can transmit a load fault signal to the discharge protection module. It should be noted that after receiving the load fault signal, the discharge protection module can determine whether it is necessary to stop the supercapacitor from supplying power to the load according to the load fault signal.

[0026] Specifically, the fault detection submodule includes a voltage detection circuit in the subsequent system where the load is located. The voltage signal of the supercapacitor is output as a first power supply signal in the form of a switching power supply through the charge and discharge management module, and the first power supply signal is transmitted to the subsequent system where the load is located to power the load. When the output voltage of the first power supply signal oscillates due to various potential faults, the voltage detection circuit can detect the abnormality and transmit the load fault signal to the discharge protection module. After receiving the load fault signal, the discharge protection module can choose whether to cut off the power supply of the supercapacitor to the load according to the load fault signal.

[0027] In the technical solution of the present application, a fault detection submodule is provided in the power-off protection circuit, through which it is possible to detect whether the load is in a fault state, and transmit a load fault signal to the discharge protection module when the load is in a fault state, so that the discharge protection module can determine whether to cut off the power supply of the supercapacitor to the load based on the load fault signal, thereby improving the stability and safety of the load supplying power to the supercapacitor. Among them, by reusing the fault detection circuit in the subsequent system where the load is located as a fault monitoring submodule, the circuit cost of the power-off protection circuit can also be reduced.

[0028] In some technical solutions, optionally, the sampling module further includes:

[0029] A discharge detection submodule, wherein a sampling end of the discharge detection submodule is electrically connected to the supercapacitor, a signal output end of the discharge detection submodule is electrically connected to the discharge protection module, and the discharge detection submodule is used to output a discharge state signal to the discharge protection module when the supercapacitor is in a discharge state;

[0030] When the discharge protection module receives the discharge state signal and the load fault signal, the discharge protection module controls the circuit between the charge and discharge control module and the load to be in an open circuit state.

[0031] In this technical solution, the sampling module also includes a discharge detection submodule, which is electrically connected to the supercapacitor and can detect whether the supercapacitor is in a discharge state or a charge state. When the discharge detection submodule detects that the supercapacitor is in a discharge state, a discharge state signal is transmitted to the discharge protection module.

[0032] When the discharge protection module obtains the discharge status signal, it can determine that the load is being powered by the supercapacitor. At this time, if the fault detection submodule transmits a load fault signal, it can be determined that the supercapacitor has caused a load fault when supplying power to the load. Therefore, the discharge protection module switches the path between the charge and discharge control module and the load to an open circuit state, so that the supercapacitor stops supplying power to the load, thereby avoiding load failure caused by the supercapacitor supplying power to the load with an unstable voltage.

[0033] In the technical solution of the present application, the discharge protection module can determine the discharge state of the supercapacitor through the discharge detection submodule, and determine that the supercapacitor is supplying power to the load when receiving the discharge state signal. When the discharge protection module receives the discharge state signal and the load fault signal at the same time, it can determine that the supercapacitor is supplying power to the load, and the load is faulty. Since the load will restart repeatedly when it fails, it will further cause problems such as output oscillation, which may cause damage to system components. At this time, the discharge protection module switches the path between the supercapacitor and the load, and stops the supercapacitor from supplying power to the load in time, avoiding damage to system components when the supercapacitor is powered.

[0034] In some technical solutions, the power-off protection circuit may further include: a first reverse blocking module and a second reverse blocking module. The first reverse blocking module is connected between the power supply bus and the load; the second reverse blocking module is connected between the discharge protection module and the load.

[0035] In the technical solution of the present application, a first reverse blocking module and a second reverse blocking module are arranged in the power-off protection circuit. The first reverse blocking module is arranged between the power supply bus and the load, and the second reverse blocking module is arranged between the supercapacitor and the load. This can effectively avoid crosstalk between the power supply bus and the supercapacitor when the power supply bus or the supercapacitor supplies power to the load alone.

[0036] According to the second aspect of the present application, a power-off protection method is proposed, which is applied to the power-off protection circuit in any of the above-mentioned technical solutions. The power-off protection method includes: in the event of a power failure on the power supply bus, controlling the charge and discharge control module to output a first power supply signal, the first power supply signal including a voltage signal output by the supercapacitor; the sampling module transmits the collected fault monitoring signal to the discharge protection module; the discharge protection module controls the on and off state between the charge and discharge control module and the load according to the fault monitoring signal.

[0037] In the technical solution of the present application, a supercapacitor and a charge-discharge control module are provided in the power-off protection circuit, so that when the power supply bus loses power, the load can obtain power from the supercapacitor and the charge-discharge control module, thereby avoiding problems such as data loss caused by load power failure. In addition, a sampling module and a discharge protection module are also provided in the power-off protection circuit, so that the power supply status is monitored when the supercapacitor supplies power to the load, and the power supply process is controlled in time, so as to extend the time for the supercapacitor to continue to supply power to the system as a backup power supply as much as possible, and prevent the influence of the supercapacitor failure on the load power supply, and suppress the problem of output oscillation of the supercapacitor power supply circuit.

[0038] In some technical solutions, optionally, the fault monitoring signal includes: an undervoltage signal, the undervoltage signal is used to indicate that the discharge voltage of the supercapacitor is lower than the first voltage threshold;

[0039] The discharge protection module controls the on / off state between the charge and discharge control module and the load according to the fault monitoring signal, including:

[0040] When receiving the undervoltage signal, the discharge protection module controls the charge and discharge control module and the load to be in an open circuit state.

[0041] In the technical solution of the present application, by setting an undervoltage monitoring submodule in the sampling module, the discharge voltage of the supercapacitor can be monitored. When the supercapacitor is in an undervoltage state, the supercapacitor is stopped from supplying power to the load, thereby improving the stability of the supercapacitor as a backup power supply to the load.

[0042] In some technical solutions, optionally, the fault monitoring signal includes: a discharge state signal and a load fault signal, the discharge state signal is used to indicate that the supercapacitor is in a discharge state, and the load fault signal is used to indicate that the load is in a fault state;

[0043] The discharge protection module controls the on / off state between the charge and discharge control module and the load according to the fault monitoring signal, including:

[0044] When receiving the discharge state signal and the load fault signal, the discharge protection module controls the charge and discharge control module and the load to be in an open circuit state.

