High-reliability redundancy protection type execution control circuit for specialized robot

Abstract

The invention discloses a high-reliability redundancy protection type execution control circuit for a specialized robot, and relates to the field of robot control. The high-reliability redundancy protection type execution control circuit for the specialized robot comprises a power supply unit, a control unit, a communication unit, an execution unit and a signal acquisition unit. According to the high-reliability redundancy protection type execution control circuit for the specialized robot, five-level safety protection measures and multiple isolation measures are adopted, and a protection system is constructed from multiple dimensions of power supply, insurance, loads, control switches and the like; and meanwhile, full-process state monitoring, accurate fault type identification and pop-up prompt are realized through the signal acquisition unit, so that the troubleshooting difficulty of operators is greatly reduced, and the reliability requirement of high-risk tasks of specialized robots is met.

Description

Technical Field

[0001] This invention relates to the field of robot control, and in particular to a highly reliable redundant protective execution control circuit for special robots. Background Technology

[0002] In extreme and high-risk scenarios such as engineering blasting and fire rescue, special robots need to perform critical tasks. The equipment they carry often has a high risk factor, placing stringent demands on the anti-interference capabilities, environmental adaptability, fault safety monitoring capabilities, and precise control capabilities of their control circuits. Traditional control circuits, as the core components for triggering special robot equipment, have many technical shortcomings:

[0003] Traditional control circuits only have the basic function of powering on and off the load. There is no electrical isolation design between the control unit and the execution unit, making them susceptible to external interference. There are no short-circuit protection measures at both ends of the load, and stray currents, static electricity and other factors can easily cause false triggering, leading to unexpected equipment startup and safety accidents. At the same time, traditional control circuits lack load status monitoring functions. When the load has faults such as short circuits, open circuits or poor contact, the fault type cannot be identified in time, making it difficult for operators to troubleshoot the cause of the fault.

[0004] Furthermore, traditional control circuits have limited reliability. When special robots perform high-risk tasks such as bomb disposal and demolition, if the control circuit fails to act as intended, operators cannot quickly determine the root cause of the fault, greatly increasing the difficulty of troubleshooting and posing a serious threat to the safety of operators. They also lack sufficient safety, lacking effective protection against stray currents and electrostatic discharge, as well as advanced safety logic such as multi-authorization verification. In addition, they have poor flexibility, as control commands cannot be terminated midway once triggered. If an emergency occurs, the equipment cannot be stopped in time, further increasing the risk. Summary of the Invention

[0005] The purpose of this invention is to provide a highly reliable redundant protective execution control circuit for special robots, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a highly reliable redundant protection execution control circuit for special robots, comprising a power supply unit, a control unit, a communication unit, an execution unit, and a signal acquisition unit;

[0007] The power supply unit is electrically connected to the control unit, communication unit, execution unit, and signal acquisition unit respectively, and is used to provide working power.

[0008] The control unit is electrically connected to the communication unit, the execution unit, and the signal acquisition unit, respectively, and is used to receive instructions and perform decision coordination.

[0009] The communication unit is used to receive control commands issued by the robot and upload the operating status of the control circuit; the execution unit is used to implement power supply control of the load;

[0010] The signal acquisition unit is used to detect various working status signals and feed them back to the control unit;

[0011] The control circuit achieves safe and controllable triggering of the load through a multi-level safety protection mechanism. The multi-level safety protection mechanism includes power supply control, mechanical isolation triggering, fuse verification, load short circuit protection, and electrical isolation switch control. Each level of protection triggering must meet preset logic conditions. If any link detects an abnormality, the circuit will exit the working mode and reset the control switch.

[0012] Preferably, the power supply unit includes a system unit power supply and an execution unit power supply, which are electrically isolated from each other through an isolation power supply module;

[0013] The system unit power supply provides power to the control unit and the communication unit, and the execution unit power supply provides power to the execution unit and the signal acquisition unit; the execution unit power supply is controlled to be turned on through the EN pin of the isolated power module and remains off when not in a task state.

[0014] Preferably, the control logic of the control unit includes:

[0015] After receiving the command to enter the preparatory mode, the power supply output of the execution unit is enabled to output +12V voltage. The voltage output status is judged by the power supply voltage detection circuit of the execution unit. If there is an abnormality, an abnormal command is sent to the robot and a pop-up window is displayed.

[0016] When the voltage output is normal, the fuse pin status detection circuit detects whether the fuse pin has been pulled out. If it has not been pulled out, a command is sent to the robot and a pop-up window is displayed.

[0017] After the safety pin is pulled out, the drive relay connects the load to the control circuit. The load resistance detection circuit detects whether the load is short-circuited or open-circuited. If an abnormality is detected, the corresponding fault command is sent to the robot and a pop-up window is displayed.

