Switching protection circuit for power supply of robot, power supply protection system, and robot

Abstract

The application discloses a switch protection circuit of a power supply of a robot, a power supply protection system and the robot. The current comprises: at least one switch protection module; an input end of the switch protection module is used for being connected with the power supply of the robot, an output end of the switch protection module is used for being connected with a load, and the output end of the switch protection module is grounded through an energy storage module; the switch protection module is used for detecting a capacitance value of the energy storage module, and a soft start duration of the switch protection module is controlled according to the capacitance value and a preset soft start target power. The technical scheme provided in the embodiment of the application controls the soft start duration according to the detected capacitance value and the preset soft start target power, so that the soft start duration can be adapted to the actual capacitance value of the energy storage module, thereby reducing the output voltage fluctuation of the power supply of the robot and the overcurrent stress of the switch protection module, and improving the stability and safety of power supply of the power supply of the robot to the load.

Description

Technical Field

[0001] This invention relates to the field of power protection technology, and in particular to a power supply switching protection circuit, power protection system, and robot for a robot. Background Technology

[0002] Traditional robot power supply protection circuits typically use independent switching transistors in conjunction with resettable fuses. However, this method is slow to respond to faults, prone to damage, lacks current sharing limitations, and is susceptible to single-circuit overload when connected in parallel. Existing circuits often employ fixed-duration soft-start, but this method is incompatible with batteries of different capacities, has poor surge suppression, and is prone to frequent false protection triggers. Furthermore, existing protection circuits do not record data after a fault, making troubleshooting and maintenance difficult. Summary of the Invention

[0003] This invention provides a switching protection circuit for a robot's power supply, a power supply system, and a robot, to improve the stability and safety of the robot's power supply to the load.

[0004] According to one aspect of the present invention, a switching protection circuit for a robot's power supply is provided, comprising: an energy storage module and at least one switching protection module; The input terminal of the switch protection module is used to connect to the robot's power supply, the output terminal of the switch protection module is used to connect to the robot's load, and the output terminal of the switch protection module is grounded through the energy storage module. The switch protection module is used to detect the capacitance value of the energy storage module and control the soft-start duration of the switch protection module according to the capacitance value and the preset soft-start target power.

[0005] Optionally, the load includes a first load and a second load with different power; The switch protection module is also used to obtain the change in capacitance value of the energy storage module when switching from the first load to the second load, and to determine the power difference between the first load and the second load based on the change in capacitance value; The switch protection module is also used to adjust the switch protection module according to the power difference, wherein the power difference is positively correlated with the soft start duration.

[0006] Optionally, the switch protection module includes a controller and a switch transistor; The input terminal of the switching transistor is used to connect to the power supply of the robot, the output terminal of the switching transistor is used to connect to the load, and the control terminal of the switching transistor is connected to the controller. The controller is used to detect the capacitance value of the energy storage module, determine the soft-start duration of the switching transistor based on the capacitance value and the preset soft-start target power, and control the conduction state of the switching transistor based on the soft-start duration.

[0007] Optionally, the power supply switching protection circuit of the robot also includes at least two of the aforementioned switching protection modules; The input terminals of at least two of the switch protection modules are respectively connected to the robot power supply, and the at least two switch protection modules are communicatively connected. The at least two switch protection modules include a master switch protection module and at least one slave switch protection module. The master switch protection module operates in master mode, and the slave switch protection module operates in slave mode.

[0008] Optionally, the power supply switching protection circuit of the robot also includes at least two of the energy storage modules; The energy storage module and the switch protection module are configured in a one-to-one correspondence. The first end of each energy storage module is connected to the output end of the corresponding switch protection module, and the second end of each energy storage module is grounded.

[0009] Optionally, the output terminals of at least two of the switch protection modules are connected to the same load to jointly supply power to the load; Alternatively, the switch protection module can be connected to each load in a one-to-one correspondence to supply power to the corresponding load.

[0010] Optionally, the power supply switching protection circuit of the robot also includes a communication bus, and at least two of the switching protection modules are connected in communication via the communication bus; When at least two of the switch protection modules are connected to the same load, the switch protection module in the host operating mode is used to determine the target soft start duration based on the capacitance value of the energy storage module and the preset soft start target power; The main switch protection module is also used to synchronize the target soft-start duration to the slave switch protection module via the communication bus; The main switch protection module and the slave switch protection module, which are in the host working mode, are used to start synchronously according to the target soft start duration.

[0011] Optionally, the power supply switching protection circuit of the robot also includes a fault bus, each of the switching protection modules includes a fault type output terminal, and the fault type output terminals of at least two of the switching protection modules are respectively connected to the fault bus; When any of the switch protection modules fails, the faulty switch protection module is used to transmit a fault signal to the other switch protection modules through the fault bus to control at least two of the switch protection modules to stop output.

[0012] According to a second aspect of the present invention, a protection system for a robot power supply is provided, comprising a switching protection circuit and a control module for the robot power supply provided in the first aspect of the present invention; The switch protection module is connected to the control module; the control module is used to acquire the operating information of at least one of the switch protection modules, and determine the target switch protection module that has failed and the fault type of the target switch protection module based on the operating information.

[0013] According to a third aspect of the present invention, a robot is provided that includes a protection system for the robot power supply as described in the second aspect of the present invention.