[0045] In the technical solution of the present application, the discharge protection module can determine the discharge state of the supercapacitor through the discharge detection submodule, and determine that the supercapacitor is supplying power to the load when receiving the discharge state signal. When the discharge protection module receives the discharge state signal and the load fault signal at the same time, it can determine that the supercapacitor is supplying power to the load, and the load is faulty. Since the load will restart repeatedly when it fails, it will further cause problems such as output oscillation, which may cause damage to system components. At this time, the discharge protection module switches the path between the supercapacitor and the load, and stops the supercapacitor from supplying power to the load in time, avoiding damage to system components when the supercapacitor is powered.

[0046] In some technical solutions, optionally, the power-off protection method further includes:

[0047] When the power supply bus supplies power to the load, the charge and discharge control module is controlled to output a second power supply signal to the super capacitor, and the second power supply signal is used to charge the super capacitor.

[0048] In the technical solution of the present application, the charge and discharge control module can control whether the power supply bus charges the supercapacitor. When the power supply bus is not in a power-off state, the supercapacitor is charged through the power supply bus to ensure that the supercapacitor has sufficient power to supply power to the load when the power supply bus is powered off.

[0049] In some technical solutions, optionally, when the power supply bus supplies power to the load, after controlling the charge and discharge control module to output the second power supply signal to the supercapacitor, the method further includes:

[0050] When the charging voltage of the super capacitor is greater than the second voltage threshold, the charging and discharging control module stops controlling the output of the second power supply signal to the super capacitor.

[0051] In the technical solution of the present application, the power-off protection circuit can continuously monitor the charging voltage of the supercapacitor. When it is monitored that the charging voltage is greater than the second voltage threshold, it is determined that the supercapacitor has completed charging. At this time, the charge and discharge control module is controlled to stop transmitting the second power supply signal to the supercapacitor, thereby controlling the charging process of the supercapacitor and avoiding the problem of insufficient power of the supercapacitor causing the load to be unable to be effectively powered.

[0052] According to the third aspect of the present application, a power-off protection device is proposed, which is applied to the power-off protection circuit in any of the above-mentioned technical solutions. The power-off protection device includes: a control unit, which is used to control the charge and discharge control module to output a first power supply signal when the power supply bus loses power, and the first power supply signal includes a voltage signal output by the supercapacitor; a transmission unit, which is used for the sampling module to transmit the collected fault monitoring signal to the discharge protection module; and a control unit, which is used for the discharge protection module to control the on-off state between the charge and discharge control module and the load according to the fault monitoring signal.

[0053] In the technical solution of the present application, a supercapacitor and a charge-discharge control module are provided in the power-off protection circuit, so that when the power supply bus loses power, the load can obtain power from the supercapacitor and the charge-discharge control module, thereby avoiding problems such as data loss caused by load power failure. In addition, a sampling module and a discharge protection module are also provided in the power-off protection circuit, so that the power supply status is monitored when the supercapacitor supplies power to the load, and the power supply process is controlled in time, so as to extend the time for the supercapacitor to continue to supply power to the system as a backup power supply as much as possible, and prevent the influence of the supercapacitor failure on the load power supply, and suppress the problem of output oscillation of the supercapacitor power supply circuit.

[0054] According to the fourth aspect of the present application, a power-off protection device is proposed, the power-off protection device includes a processor and a memory, the memory stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the power-off protection method in any of the above technical solutions are implemented. Therefore, the power-off protection device has all the beneficial effects of the power-off protection method in any of the above technical solutions, which will not be repeated here.

[0055] According to the fifth aspect of the present application, a readable storage medium is proposed, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the power-off protection method in any of the above-mentioned technical solutions are implemented, thereby having all the beneficial technical effects of the power-off protection method in any of the above-mentioned technical solutions.

[0056] According to the sixth aspect of the present application, a robot is proposed, comprising: a power-off protection circuit as in any of the above-mentioned technical solutions, and / or a power-off protection device as in any of the above-mentioned technical solutions, and / or a readable storage medium as in any of the above-mentioned technical solutions, and thus has all the beneficial technical effects of the power-off protection circuit as in any of the above-mentioned technical solutions, and / or the power-off protection device as in any of the above-mentioned technical solutions, and / or the readable storage medium as in any of the above-mentioned technical solutions, and no further details will be given here.

[0057] Additional aspects and advantages of the present application will become apparent in the following description or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0059] Figure 1 A circuit topology diagram of a power-off protection circuit provided in some embodiments of the present application is shown;

[0060] Figure 2 A flow chart of a power-off protection method is shown in some embodiments of the present application;

[0061] Figure 3 One of the structural block diagrams of a power-off protection device provided in some embodiments of the present application is shown;

[0062] Figure 4 A second structural block diagram of a power-off protection device is shown in some embodiments of the present application;

[0063] Figure 5 A structural block diagram of a robot provided in some embodiments of the present application is shown.

[0064] The reference numerals are as follows:

[0065] 100 power-off protection circuit, 110 super capacitor, 120 charge and discharge control module, 130 discharge protection module, 140 sampling module, 142 undervoltage monitoring submodule, 144 fault detection submodule, 146 discharge detection submodule, 152 first reverse blocking module, 154 second reverse blocking module, 160 power supply bus, 170 load. DETAILED DESCRIPTION

[0066] In order to more clearly understand the above-mentioned objectives, features and advantages of the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, in the absence of conflict, the present embodiment and the features in the embodiment can be combined with each other.

[0067] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0068] Refer to the following Figures 1 to 5 The present invention describes a power-off protection circuit, method, device, storage medium and robot according to some embodiments of the present application.

[0069] According to one embodiment of the present application, Figure 1 A circuit topology diagram of a power-off protection circuit provided in some embodiments of the present application is shown. Figure 1As shown, a power-off protection circuit 100 is proposed, including: a super capacitor 110, a charge and discharge control module 120, a discharge protection module 130 and a sampling module 140. Among them, the first end of the charge and discharge control module 120 is electrically connected to the super capacitor 110, and the second end of the charge and discharge control module 120 is electrically connected to the power supply bus 160. The charge and discharge control module 120 is used to output a first power supply signal when the power supply bus 160 is powered off. The first power supply signal includes a voltage signal output by the super capacitor 110; the first end of the discharge protection module 130 is electrically connected to the second end of the charge and discharge control module 120, and the second end of the discharge protection module 130 is used to output the first power supply signal to the load 170; the sampling module 140 is used to collect fault monitoring signals, and the signal output end of the sampling module 140 is electrically connected to the signal input end of the discharge protection module; wherein the discharge protection module 130 controls the on-off state between the charge and discharge control module 120 and the load 170 according to the fault monitoring signal.