[0018] When there is no alarm pop-up, a 10-second countdown will start automatically. If the start button is pressed during the countdown, the countdown will continue according to the preset delay start time of 0 to 60 seconds. After the countdown ends, the control unit will supply power to the load. If the start button is not pressed within 10 seconds, the standby mode will be exited and the control switch will be reset.

[0019] During the delayed start countdown, if a stop command is received, all control switches will be reset and the system will exit standby mode.

[0020] Preferably, the execution unit includes an electromagnet switch assembly, a fuse switch assembly, a relay switch assembly, and an electronic switch assembly;

[0021] The electromagnet switch assembly consists of an electromagnet and a normally open micro switch. When the electromagnet coil is energized, the push rod extends to trigger the micro switch to close, thereby achieving physical isolation between the control end and the controlled end.

[0022] The safety switch assembly consists of a safety pin and a normally closed micro switch. When the safety pin is inserted, the micro switch is open, and when it is pulled out, the micro switch is open.

[0023] The relay switch assembly uses a double-pole double-throw relay, which short-circuits the load by default.

[0024] The electronic switching assembly includes an N-channel MOSFET and an opto-isolator to achieve electrical isolation between the power supply to the system unit and the power supply to the execution unit.

[0025] Preferably, the communication unit adopts a question-and-answer CAN bus communication, and the CAN communication frame ID is a standard ID plus the node address ID;

[0026] The robot's main controller sends a sensor status query command every 100 milliseconds. The control commands include a pre-mode entry command, a start command, a stop command, and a sensor status query command.

[0027] The communication protocol format is 8 bytes. Byte 0 is the instruction code, bytes 1 to 6 are the data segments, and byte 7 is the check bit, which is the sum of bytes 0 to 6.

[0028] Preferably, the detection content of the signal acquisition unit includes the power supply voltage status of the execution unit, the status of the fuse switch, the status of the electromagnet switch, and the load status, wherein the load status includes normal, short circuit, and open circuit.

[0029] Preferably, the multi-level security protection mechanism is a five-level security protection measure, and the triggering logic is as follows:

[0030] Upon receiving the command to enter standby mode, the power supply to the execution unit is turned on. The power supply voltage status of the execution unit is checked. The status of the fuse is checked. The relay is opened to connect the load to the control circuit. The load status is checked.

[0031] If any detection step is abnormal, the system will automatically exit the standby mode and reset the control switch. The fault priority is: abnormal power supply output of the execution unit is higher than the fuse not being pulled out, the fuse not being pulled out is higher than the load short circuit, and the load short circuit is higher than the load open circuit.

[0032] After the start-up operation is performed without any faults, the delayed start-up countdown ends, and the electromagnet switch assembly and electronic switch assembly are simultaneously turned on to supply power to the load.

[0033] Preferably, each of the five levels of safety protection measures employs isolation methods, including mechanical isolation, electromagnetic isolation, and photoelectric isolation.

[0034] Preferably, the control circuit adopts a modular design and communicates with the special robot's mobile platform via a CAN bus.

[0035] The technical effects and advantages of this invention are as follows:

[0036] 1. This highly reliable redundant protective execution control circuit for special robots adopts five-level safety protection measures and multiple isolation methods to build a protection system from multiple dimensions such as power supply, fuse, load, and control switch; at the same time, it realizes full-process status monitoring through signal acquisition unit, accurately identifies fault types and pops up prompts, which greatly reduces the difficulty of fault diagnosis for operators and meets the reliability requirements of high-risk tasks of special robots.

[0037] 2. This highly reliable redundant protective execution control circuit for special robots shuts off the power supply to the execution unit when it is not in a task-oriented state, and the relays are short-circuited by default to avoid false triggering caused by stray current and static electricity; the linkage design of the fuse and multi-level switches forms multiple authorization verifications, and any abnormality in any link will immediately activate the protection process to prevent safety accidents from the source. Attached Figure Description

[0038] Figure 1 This is a block diagram of the overall structure of the control circuit of the present invention;

[0039] Figure 2 This is a schematic diagram of the power supply unit of the present invention;

[0040] Figure 3 This is a schematic diagram of the power supply isolation circuit between the system unit power supply and the execution unit power supply of the present invention;

[0041] Figure 4 This is a schematic diagram of the main components of the control unit of the present invention;

[0042] Figure 5 This is a schematic diagram of the execution unit composition of the present invention;

[0043] Figure 6 This is a schematic diagram of the electromagnet driving a micro switch (normally open type) according to the present invention;

[0044] Figure 7 This is a schematic diagram showing the state of the micro switch (normally closed type) when the safety pin of the present invention is pulled out.

[0045] In the diagram: 1. Power supply unit; 11. System unit power supply; 12. Execution unit power supply; 13. Isolated power supply module; 2. Control unit; 3. Communication unit; 4. Execution unit; 41. Electromagnetic switch assembly; 42. Fuse switch assembly; 43. Relay switch assembly; 44. Electronic switch assembly; 5. Signal acquisition unit. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] This invention provides, for example Figures 1-7 The high-reliability redundant protection execution control circuit for special robots shown includes a power supply unit 1, a control unit 2, a communication unit 3, an execution unit 4, and a signal acquisition unit 5.

[0048] Power supply unit 1 is electrically connected to control unit 2, communication unit 3, execution unit 4, and signal acquisition unit 5 respectively, and is used to provide working power.

[0049] The control unit 2 is electrically connected to the communication unit 3, the execution unit 4, and the signal acquisition unit 5 respectively, and is used to receive instructions and perform decision coordination.

[0050] Communication unit 3 is used to receive control commands issued by the robot and upload the operating status of the control circuit; execution unit 4 is used to implement power supply control of the load;

[0051] Signal acquisition unit 5 is used to detect various working status signals and feed them back to control unit 2;

[0052] The control circuit achieves safe and controllable triggering of the load through a multi-level safety protection mechanism, which includes power supply control, mechanical isolation triggering, fuse verification, load short circuit protection, and electrical isolation switch control. Each level of protection triggering must meet preset logic conditions. If any link detects an abnormality, the circuit will exit the working mode and reset the control switch.

[0053] like Figure 1 As shown, the control circuit includes a power supply unit 1, a control unit 2, a communication unit 3, an execution unit 4, and a signal acquisition unit 5. The connection relationship and core functions of each unit are as follows:

[0054] Power supply unit 1 is electrically connected to control unit 2, communication unit 3, execution unit 4, and signal acquisition unit 5 respectively. Its core function is to provide a stable power supply for each unit and ensure stable operation of the entire circuit.

[0055] The control unit 2 is electrically connected to the communication unit 3, the execution unit 4, and the signal acquisition unit 5, respectively, and is responsible for receiving instructions and executing the highest-level decision-making and coordination.

[0056] Communication unit 3 serves as an information transmission carrier, specifically designed to receive control commands issued by the robot and upload the working status of the control circuit in real time, thereby enabling two-way information interaction.

[0057] As the core execution component, execution unit 4 directly realizes the power supply control of the load and completes the safe triggering of the equipment;

[0058] Signal acquisition unit 5 focuses on detecting various working status signals and feeding back the detection results to control unit 2 in real time, providing accurate data support for control unit 2's decision-making.

[0059] The core protection mechanism of this control circuit is a multi-level safety protection mechanism, which includes five dimensions: power supply control, mechanical isolation triggering, fuse verification, load short circuit protection, and electrical isolation switch control. Each level of protection triggering must meet preset logic conditions: only when the previous level of protection verification is passed can the next level of protection process be entered; if any link detects an abnormality, the control circuit immediately exits the current working mode and resets all control switches, eliminating safety risks from the source.

[0060] Furthermore, the power supply unit 1 includes a system unit power supply 11 and an execution unit power supply 12, which are electrically isolated from each other through an isolation power supply module 13;

[0061] System unit power supply 11 supplies power to control unit 2 and communication unit 3, and execution unit power supply 12 supplies power to execution unit 4 and signal acquisition unit 5; execution unit power supply 12 is turned on by the EN pin of isolation power module 13 and remains off in non-task state.

[0062] like Figure 2 and Figure 3 As shown, the power supply unit 1 specifically includes two parts: the system unit power supply 11 and the execution unit power supply 12. The two are strictly electrically isolated through the isolation power module 13, which completely avoids electromagnetic interference between the two power supply circuits and ensures power supply stability.

[0063] The system unit power supply 11 supplies power to the control unit 2 and the communication unit 3, ensuring the continuous and stable operation of the control core and the communication link; the execution unit power supply 12 supplies power to the execution unit 4 and the signal acquisition unit 5, providing sufficient energy support for load triggering and status detection.

[0064] The start-up method of the execution unit power supply 12 is a controlled design: it is controlled by the EN pin of the isolated power supply module 13. The power supply will only be started according to the instruction of the control unit 2 when the special robot is performing a task. In the non-task state, the execution unit power supply 12 remains in the off state, avoiding the risk of accidental triggering in the non-working state from the power supply head, and ensuring absolute safety in the non-task state.

[0065] Furthermore, the control logic of control unit 2 includes:

[0066] After receiving the command to enter the preparatory mode, the power supply 12 of the execution unit is enabled to output +12V voltage. The voltage output status is judged by the voltage detection circuit of the power supply 12 of the execution unit. If there is an abnormality, an abnormal command is sent to the robot and a pop-up window is displayed.