[0070] In this embodiment, the power-off protection circuit 100 is used to use the supercapacitor 110 as a backup power supply to power the load 170 when the load 170 loses power, and to provide protection during the process of the supercapacitor 110 supplying power to the load 170. Specifically, when the power supply bus 160 is not in a power-off state, the power supply bus 160 can continue to supply power to the load 170, and the voltage signal of the power supply bus 160 can be transmitted to the supercapacitor 110 through the charge and discharge control module 120, that is, the supercapacitor 110 is powered by the voltage signal of the power supply bus 160. It should be noted that the supercapacitor 110 is an electrochemical element that stores energy through a polarized electrolyte, and the energy storage process is reversible. Therefore, when the power supply bus 160 is not powered off, the power supply bus 160 can simultaneously supply power to the load 170 and charge the supercapacitor 110.

[0071] Exemplarily, the load 170 includes a controller in a robot control system. The power supply bus 160 supplies power to the controller when power is not lost. When the power supply bus 160 loses power, the controller is powered by the supercapacitor 110 in the power-off protection circuit 100, so that the controller can store field data when the power supply bus 160 loses power.

[0072] In this embodiment, the power-off protection circuit 100 includes a charge-discharge control module 120, which can control the charge-discharge state of the supercapacitor 110. Specifically, when the power supply bus 160 is not powered off, the charge-discharge control module 120 can transmit the electric energy of the power supply bus 160 to the supercapacitor 110 to charge the supercapacitor 110. When the power supply bus 160 is in a power-off state, the charge-discharge control module 120 outputs the voltage signal on the supercapacitor 110 in the form of a switching power supply as a first power supply signal, and the first power supply signal can power the load 170 in the subsequent circuit.

[0073] Exemplarily, the charge and discharge control module 120 includes a charge and discharge control chip, and based on the charge and discharge control chip, the super capacitor 110 is switched between a discharge state and a charge state.

[0074] In this embodiment, the power-off protection circuit 100 further includes a sampling module 140 and a discharge protection module 130. The sampling module 140 can obtain a fault monitoring signal, and the fault monitoring signal can reflect whether there is a fault when the super capacitor 110 supplies power to the load 170. The discharge protection module 130 is connected between the charge and discharge control module 120 and the load 170. The discharge protection module 130 can control the on-off state of the path between the charge and discharge control module 120 and the load 170 according to the fault monitoring signal obtained by the sampling module 140.

[0075] Specifically, when the discharge protection module 130 determines that there is a fault when the supercapacitor 110 supplies power to the subsequent load 170 based on the acquired fault monitoring signal, the discharge protection module 130 cuts off the path between the charge and discharge control module 120 and the load 170, so that the first power supply signal output by the charge and discharge control module 120 will not be transmitted to the load 170, thereby avoiding the fault caused by continuing to supply power to the load 170 in a faulty state.

[0076] Exemplarily, the sampling circuit can transmit a fault monitoring signal to the discharge protection module 130 when there is undervoltage, overvoltage, overcurrent or other problems in the output voltage of the supercapacitor 110, so that the discharge protection module 130 cuts off the power supply of the supercapacitor 110 to the load 170, thereby avoiding failure of the load 170 caused by problems with the output voltage of the supercapacitor 110.

[0077] In the related art, there is a method of delaying a period of time after the backup power supply is turned off to supply power to the load 170. This method cannot guarantee the effect of the backup power supply to the load 170 during the power supply time. For example, the backup power supply itself is not fully charged, resulting in the power supply time being less than the delay time, and the backup power supply has problems such as undervoltage, overvoltage, overcurrent, etc. before the delay.

[0078] In the embodiment of the present application, by setting the super capacitor 110 and the charge and discharge control module 120 in the power failure protection circuit 100, the load 170 can obtain power from the super capacitor 110 and the charge and discharge control module 120 when the power supply bus 160 is powered off, thereby avoiding problems such as data loss caused by the power failure of the load 170. In addition, a sampling module 140 and a discharge protection module 130 are also set in the power failure protection circuit 100, so that the power supply state is monitored when the super capacitor 110 supplies power to the load 170, and the power supply process is controlled in time, so as to extend the time that the super capacitor 110 can continue to supply power to the system as a backup power supply as much as possible, and prevent the influence of the super capacitor 110 failure on the power supply of the load 170, and suppress the problem of output oscillation of the super capacitor 110 power supply circuit, thereby improving the stability of the power supply.

[0079] like Figure 1 As shown, in some embodiments, optionally, the sampling module 140 includes:

[0080] An undervoltage monitoring submodule 142, a sampling end of the undervoltage monitoring submodule 142 is electrically connected to the supercapacitor 110, a signal output end of the undervoltage monitoring submodule 142 is electrically connected to the discharge protection module 130, and the undervoltage monitoring submodule 142 is used to output an undervoltage signal to the discharge protection module 130 when it is detected that the discharge voltage of the supercapacitor 110 is lower than the first voltage threshold; wherein, when the discharge protection module 130 receives the undervoltage signal, it controls the charge and discharge control module 120 and the load 170 to be in an open circuit state.

[0081] In this embodiment, the sampling module 140 includes an undervoltage monitoring submodule 142, which is electrically connected to the supercapacitor 110 and can collect the discharge voltage of the supercapacitor 110 when the supercapacitor 110 supplies power to the load 170. And the collected discharge voltage is compared with the first voltage threshold. When the discharge voltage is lower than the first voltage threshold, it is determined that the supercapacitor 110 is in an undervoltage state. At this time, the undervoltage monitoring submodule 142 transmits an undervoltage signal to the discharge protection module 130. When the discharge protection module 130 receives the undervoltage signal transmitted by the undervoltage monitoring submodule 142, the path between the charge and discharge control module 120 and the load 170 is switched to an open circuit state, so that the first power supply signal output by the supercapacitor 110 and the charge and discharge control module 120 stops transmitting to the load 170, effectively avoiding the failure of the load 170 caused by the supercapacitor 110 supplying power to the load 170 when the supercapacitor 110 is undervoltage.