[0067] When the voltage output is normal, the fuse pin status detection circuit detects whether the fuse pin has been pulled out. If it has not been pulled out, a command is sent to the robot and a pop-up window is displayed.

[0068] After the safety pin is pulled out, the drive relay connects the load to the control circuit. The load resistance detection circuit detects whether the load is short-circuited or open-circuited. If an abnormality is detected, the corresponding fault command is sent to the robot and a pop-up window is displayed.

[0069] When there is no alarm pop-up, a 10-second countdown will start automatically. If the start button is pressed during the countdown, the countdown will continue according to the preset delay start time of 0 to 60 seconds. After the countdown ends, the control execution unit 4 will supply power to the load. If the start button is not pressed within 10 seconds, the standby mode will be exited and the control switch will be reset.

[0070] During the delayed start countdown, if a stop command is received, all control switches will be reset and the system will exit standby mode.

[0071] The control logic of control unit 2 strictly follows the preset process, and each action is bound to safety verification, as follows:

[0072] After receiving the command to enter the preparatory mode through the communication unit 3, the control unit 2 first enables the power supply 12 of the execution unit to output +12V voltage. At the same time, it uses the core component of the voltage detection circuit signal acquisition unit 5 of the execution unit power supply 12 to determine whether the +12V voltage output is normal. If the voltage output is abnormal, the control unit 2 immediately sends a "+12V voltage output status abnormal" command to the robot. The robot will then display a pop-up prompt through the remote control. The operator needs to troubleshoot the power supply fault and re-trigger the command.

[0073] If the +12V voltage output is normal, the control unit 2 continues to detect whether the safety pin has been removed through the safety pin status detection circuit; if the safety pin has not been removed, the control unit 2 sends a "safety pin not removed" command to the robot, and the remote control pops up a prompt. The process can only continue after the operator removes the safety pin.

[0074] After the safety pin is pulled out, the control unit 2 drives the relay to disconnect the load terminals and connect to the control circuit. Then, the load resistance detection circuit detects whether the current load is in a short circuit or open circuit state. If the load is faulty, the control unit 2 sends the corresponding fault type command to the robot, and the remote control pops up a window to indicate the fault type. The operator needs to troubleshoot the load fault.

[0075] If the robot does not display any alarm pop-up after receiving the command to enter the preparatory mode, indicating that all previous checks were normal, the control unit 2 will automatically start a 10-second countdown. If the operator presses the start button within 10 seconds, the control unit 2 will continue the countdown according to the preset delay start time of 10 seconds (within the range of 0-60 seconds). After the countdown ends, the control execution unit 4 will supply power to the load. If the start button is not pressed within 10 seconds, the system will automatically exit the preparatory mode and reset all control switches, requiring a new command to re-enter the preparatory mode.

[0076] If the control circuit is in the delayed start countdown phase, the operator can send a "stop command" via remote control. Upon receiving the command, control unit 2 will immediately reset all control switches and exit the standby mode, thereby terminating the task midway and improving system flexibility.

[0077] Figure 4 As the main component of control unit 2, it consists of a microprocessor, an electromagnet coil, a relay coil, and an opto-isolator. Its core function is to convert the raw sensor signals acquired by signal acquisition unit 5 and the external commands received by communication unit 3 into precise execution control signals.

[0078] Furthermore, the execution unit 4 includes an electromagnet switch assembly 41, a fuse switch assembly 42, a relay switch assembly 43, and an electronic switch assembly 44;

[0079] The electromagnet switch assembly 41 consists of an electromagnet and a normally open micro switch. When the electromagnet coil is energized, the push rod extends to trigger the micro switch to close, thereby achieving physical isolation between the control end and the controlled end.

[0080] The safety switch assembly 42 consists of a safety pin and a normally closed micro switch. When the safety pin is inserted, the micro switch is open, and when it is pulled out, the micro switch is open.

[0081] The relay switch assembly 43 uses a double-pole double-throw relay, which short-circuits the load by default.

[0082] The electronic switching assembly 44 includes an N-channel field-effect transistor and an opto-isolator to achieve electrical isolation between the system unit power supply 11 and the execution unit power supply 12.

[0083] like Figure 5 As shown, the execution unit 4 consists of four parts: an electromagnet switch assembly 41, a fuse switch assembly 42, a relay switch assembly 43, and an electronic switch assembly 44. The structure and function of each component are as follows:

[0084] Electromagnet switch assembly 41: Composed of an electromagnet and a normally open micro switch; when the electromagnet coil is energized, it generates magnetism, and the push rod extends outward against the spring force, triggering the micro switch to press down, so that the micro switch conducts to the external lead; through the combination of electromagnet and micro switch, physical isolation between the control end and the controlled end is achieved, avoiding the interference risk caused by direct electrical connection;

[0085] Safety switch assembly 42: Composed of a safety pin and a normally closed micro switch; when the safety pin is inserted, it triggers the micro switch to press down, disconnecting the external lead and providing a safety lock function; when the safety pin is pulled out, the micro switch pops open, connecting the external lead and releasing the lock state, such as... Figure 7 As shown;

[0086] Relay switch assembly 43: It adopts a double-pole double-throw relay, which short-circuits the load by switching in the default state; this design can effectively resist false triggering caused by stray current and static electricity, and is the most basic and critical link in the multiple safety protections, ensuring the extreme safety of special robots during storage, transportation and task execution.

[0087] Electronic switch assembly 44: Composed of an N-channel MOSFET and an opto-isolator; the opto-isolator achieves absolute electrical isolation between the system unit power supply 11 and the execution unit power supply 12, and works in conjunction with other control switches to further improve the circuit safety level.

[0088] Figure 6 This is a schematic diagram of the operation of a normally open micro switch driven by an electromagnet. The left side is the electromagnet, and the right side is the micro switch. When the electromagnet is energized, the push rod extends in the direction of the arrow, triggering the micro switch to close and conduct.

[0089] Furthermore, communication unit 3 adopts a question-and-answer CAN bus communication, and the CAN communication frame ID is the standard ID plus the node address ID;

[0090] The robot's main controller sends a query sensor status command every 100 milliseconds. The control commands include commands to enter the preparatory mode, start, stop, and query sensor status.

[0091] The communication protocol format is 8 bytes. Byte 0 is the instruction code, bytes 1 to 6 are the data segments, and byte 7 is the check bit, which is the sum of bytes 0 to 6.

[0092] Communication unit 3 adopts a question-and-answer CAN bus communication mode. The CAN communication frame ID is a standard ID + node address ID, which ensures the uniqueness of communication and anti-interference, and is suitable for complex electromagnetic environments in high-risk scenarios.

[0093] The communication commands and data transmission rules are as follows:

[0094] The robot's main controller sends a sensor status query command every 100 milliseconds to obtain the working status of the control circuit in real time. The robot's main controller only issues corresponding control commands, including commands to enter the preparatory mode, start, stop, and query sensor status, when the operator controls the robot via remote control.

[0095] The communication protocol format is 8 bytes, where byte 0 is the instruction code, bytes 1 to 6 are the data segments, and byte 7 is the check bit. The check bit value is the sum of all bytes from byte 0 to byte 6, ensuring the integrity and accuracy of the communication data and avoiding misoperation caused by data transmission errors.

[0096] The specific parameters of the communication data are shown in Table 1, covering core parameters such as working mode, delayed start time, fault type, working voltage status of execution unit 4, load working status, fuse pin status, and electromagnet control switch status. The value range, default value and meaning of each parameter are clearly defined to ensure the consistency of data interaction.

[0097] The communication data in Table 1 is explained below:

[0098] Serial Number Parameter name default value scope Data types Remark 1 Work mode 00 H(00-FF) Uint8_t (8-bit unsigned integer) BIT1-BIT0:00: Exit preparatory mode; 01: Enter preparatory mode 2 Delayed start time 10 0~60 Uint8_t (8-bit unsigned integer) Unit: seconds 3 Fault type 0 0~4 Uint8_t (8-bit unsigned integer) 0: Normal; 1: Power supply to execution unit 12 output abnormal; 2: Fuse pin not removed; 3: Load short circuit; 4: Load open circuit. 4 Operating voltage status of execution unit (4) 0 0~2 Uint8_t (8-bit unsigned integer) 0: No +12V output; 1: +12V output; 2: Invalid. 5 Load working status 0 0~3 Uint8_t (8-bit unsigned integer) 0: Normal; 1: Short circuit; 2: Open circuit; 3: Invalid 6 Safety pin status 0 0~1 Uint8_t (8-bit unsigned integer) 0: Not pulled out; 1: Pulled out; 2: Invalid 7 Electromagnet controls the switch status 0 0~1 Uint8_t (8-bit unsigned integer) 0: Not engaged; 1: Engaged; 2: Invalid

[0099] Table 2 shows the specific communication protocol format, which clarifies the frame ID, byte allocation, and verification rules for various instructions between the robot master controller A and the control circuit B, ensuring the standardization of bidirectional communication.