[0082] Exemplarily, the undervoltage monitoring submodule 142 includes a comparison circuit, through which the discharge voltage of the supercapacitor 110 can be numerically compared with the first voltage threshold, and the comparison circuit can transmit an undervoltage signal to the discharge protection module 130 when the discharge voltage is less than the first voltage threshold.

[0083] Specifically, the undervoltage monitoring submodule 142 is used to perform undervoltage protection on the supercapacitor 110. When the discharge voltage of the supercapacitor 110 is lower than the first voltage threshold, it is determined that the voltage on the supercapacitor 110 cannot continue to supply power to the load 170 in the form of a switching power supply for a long time. At this time, in order to avoid the unstable power supply voltage from adversely affecting the load 170, the discharge protection module 130 switches the power supply of the supercapacitor 110 to the load 170.

[0084] In the embodiment of the present application, by setting an undervoltage monitoring submodule 142 in the sampling module 140, the discharge voltage of the supercapacitor 110 can be monitored. When the supercapacitor 110 is in an undervoltage state, the power supply to the load 170 through the supercapacitor 110 is stopped, thereby improving the stability of the supercapacitor 110 serving as a backup power supply to the load 170.

[0085] like Figure 1 As shown, in some embodiments, optionally, the sampling module 140 includes:

[0086] The fault detection submodule 144 is electrically connected to the load 170 , and a signal output end of the fault detection submodule 144 is electrically connected to the discharge protection module 130 . The fault detection submodule 144 is used to output a load fault signal to the discharge protection module 130 when the load 170 is in a fault state.

[0087] In this embodiment, the sampling module 140 includes a fault detection submodule 144, which is electrically connected to the load 170. The fault detection submodule can detect whether the load 170 is in a fault state. When the fault detection submodule detects that the load 170 is in a fault state, it can transmit a load fault signal to the discharge protection module 130. It should be noted that after receiving the load fault signal, the discharge protection module 130 can determine whether it is necessary to stop the super capacitor 110 from supplying power to the load 170 according to the load fault signal.

[0088] Specifically, the fault detection submodule 144 includes a voltage detection circuit in the subsequent system where the load 170 is located. The voltage signal of the super capacitor 110 outputs a first power supply signal in the form of a switching power supply through the charge and discharge management module, and the first power supply signal is transmitted to the subsequent system where the load 170 is located to power the load 170. When the output voltage of the first power supply signal oscillates due to various potential faults, the voltage detection circuit can detect the abnormality and transmit the load fault signal to the discharge protection module 130. After receiving the load fault signal, the discharge protection module 130 can choose whether to cut off the power supply of the super capacitor 110 to the load 170 according to the load fault signal.

[0089] Exemplarily, when the discharge protection module 130 determines that the load 170 is being powered by the first power supply signal output by the supercapacitor 110 and receives the load fault signal transmitted by the fault detection submodule 144, it cuts off the path between the supercapacitor 110 and the load 170, and stops supplying power to the load 170 through the supercapacitor 110. When the discharge protection module 130 determines that the load 170 is being powered by the second power supply signal output by the power supply bus 160 and receives the load fault signal transmitted by the fault detection submodule 144, it determines that the load fault signal is not caused by the power supply of the supercapacitor 110, so there is no need to cut off the path between the supercapacitor 110 and the load 170.

[0090] In the embodiment of the present application, a fault detection submodule 144 is provided in the power-off protection circuit 100, and the fault detection submodule 144 can detect whether the load 170 is in a fault state, and transmit a load fault signal to the discharge protection module 130 when the load 170 is in a fault state, so that the discharge protection module 130 can judge whether to cut off the power supply of the supercapacitor 110 to the load 170 based on the load fault signal, thereby improving the stability and safety of the load 170 supplying power to the supercapacitor 110. Among them, by multiplexing the fault detection circuit in the subsequent system where the load 170 is located as the fault monitoring submodule, the circuit cost of the power-off protection circuit 100 can also be reduced.

[0091] like Figure 1 As shown, in some embodiments, optionally, the sampling module 140 further includes:

[0092] A discharge detection submodule 146, wherein a sampling end of the discharge detection submodule 146 is electrically connected to the supercapacitor 110, and a signal output end of the discharge detection submodule 146 is electrically connected to the discharge protection module 130. The discharge detection submodule 146 is used to output a discharge state signal to the discharge protection module 130 when the supercapacitor 110 is in a discharge state;

[0093] When receiving the discharge state signal and the load fault signal, the discharge protection module 130 controls the circuit between the charge and discharge control module 120 and the load 170 to be in an open circuit state.

[0094] In this embodiment, the sampling module 140 further includes a discharge detection submodule 146, which is electrically connected to the supercapacitor 110. The discharge detection submodule 146 can detect whether the supercapacitor 110 is in a discharge state or a charge state. When the discharge detection submodule 146 detects that the supercapacitor 110 is in a discharge state, a discharge state signal is transmitted to the discharge protection module 130.

[0095] When the discharge protection module 130 obtains the discharge status signal, it can be determined that the load 170 is being powered by the supercapacitor 110. At this time, if the fault detection submodule 144 transmits a load fault signal, it can be determined that the supercapacitor 110 causes the load 170 to fail when supplying power to the load 170. Therefore, the discharge protection module 130 switches the path between the charge and discharge control module 120 and the load 170 to an open circuit state, so that the supercapacitor 110 stops supplying power to the load 170, thereby avoiding the failure of the load 170 caused by the supercapacitor 110 supplying power to the load 170 with an unstable voltage.

[0096] Exemplarily, the fault detection submodule 144 is a voltage detection circuit in the post-stage system where the load 170 is located. The voltage detection circuit will output a low-level signal when the voltage is detected to be abnormal and when the circuit is initialized. The low-level signal is a load fault signal. When the discharge protection module 130 does not receive the discharge state signal and receives a low-level signal as a load fault signal, it is determined that the system is in the initialization state at this time, the supercapacitor 110 is charging, and the load 170 is mainly powered by the power supply bus 160. At this time, there is no need to perform a circuit breaker action. When the discharge protection module 130 receives the discharge state signal and receives a low-level signal as a load fault signal, it is determined that the load 170 is powered by the supercapacitor 110 at this time, and the power supply failure of the load 170 at this time is caused by the supercapacitor 110, so it is necessary to perform a circuit breaker action to prevent the supercapacitor 110 from continuously providing unstable voltage to the load 170 and causing adverse effects on the load 170.