[0100] The communication protocol format in Table 2 is shown below:

[0101] equipment name Frame ID Byte 0 Byte 1 2 bytes 3 bytes 4 bytes 5 bytes 6 bytes 7 bytes A (Robot controller) Command to enter preparatory mode 0x380+ node address 0x01 Work mode 0x00 0x00 0x00 0x00 0x00 Checksum B (Control Circuit) Response to the command to enter preparatory mode 0x180+ node address 0x01 Work mode Fault type 0x00 0x00 0x00 0x00 Checksum A (Robot controller) Startup command 0x380+ node address 0x02 Delayed start time 0x00 0x00 0x00 0x00 0x00 Checksum B (Control Circuit) Startup command response 0x180+ node address 0x02 Delayed start time 0x00 0x00 0x00 0x00 0x00 Checksum A (Robot controller) Stop command 0x380+ node address 0x03 0x00 0x00 0x00 0x00 0x00 0x00 Checksum B (Control Circuit) Stop command response 0x180+ node address 0x03 0x00 0x00 0x00 0x00 0x00 0x00 Checksum A (Robot controller) Sensor status commands 0x380+ node address 0x04 0x00 0x00 0x00 0x00 0x00 0x00 Checksum B (Control Circuit) Sensor status command return 0x180+ node address 0x04 Operating voltage status of execution unit 4 Load status Safety pin status Electromagnet controls the switch status Checksum

[0102] Furthermore, the detection content of the signal acquisition unit 5 includes the voltage status of the power supply 12 of the execution unit, the status of the fuse switch, the status of the electromagnet switch, and the load status, including normal, short circuit, and open circuit.

[0103] The core function of signal acquisition unit 5 is to acquire various key status signals in real time, providing data support for the decision-making of control unit 2. Its detection content specifically includes:

[0104] Execution unit power supply 12 voltage status: Detect whether the execution unit power supply 12 outputs a normal +12V voltage;

[0105] Fuse switch status: detects whether the fuse pin is pulled out or not, corresponding to the on / off state of the micro switch;

[0106] Electromagnet switch status: detects the engaged / disengaged state of the electromagnet-controlled switch;

[0107] Load status: accurately determine whether the load is in a normal, short-circuit, or open-circuit state.

[0108] All test results are fed back to control unit 2 in real time, ensuring that control unit 2 can promptly grasp the circuit operating status and respond quickly to faults.

[0109] Furthermore, the multi-level security protection mechanism consists of five levels of security protection measures, with the following triggering logic:

[0110] Upon receiving the command to enter standby mode, turn on the power supply 12 of the execution unit, check the voltage status of the power supply 12 of the execution unit, check the status of the fuse, open the relay to connect the load to the control circuit, and check the load status.

[0111] If any detection step is abnormal, the system will automatically exit the standby mode and reset the control switch. The fault priority is: abnormal power supply 12 output of the execution unit is higher than the fuse not being pulled out, the fuse not being pulled out is higher than the load short circuit, and the load short circuit is higher than the load open circuit.

[0112] After the start-up operation is performed without fault, the delayed start-up countdown ends, and the electromagnet switch assembly 41 and the electronic switch assembly 44 are turned on to supply power to the load.

[0113] The multi-level safety protection mechanism of this control circuit consists of five levels of safety protection measures, with each level of protection progressively stronger than the last. The triggering logic strictly follows the following process:

[0114] Triggering condition: Control unit 2 receives a command to enter pre-mode;

[0115] Level 1 protection power supply control: Turn on the power supply 12 of the execution unit and verify whether the power supply is normal by voltage detection;

[0116] Second-level protection safety verification: Check whether the safety pin has been pulled out and verify whether the safety lock has been released;

[0117] Third-level protection for load short circuit: Open the relay to connect the load to the control circuit, and verify whether the load is normal by load detection;

[0118] Level 4 protection mechanical isolation trigger: The electromagnet switch assembly 41 is activated to achieve a safe connection between the control end and the controlled end through physical isolation;

[0119] Level 5 protection electrical isolation switch control: Start the electronic switch assembly 44 to achieve safe isolation of the power supply circuit through opto-isolation.

[0120] The fault priority of the five-level protection is clearly defined: abnormal output of the power supply unit 12 > fuse not removed > load short circuit > load open circuit; if any detection link is abnormal, the control circuit will automatically exit the standby mode and reset all control switches; if the start operation is not performed after entering the standby mode for 10 seconds, the system will also automatically exit the standby mode and reset the control switches; if there is no fault and the start operation is performed, the delayed start countdown ends, and the fourth and fifth level protections are activated simultaneously to realize load power supply.

[0121] Furthermore, each level of the five-level safety protection measures employs isolation methods, including mechanical isolation, electromagnetic isolation, and photoelectric isolation.

[0122] Each of the five levels of safety protection measures employs corresponding isolation methods to ensure the effectiveness and reliability of the protection:

[0123] Mechanical isolation: Applied to the fourth-level protection electromagnet switch assembly 41, mechanical isolation between the control end and the controlled end is achieved through the physical separation design of the electromagnet and the micro switch;

[0124] Electromagnetic isolation: Applied to the first-level protection power supply unit 1, the electromagnetic isolation between the system unit power supply 11 and the execution unit power supply 12 is achieved through the isolation power supply module 13;

[0125] Opto-isolation: Applied to the fifth-level protection electronic switch assembly 44, it achieves absolute electrical isolation between the system unit power supply 11 and the execution unit power supply 12 through opto-isolation devices.