[0097] In the embodiment of the present application, the discharge protection module 130 can determine the discharge state of the supercapacitor 110 through the discharge detection submodule 146, and determine that the supercapacitor 110 is supplying power to the load 170 when receiving the discharge state signal. When the discharge protection module 130 receives the discharge state signal and the load fault signal at the same time, it can determine that the supercapacitor 110 is supplying power to the load 170, and the load 170 is faulty. Since the load 170 will restart repeatedly when it fails, it will further cause problems such as output oscillation, which may cause damage to system components. At this time, the discharge protection module 130 switches the path between the supercapacitor 110 and the load 170, and stops the power supply of the supercapacitor 110 to the load 170 in time, so as to avoid damage to system components when the supercapacitor 110 is powered.

[0098] In some embodiments, the power-off protection circuit 100 may further include: a first reverse blocking module 152 and a second reverse blocking module 154. The first reverse blocking module 152 is connected between the power supply bus 160 and the load 170; the second reverse blocking module 154 is connected between the discharge protection module 130 and the load 170.

[0099] In the embodiment of the present application, a first reverse blocking module 152 and a second reverse blocking module 154 are provided in the power-off protection circuit 100. The first reverse blocking module 152 is provided between the power supply bus 160 and the load 170, and the second reverse blocking module 154 is provided between the supercapacitor 110 and the load 170. This can effectively avoid crosstalk between the power supply bus 160 and the supercapacitor 110 when the power supply bus 160 or the supercapacitor 110 supplies power to the load 170 alone.

[0100] In some embodiments, optionally, the charge and discharge control module includes a charge and discharge module chip, and the charge and discharge control chip is used to switch and control the charging state and the discharge state of the supercapacitor. The discharge protection module includes a discharge protection chip, and the discharge protection chip controls the on-off state of the power supply path for the supercapacitor to supply power to the load, and the second direction blocking module is integrated with the discharge protection module to save the circuit structure. The discharge detection submodule in the sampling circuit includes a discharge detection circuit, and the discharge detection circuit can transmit the discharge state signal to the discharge protection module when the supercapacitor is discharged. The fault detection submodule in the sampling circuit reuses the voltage detection circuit in the subsequent system where the load is located. The undervoltage monitoring submodule in the sampling circuit is a voltage sampling circuit and an undervoltage monitoring chip. The discharge voltage of the supercapacitor can be collected through the voltage sampling circuit, and the discharge voltage is compared with the first voltage threshold through the undervoltage monitoring chip, and the undervoltage signal is transmitted to the discharge protection module when the discharge voltage is less than the first voltage threshold.

[0101] According to one embodiment of the present application, Figure 2A flowchart of a power-off protection method is shown in some embodiments of the present application. Figure 2 As shown, a power-off protection method is proposed, which is applied to the power-off protection circuit in any of the above embodiments. The power-off protection method includes:

[0102] Step 202, when the power supply bus loses power, controlling the charge and discharge control module to output a first power supply signal, where the first power supply signal includes a voltage signal output by the supercapacitor;

[0103] In this embodiment, the power-off protection circuit includes a charge-discharge control module, which can control the charge-discharge state of the supercapacitor. Specifically, when the power supply bus is not powered off, the charge-discharge control module can transmit the power of the power supply bus to the supercapacitor to charge the supercapacitor. When the power supply bus is in a power-off state, the charge-discharge control module outputs the voltage signal on the supercapacitor in the form of a switching power supply as a first power supply signal, and the first power supply signal can power the load in the subsequent circuit.

[0104] Step 204, the sampling module transmits the collected fault monitoring signal to the discharge protection module;

[0105] Step 206 : The discharge protection module controls the on / off state between the charge and discharge control module and the load according to the fault monitoring signal.

[0106] In this embodiment, the power-off protection circuit also includes a sampling module and a discharge protection module. The sampling module can obtain a fault monitoring signal, and the fault monitoring signal can reflect whether there is a fault when the supercapacitor supplies power to the load. The discharge protection module is connected between the charge and discharge control module and the load. The discharge protection module can control the on-off state of the path between the charge and discharge control module and the load according to the fault monitoring signal obtained by the sampling module.

[0107] Specifically, when the discharge protection module determines that there is a fault when the supercapacitor supplies power to the subsequent load based on the acquired fault monitoring signal, the discharge protection module cuts off the path between the charge and discharge control module and the load, so that the first power supply signal output by the charge and discharge control module will not be transmitted to the load, thereby avoiding faults caused by continuing to supply power to the load in a faulty state.

[0108] Exemplarily, the sampling circuit can transmit a fault monitoring signal to the discharge protection module when the supercapacitor output voltage has problems such as undervoltage, overvoltage, overcurrent, etc., so that the discharge protection module cuts off the supercapacitor's power supply to the load, avoiding load failures caused by problems with the supercapacitor output voltage.

[0109] In the embodiment of the present application, by setting a supercapacitor and a charge-discharge control module in the power-off protection circuit, the load can obtain power from the supercapacitor and the charge-discharge control module when the power supply bus loses power, thereby avoiding problems such as data loss caused by load power failure. In addition, a sampling module and a discharge protection module are also set in the power-off protection circuit, so that the power supply status is monitored when the supercapacitor supplies power to the load, and the power supply process is controlled in time, so as to extend the time that the supercapacitor can continue to supply power to the system as a backup power supply as much as possible, and prevent the influence of supercapacitor failure on load power supply, and suppress the problem of output oscillation of the supercapacitor power supply circuit.

[0110] In some embodiments, optionally, the fault monitoring signal includes: an undervoltage signal, the undervoltage signal is used to indicate that the discharge voltage of the supercapacitor is lower than a first voltage threshold;

[0111] The discharge protection module controls the on / off state between the charge and discharge control module and the load according to the fault monitoring signal, including:

[0112] When receiving the undervoltage signal, the discharge protection module controls the charge and discharge control module and the load to be in an open circuit state.