[0126] Furthermore, the control circuit adopts a modular design and communicates with the special robot's mobile platform via a CAN bus.

[0127] Modular design: This control circuit is an independent functional module and is not directly related to other systems of the special robot. It does not affect the normal operation of other functions of the special robot and is easy to install, maintain and upgrade.

[0128] High accessibility: It communicates with special robot platforms via CAN bus, eliminating the need for specially designed communication interfaces on the robot platforms. This adapts to various special robot platforms and lowers the application threshold.

[0129] The specific workflow of this invention is described below, taking into account specific application scenarios:

[0130] When the special robot is in a non-task state, the power supply 12 of the execution unit of the control circuit is kept off through the EN pin of the isolation power supply module 13; the relay switch assembly 43 short-circuits the load by default; the fuse pin is in the inserted state, and the normally closed micro switch of the fuse switch assembly 42 is open; the electromagnet switch assembly 41 and the electronic switch assembly 44 are both in the open state; the entire control circuit is in a safe standby state.

[0131] The operator sends a command to enter the preparatory mode via the robot remote controller. The robot main controller sends the command to the communication unit 3 of the control circuit via the CAN bus. After receiving the command, the communication unit 3 transmits it to the control unit 2, and the control circuit starts the preparatory mode process.

[0132] After receiving the instruction, the control unit 2 enables the EN pin of the isolated power supply module 13 of the execution unit power supply 12 and controls the execution unit power supply 12 to output a +12V voltage; the voltage detection circuit of the execution unit power supply 12 of the signal acquisition unit 5 detects the voltage status in real time and feeds it back to the control unit 2.

[0133] If control unit 2 determines that the voltage output is abnormal, it immediately sends a fault command to the robot master controller through communication unit 3, and the remote control pops up a prompt; if the voltage is normal, the process proceeds to the next step.

[0134] Control unit 2 detects the status of the safety pin through signal acquisition unit 5; if it is not pulled out, a pop-up window appears on the remote control; if it has been pulled out, the process proceeds to the next step.

[0135] Control unit 2 drives relay switch assembly 43 to connect the load to the control circuit; signal acquisition unit 5 detects the load status and feeds it back to control unit 2; if the load is faulty, the remote control pops up a prompt; if the load is normal, control unit 2 starts a 10-second countdown.

[0136] If the start button is pressed within 10 seconds, the control unit 2 continues to count down according to the preset delay start time; after the countdown ends, the control electromagnet switch assembly 41 is mechanically isolated and the electronic switch assembly 44 is opto-isolated and connected, the execution unit 4 supplies power to the load, and the equipment starts.

[0137] If the operator sends a stop command during the delayed start countdown, the control unit 2 will immediately reset all control switches, shut off the power supply 12 to the execution unit, exit the standby mode, and return to the initial safe state upon receiving the command.

[0138] The robot's main controller sends a query command for the sensor status every 100 milliseconds. The control unit 2 summarizes the information detected by the signal acquisition unit 5, such as the voltage status of the power supply 12 of the execution unit, the load status, the status of the fuse pin, and the status of the electromagnet control switch, and uploads it to the robot's main controller through the communication unit 3, so that the operator can keep track of the circuit's operating status in real time.

[0139] If any detection step is abnormal, the control circuit will immediately exit the standby mode, reset all control switches, and upload the fault type through the communication unit 3, according to the priority of abnormal output of the execution unit power supply 12 > fuse not removed > load short circuit > load open circuit. The fault type will be displayed in the remote control pop-up window.

[0140] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A highly reliable redundant protection-type execution control circuit for special robots, characterized in that, It includes a power supply unit (1), a control unit (2), a communication unit (3), an execution unit (4), and a signal acquisition unit (5); The power supply unit (1) is electrically connected to the control unit (2), communication unit (3), execution unit (4), and signal acquisition unit (5) respectively, and is used to provide working power. The control unit (2) is electrically connected to the communication unit (3), the execution unit (4), and the signal acquisition unit (5) respectively, and is used to receive instructions and perform decision coordination; The communication unit (3) is used to receive control commands issued by the robot and upload the working status of the control circuit; the execution unit (4) is used to implement power supply control of the load; The signal acquisition unit (5) is used to detect various working status signals and feed them back to the control unit (2); The control circuit achieves safe and controllable triggering of the load through a multi-level safety protection mechanism. The multi-level safety protection mechanism includes power supply control, mechanical isolation triggering, fuse verification, load short circuit protection, and electrical isolation switch control. Each level of protection triggering must meet preset logic conditions. If any link detects an abnormality, the circuit will exit the working mode and reset the control switch.