[0113] In this embodiment, the sampling module includes an undervoltage monitoring submodule, which is electrically connected to the supercapacitor and can collect the discharge voltage of the supercapacitor when the supercapacitor supplies power to the load. And the collected discharge voltage is compared with the first voltage threshold. When the discharge voltage is lower than the first voltage threshold, it is determined that the supercapacitor is in an undervoltage state. At this time, the undervoltage monitoring submodule transmits an undervoltage signal to the discharge protection module. When the discharge protection module receives the undervoltage signal transmitted by the undervoltage monitoring submodule, the path between the charge and discharge control module and the load is switched to an open circuit state, so that the first power supply signal output by the supercapacitor and the charge and discharge control module stops transmitting to the load, effectively avoiding the load failure caused by the power supply to the load when the supercapacitor is undervoltage.

[0114] Specifically, the undervoltage monitoring submodule is used to perform undervoltage protection on the supercapacitor. When the discharge voltage of the supercapacitor is lower than the first voltage threshold, it is determined that the voltage on the supercapacitor cannot continue to supply power to the load in the form of a switching power supply for a long time. At this time, in order to avoid the adverse effects of unstable power supply voltage on the load, the supercapacitor is switched to supply power to the load through the discharge protection module.

[0115] In an embodiment of the present application, by setting an undervoltage monitoring submodule in the sampling module, the discharge voltage of the supercapacitor can be monitored. When the supercapacitor is in an undervoltage state, the supercapacitor is stopped from supplying power to the load, thereby improving the stability of the supercapacitor as a backup power supply to the load.

[0116] In some embodiments, optionally, the fault monitoring signal includes: a discharge state signal and a load fault signal, the discharge state signal is used to indicate that the supercapacitor is in a discharge state, and the load fault signal is used to indicate that the load is in a fault state;

[0117] The discharge protection module controls the on / off state between the charge and discharge control module and the load according to the fault monitoring signal, including:

[0118] When receiving the discharge state signal and the load fault signal, the discharge protection module controls the charge and discharge control module and the load to be in an open circuit state.

[0119] In this embodiment, the sampling module includes a fault detection submodule, which is arranged in the load. The fault detection submodule can detect whether the load is in a fault state. When the fault detection submodule detects that the load is in a fault state, it can transmit a load fault signal to the discharge protection module. It should be noted that after receiving the load fault signal, the discharge protection module can determine whether it is necessary to stop the supercapacitor from supplying power to the load according to the load fault signal.

[0120] Specifically, the fault detection submodule includes a voltage detection circuit in the subsequent system where the load is located. The voltage signal of the supercapacitor is output as a first power supply signal in the form of a switching power supply through the charge and discharge management module, and the first power supply signal is transmitted to the subsequent system where the load is located to power the load. When the output voltage of the first power supply signal oscillates due to various potential faults, the voltage detection circuit can detect the abnormality and transmit the load fault signal to the discharge protection module. After receiving the load fault signal, the discharge protection module can choose whether to cut off the power supply of the supercapacitor to the load according to the load fault signal.

[0121] In this embodiment, the sampling module also includes a discharge detection submodule, which is electrically connected to the supercapacitor and can detect whether the supercapacitor is in a discharge state or a charge state. When the discharge detection submodule detects that the supercapacitor is in a discharge state, a discharge state signal is transmitted to the discharge protection module.

[0122] When the discharge protection module obtains the discharge status signal, it can determine that the load is being powered by the supercapacitor. At this time, if the fault detection submodule transmits a load fault signal, it can be determined that the supercapacitor has caused a load fault when supplying power to the load. Therefore, the discharge protection module switches the path between the charge and discharge control module and the load to an open circuit state, so that the supercapacitor stops supplying power to the load, thereby avoiding load failure caused by the supercapacitor supplying power to the load with an unstable voltage.

[0123] In the embodiment of the present application, the discharge protection module can determine the discharge state of the supercapacitor through the discharge detection submodule, and determine that the supercapacitor is supplying power to the load when receiving the discharge state signal. When the discharge protection module receives the discharge state signal and the load fault signal at the same time, it can determine that the supercapacitor is supplying power to the load, and the load is faulty. Since the load will restart repeatedly when it fails, it will further cause problems such as output oscillation, which may cause damage to system components. At this time, the discharge protection module switches the path between the supercapacitor and the load, and stops the supercapacitor from supplying power to the load in time, avoiding damage to system components when the supercapacitor is powered.

[0124] In some embodiments, optionally, the power-off protection method further includes:

[0125] When the power supply bus supplies power to the load, the charge and discharge control module is controlled to output a second power supply signal to the super capacitor, and the second power supply signal is used to charge the super capacitor.

[0126] In this embodiment, when the power supply bus is not in a power-off state, the power supply bus can continue to supply power to the load, and the voltage signal of the power supply bus can be transmitted to the supercapacitor as a second power supply signal through the charge and discharge control module, that is, the supercapacitor is charged by the second power supply signal output by the power supply bus. It should be noted that the supercapacitor is an electrochemical element that stores energy through polarized electrolytes, and the energy storage process is reversible. Therefore, when the power supply bus is not in a power-off state, the power supply bus can simultaneously supply power to the load and charge the supercapacitor.

[0127] In an embodiment of the present application, the charge and discharge control module can control whether the power supply bus charges the supercapacitor. When the power supply bus is not in a power-off state, the supercapacitor is charged through the power supply bus to ensure that the supercapacitor has sufficient power to power the load when the power supply bus is powered off.

[0128] In some embodiments, optionally, when the power supply bus supplies power to the load, after controlling the charge and discharge control module to output the second power supply signal to the supercapacitor, the method further includes:

[0129] When the charging voltage of the super capacitor is greater than the second voltage threshold, the charging and discharging control module stops controlling the output of the second power supply signal to the super capacitor.

[0130] In an embodiment of the present application, the power-off protection circuit can continuously monitor the charging voltage of the supercapacitor. When it is monitored that the charging voltage is greater than the second voltage threshold, it is determined that the supercapacitor has completed charging. At this time, the charge and discharge control module is controlled to stop transmitting the second power supply signal to the supercapacitor, thereby controlling the charging process of the supercapacitor and avoiding the problem of insufficient power in the supercapacitor causing the load to be unable to be effectively powered.

[0131] Exemplarily, the charge and discharge control module includes a voltage sampling circuit, which continuously monitors the charging voltage of the supercapacitor to accurately control whether the supercapacitor is charged through the power supply bus.

[0132] According to one embodiment of the present application, Figure 3 One of the structural block diagrams of a power-off protection device provided in some embodiments of the present application is shown. Figure 3 As shown, a power-off protection device 300 is proposed, which is applied to the power-off protection circuit in any of the above embodiments. The power-off protection device 300 includes:

[0133] The control unit 302 is used to control the charge and discharge control module to output a first power supply signal when the power supply bus loses power, where the first power supply signal includes a voltage signal output by the supercapacitor;

[0134] The transmission unit 304 is used for the sampling module to transmit the collected fault monitoring signal to the discharge protection module;

[0135] The control unit 302 is used for the discharge protection module to control the on-off state between the charge and discharge control module and the load according to the fault monitoring signal.

[0136] In the embodiment of the present application, by setting a supercapacitor and a charge-discharge control module in the power-off protection circuit, the load can obtain power from the supercapacitor and the charge-discharge control module when the power supply bus loses power, thereby avoiding problems such as data loss caused by load power failure. In addition, a sampling module and a discharge protection module are also set in the power-off protection circuit, so that the power supply status is monitored when the supercapacitor supplies power to the load, and the power supply process is controlled in time, so as to extend the time that the supercapacitor can continue to supply power to the system as a backup power supply as much as possible, and prevent the influence of supercapacitor failure on load power supply, and suppress the problem of output oscillation of the supercapacitor power supply circuit.

[0137] In some embodiments, optionally, the fault monitoring signal includes: an undervoltage signal, the undervoltage signal is used to indicate that the discharge voltage of the supercapacitor is lower than a first voltage threshold;

[0138] The control unit 302 is used to control the circuit between the charge and discharge control module and the load to be in an open circuit state when the discharge protection module receives the undervoltage signal.

[0139] In an embodiment of the present application, by setting an undervoltage monitoring submodule in the sampling module, the discharge voltage of the supercapacitor can be monitored. When the supercapacitor is in an undervoltage state, the supercapacitor is stopped from supplying power to the load, thereby improving the stability of the supercapacitor as a backup power supply to the load.

[0140] In some embodiments, optionally, the fault monitoring signal includes: a discharge state signal and a load fault signal, the discharge state signal is used to indicate that the supercapacitor is in a discharge state, and the load fault signal is used to indicate that the load is in a fault state;

[0141] The control unit 302 is used to control the circuit between the charge and discharge control module and the load to be in an open circuit state when the discharge protection module receives the discharge state signal and the load fault signal.

[0142] In the embodiment of the present application, the discharge protection module can determine the discharge state of the supercapacitor through the discharge detection submodule, and determine that the supercapacitor is supplying power to the load when receiving the discharge state signal. When the discharge protection module receives the discharge state signal and the load fault signal at the same time, it can determine that the supercapacitor is supplying power to the load and in reverse, and that the load is faulty. Since the load will restart repeatedly when it fails, it will further cause problems such as output oscillation, which may cause damage to system components. At this time, the discharge protection module switches the path between the supercapacitor and the load, and stops the power supply of the supercapacitor to the load in time, avoiding damage to system components when the supercapacitor is powered.

[0143] In some embodiments, optionally, the control unit 302 is used to control the charge and discharge control module to output a second power supply signal to the supercapacitor when the power supply bus supplies power to the load, and the second power supply signal is used to charge the supercapacitor.

[0144] In an embodiment of the present application, the charge and discharge control module can control whether the power supply bus charges the supercapacitor. When the power supply bus is not in a power-off state, the supercapacitor is charged through the power supply bus to ensure that the supercapacitor has sufficient power to power the load when the power supply bus is powered off.

[0145] In some embodiments, optionally, the control unit 302 is configured to stop controlling the charge and discharge control module to output a second power supply signal to the supercapacitor when the charging voltage of the supercapacitor is greater than a second voltage threshold.

[0146] In an embodiment of the present application, the power-off protection circuit can continuously monitor the charging voltage of the supercapacitor. When it is monitored that the charging voltage is greater than the second voltage threshold, it is determined that the supercapacitor has completed charging. At this time, the charge and discharge control module is controlled to stop transmitting the second power supply signal to the supercapacitor, thereby controlling the charging process of the supercapacitor and avoiding the problem of insufficient power in the supercapacitor causing the load to be unable to be effectively powered.

[0147] According to one embodiment of the present application, Figure 4 FIG. 2 shows a second structural block diagram of a power-off protection device provided in some embodiments of the present application. Figure 4 As shown, the power-off protection device 400 includes a processor 402 and a memory 404. The memory 404 stores a program or instruction. When the program or instruction is executed by the processor 402, the steps of the power-off protection method in any of the above embodiments are implemented. Therefore, the power-off protection device 400 has all the beneficial effects of the power-off protection method in any of the above embodiments, which will not be repeated here.

[0148] According to one embodiment of the present application, optionally, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the power-off protection method in any of the above embodiments are implemented, thereby having all the beneficial technical effects of the power-off protection method in any of the above embodiments.

[0149] The readable storage medium includes a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0150] A computer readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device. A computer readable storage medium may be an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above devices, but is not limited thereto. A non-exhaustive list of more specific examples of computer readable storage media includes: portable computer floppy disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory card, floppy disk, encoding mechanical device (such as a punch card or a groove with a raised structure with instructions recorded) and any suitable combination of the above devices. The computer readable storage medium used herein should not be understood as a transmission signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium, or an electrical signal transmitted through a wire, etc.

[0151] Figure 5 The structure diagram of the robot provided in some embodiments of the present application is shown as follows: Figure 5 As shown, according to one embodiment of the present application, optionally, a robot 500 is provided, including: a power-off protection circuit as in any of the above embodiments, and / or a power-off protection device 300 as in any of the above embodiments, and / or a readable storage medium 502 in any of the above embodiments, and thus has all the beneficial technical effects of the power-off protection device 300 in any of the above embodiments, and / or the readable storage medium 502 in any of the above embodiments, and no further details will be given here.

[0152] In some embodiments, optionally, the robot 500 further includes: a motion mechanism and a controller, wherein the controller is connected to the motion mechanism to control the movement of the motion mechanism; and the power-off protection circuit 100 is connected to the controller.