2. The highly reliable redundant protection execution control circuit for special robots according to claim 1, characterized in that, The power supply unit (1) includes a system unit power supply (11) and an execution unit power supply (12), which are electrically isolated through an isolation power supply module (13); The system unit power supply (11) supplies power to the control unit (2) and the communication unit (3), and the execution unit power supply (12) supplies power to the execution unit (4) and the signal acquisition unit (5); the execution unit power supply (12) is turned on by the EN pin of the isolated power supply module (13) and remains off in the non-task state.

3. The highly reliable redundant protection execution control circuit for special robots according to claim 1, characterized in that, The control logic of the control unit (2) includes: After receiving the command to enter the preparatory mode, the power supply (12) of the execution unit is enabled to output a +12V voltage. The voltage output status is determined by the voltage detection circuit of the power supply (12) of the execution unit. If there is an abnormality, an abnormal command is sent to the robot and a pop-up window is displayed. When the voltage output is normal, the fuse pin status detection circuit detects whether the fuse pin has been pulled out. If it has not been pulled out, a command is sent to the robot and a pop-up window is displayed. After the safety pin is pulled out, the drive relay connects the load to the control circuit. The load resistance detection circuit detects whether the load is short-circuited or open-circuited. If an abnormality is detected, the corresponding fault command is sent to the robot and a pop-up window is displayed. When there is no alarm pop-up, a 10-second countdown will start automatically. If the start button is pressed during the countdown, the countdown will continue for 0 to 60 seconds according to the preset delay start time. After the countdown ends, the control execution unit (4) will supply power to the load. If the start button is not pressed within 10 seconds, the standby mode will be exited and the control switch will be reset. During the delayed start countdown, if a stop command is received, all control switches will be reset and the system will exit standby mode.

4. The highly reliable redundant protection execution control circuit for special robots according to claim 1, characterized in that, The execution unit (4) includes an electromagnet switch assembly (41), a fuse switch assembly (42), a relay switch assembly (43), and an electronic switch assembly (44). The electromagnet switch assembly (41) consists of an electromagnet and a normally open micro switch. When the electromagnet coil is energized, the push rod extends to trigger the micro switch to close, thereby achieving physical isolation between the control end and the controlled end. The safety switch assembly (42) consists of a safety pin and a normally closed micro switch. When the safety pin is inserted, the micro switch is disconnected, and when it is pulled out, the micro switch is turned on. The relay switch assembly (43) adopts a double-pole double-throw relay, which short-circuits the load by default. The electronic switch assembly (44) includes an N-channel field-effect transistor and an opto-isolator to achieve electrical isolation between the system unit power supply (11) and the execution unit power supply (12).

5. The highly reliable redundant protection execution control circuit for special robots according to claim 1, characterized in that, The communication unit (3) adopts a question-and-answer CAN bus communication, and the CAN communication frame Id is the standard Id plus the node address Id; The robot's main controller sends a sensor status query command every 100 milliseconds. The control commands include a pre-mode entry command, a start command, a stop command, and a sensor status query command. The communication protocol format is 8 bytes. Byte 0 is the instruction code, bytes 1 to 6 are the data segments, and byte 7 is the check bit, which is the sum of bytes 0 to 6.

6. The highly reliable redundant protection execution control circuit for special robots according to claim 1, characterized in that, The detection content of the signal acquisition unit (5) includes the voltage status of the power supply (12) of the execution unit, the status of the fuse switch, the status of the electromagnet switch, and the load status, including normal, short circuit, and open circuit.

7. The highly reliable redundant protection execution control circuit for special robots according to claim 1, characterized in that, The multi-level security protection mechanism consists of five levels of security protection measures, and the triggering logic is as follows: Upon receiving the command to enter the preparatory mode, turn on the power supply to the execution unit (12), check the voltage status of the power supply to the execution unit (12), check the status of the fuse, open the relay to connect the load to the control circuit, and check the load status. If any detection link is abnormal, the preparatory mode will be automatically exited and the control switch will be reset. The fault priority is: abnormal power supply (12) of the execution unit is higher than the fuse not being pulled out, the fuse not being pulled out is higher than the load short circuit, and the load short circuit is higher than the load open circuit. After the start-up operation is performed without fault, the delayed start-up countdown ends, and the electromagnet switch assembly (41) and the electronic switch assembly (44) are turned on to supply power to the load.

8. The highly reliable redundant protection execution control circuit for special robots according to claim 7, characterized in that, Each of the five levels of safety protection measures employs isolation methods, including mechanical isolation, electromagnetic isolation, and photoelectric isolation.

9. A highly reliable redundant protection execution control circuit for special robots according to claim 1, characterized in that, The control circuit adopts a modular design and communicates with the special robot's mobile platform via a CAN bus.

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