[0153] It should be clarified that in the claims, specification and drawings of the present application, the term "multiple" refers to two or more than two. Unless otherwise clearly defined, the orientation or position relationship indicated by the terms "upper" and "lower" is based on the orientation or position relationship shown in the drawings, which is only for the purpose of more conveniently describing the present application and making the description process easier, rather than indicating or implying that the device or element referred to must have the specific orientation described, be constructed and operated in a specific orientation, so these descriptions cannot be understood as limitations on the present application; the terms "connect", "install", "fix" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood based on the specific circumstances of the above data.

[0154] In the claims, specification and drawings of the present application, the description of the terms "one embodiment", "some embodiments", "specific embodiments" and the like 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 application. In the claims, specification and drawings of the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0155] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A power-off protection circuit, characterized in that: include: Supercapacitors; A charge and discharge control module, wherein a first end of the charge and discharge control module is electrically connected to the supercapacitor, and a second end of the charge and discharge control module is electrically connected to the power supply bus, and the charge and discharge control module is used to output a first power supply signal when the power supply bus loses power, wherein the first power supply signal includes a voltage signal output by the supercapacitor; a discharge protection module, wherein a first end of the discharge protection module is electrically connected to a second end of the charge and discharge control module, and the second end of the discharge protection module is used to output the first power supply signal to the load; A sampling module, used for collecting fault monitoring signals, wherein a signal output terminal of the sampling module is electrically connected to a signal input terminal of the discharge protection module; Wherein, the discharge protection module controls the on-off state between the charge and discharge control module and the load according to the fault monitoring signal.

2. The power-off protection circuit according to claim 1, characterized in that: The sampling module comprises: an undervoltage monitoring submodule, wherein a sampling end of the undervoltage monitoring submodule is electrically connected to the supercapacitor, a signal output end of the undervoltage monitoring submodule is electrically connected to the discharge protection module, and the undervoltage monitoring submodule is used to output an undervoltage signal to the discharge protection module when detecting that the discharge voltage of the supercapacitor is lower than a first voltage threshold; Wherein, when receiving the undervoltage signal, the discharge protection module controls the circuit between the charge and discharge control module and the load to be in an open circuit state.

3. The power-off protection circuit according to claim 1, characterized in that: The sampling module comprises: A fault detection submodule is electrically connected to the load, a signal output end of the fault detection submodule is electrically connected to the discharge protection module, and the fault detection submodule is used to output a load fault signal to the discharge protection module when the load is in a fault state.

4. The power-off protection circuit according to claim 3, characterized in that: The sampling module also includes: a discharge detection submodule, wherein a sampling end of the discharge detection submodule is electrically connected to the supercapacitor, a signal output end of the discharge detection submodule is electrically connected to the discharge protection module, and the discharge detection submodule is used to output a discharge state signal to the discharge protection module when the supercapacitor is in a discharge state; Wherein, when receiving the discharge state signal and the load fault signal, the discharge protection module controls the circuit between the charge and discharge control module and the load to be in an open circuit state.

5. The power-off protection circuit according to any one of claims 1 to 4, characterized in that: Also includes: A first reverse blocking module is connected between the power supply bus and the load; The second reverse blocking module is connected between the discharge protection module and the load.

6. A power-off protection method, characterized in that: The power-off protection circuit according to any one of claims 1 to 5, wherein the power-off protection method comprises: In the case where the power supply bus loses power, controlling the charge and discharge control module to output a first power supply signal, wherein the first power supply signal includes a voltage signal output by the supercapacitor; The sampling module transmits the collected fault monitoring signal to the discharge protection module; The discharge protection module controls the on-off state between the charge and discharge control module and the load according to the fault monitoring signal.

7. The power-off protection method according to claim 6, characterized in that: The fault monitoring signal includes: an undervoltage signal, the undervoltage signal is used to indicate that the discharge voltage of the supercapacitor is lower than a first voltage threshold; The discharge protection module controls the on / off state between the charge and discharge control module and the load according to the fault monitoring signal, including: When receiving the undervoltage signal, the discharge protection module controls the circuit between the charge and discharge control module and the load to be in an open circuit state.

8. The power-off protection method according to claim 6, characterized in that: The fault monitoring signal includes: a discharge state signal and a load fault signal, wherein the discharge state signal is used to indicate that the supercapacitor is in a discharge state, and the load fault signal is used to indicate that the load is in a fault state; The discharge protection module controls the on / off state between the charge and discharge control module and the load according to the fault monitoring signal, including: When receiving the discharge state signal and the load fault signal, the discharge protection module controls the circuit between the charge and discharge control module and the load to be in an open circuit state.

9. The power-off protection method according to any one of claims 6 to 8, characterized in that: The power-off protection method further comprises: When the power supply bus supplies power to the load, the charge and discharge control module is controlled to output a second power supply signal to the super capacitor, where the second power supply signal is used to charge the super capacitor.

10. The power-off protection method according to claim 9, characterized in that: In the case where the power supply bus supplies power to the load, after controlling the charge and discharge control module to output a second power supply signal to the supercapacitor, the method further includes: When the charging voltage of the super capacitor is greater than a second voltage threshold, stop controlling the charge and discharge control module to transmit the second power supply signal to the super capacitor.

11. A power-off protection device, characterized in that: The power-off protection circuit according to any one of claims 1 to 5, wherein the power-off protection device comprises: A control unit, configured to control the charge and discharge control module to output a first power supply signal when the power supply bus loses power, wherein the first power supply signal includes a voltage signal output by the supercapacitor; A transmission unit, used for transmitting the collected fault monitoring signal to the discharge protection module; The control unit is further used to control the on-off state between the charge and discharge control module and the load according to the fault monitoring signal.

12. A power-off protection device, characterized in that: include: processor; A memory, wherein a program or instruction is stored in the memory, and the processor implements the steps of the power-off protection method according to any one of claims 6 to 10 when executing the program or instruction in the memory.

13. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the power-off protection method according to any one of claims 6 to 10 are implemented.

14. A robot, characterized in that: include: The power-off protection circuit according to any one of claims 1 to 5; and / or The power-off protection device according to claim 11 or 12; and / or The readable storage medium as claimed in claim 13.

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