[0014] The technical solution provided by this invention detects the capacitance value of the energy storage module connected to its output terminal through a switch protection module, and controls the soft-start duration based on the detected capacitance value and a preset soft-start target power. This ensures that the soft-start duration matches the actual capacitance value of the energy storage module, thereby controlling the charging power of the energy storage module within a reasonable range during the soft-start process. This reduces the risk of excessive inrush current due to the large capacitance value of the energy storage module, reduces output voltage fluctuations of the robot power supply and overcurrent stress on the switch protection module, and improves the stability and safety of the robot power supply to the load.

[0015] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the power supply switching protection circuit for a robot provided in an embodiment of the present invention; Figure 2 A schematic diagram of the power supply switching protection circuit for a robot provided in another embodiment of the present invention; Figure 3A schematic diagram of the power supply switching protection circuit for a robot provided in another embodiment of the present invention; Figure 4 A schematic diagram of the power supply switching protection circuit for a robot provided in another embodiment of the present invention. Figure 5 A schematic diagram of the power supply switching protection circuit for a robot provided in another embodiment of the present invention; Figure 6 This is a schematic diagram of a robot power supply protection system provided in an embodiment of the present invention. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0019] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0020] This invention provides a power supply switching protection circuit for a robot. Figure 1 This is a schematic diagram of a power supply switching protection circuit for a robot, provided as an embodiment of the present invention. Figure 1 As shown, the robot's power supply switching protection circuit includes at least one switching protection module and an energy storage module. The input terminal of the switching protection module is connected to the robot's power supply, the output terminal is connected to the load, and the output terminal is grounded through the energy storage module. The switching protection module detects the capacitance value of the energy storage module and controls the soft-start duration of the switching protection module based on the capacitance value and a preset soft-start target power.

[0021] Specifically, the robot power supply 10 can be the robot's power battery, such as a lithium battery pack. The load 40 can include at least one of the robot's hub motor, roller brush motor, water suction motor, high-pressure water pump, and other electrical equipment. The switch protection module 20 is connected in series between the robot power supply 10 and the load 40 to control the conduction or cutoff of the power supply path between the robot power supply 10 and the load 40, and to protect the load 40 during startup and operation. The energy storage module 30 can include at least one output capacitor. The first terminal of the energy storage module 30 is connected to the output terminal of the switch protection module 20, and the second terminal of the energy storage module 30 is grounded. The energy storage module 30 can store electrical energy during the startup of the switch protection module 20, and filter and regulate the voltage at the output terminal of the switch protection module 20 during the operation of the load 40. The energy storage module 30 corresponding to different loads 40 can have different capacitance values ​​during startup. The switch protection module 20 can be an integrated chip that integrates a switching transistor, controller, and other electrical components. The switch protection module 20 can detect the capacitance value of the energy storage module 30 before soft start. For example, the switch protection module 20 can output a preset detection current to the energy storage module 30 and determine the capacitance value of the energy storage module 30 based on the change in voltage across the energy storage module 30. This embodiment does not impose specific limitations on this.

[0022] The switch protection module 20 determines the soft-start duration based on the detected capacitance value and the preset soft-start target power. The soft-start target power can be the target charging power that the switch protection module 20 provides to the energy storage module 30 and the load 40 during the soft-start process. The soft-start target power can be pre-stored in the switch protection module 20 or configured according to the voltage of the robot power supply 10, the type of the load 40, or the current operating state of the robot. In other words, the switch protection module 20 can automatically adjust the soft-start duration based on the actual energy storage module 30 corresponding to the load 40, rather than using a fixed start-up duration. For energy storage modules 30 with larger capacitance values, extending the soft-start duration can limit the charging power and inrush current during power-up, preventing a sudden drop in the output voltage of the robot power supply 10 that could cause the robot to reset or the control system to lose power. For energy storage modules 30 with smaller capacitance values, shortening the soft-start duration can increase the start-up speed of the load 40.

[0023] For example, the soft start duration can be determined according to the following formula: Tss=Cout×V 2 / (2×P) Where Tss represents the soft-start duration, Cout represents the capacitance value of the energy storage module 30, V represents the output voltage of the robot power supply 10, and P represents the preset soft-start target power.

[0024] The technical solution provided by this invention detects the capacitance value of the energy storage module connected to its output terminal through a switch protection module, and controls the soft-start duration based on the detected capacitance value and a preset soft-start target power. This allows the soft-start duration to be adapted to the actual capacitance value of the energy storage module, thereby reducing the risk of excessive inrush current due to the large capacitance value of the energy storage module, reducing output voltage fluctuations of the robot power supply and overcurrent stress of the switch protection module, and improving the stability and safety of the robot power supply to the load.

[0025] Figure 2 This is a schematic diagram of a power supply switching protection circuit for a robot, provided as an embodiment of the present invention. Figure 2 As shown, based on the above embodiment, optionally, the load 40 includes a first load 41 and a second load 42 with different power. The switch protection module 20 is further configured to acquire the change in capacitance value of the energy storage module 30 when switching from the first load 41 to the second load 42, and determine the power difference between the first load 41 and the second load 42 based on the change in capacitance value. The switch protection module 20 is also configured to control the soft-start duration based on the power difference. The power difference is positively correlated with the soft-start duration.

[0026] Specifically, the first load 41 and the second load 42 can be two electrical devices with different power ratings in the robot, or different load combinations activated by the robot at different operating stages. For example, the first load 41 can be a roller brush motor, and the second load 42 can be a load combination consisting of a roller brush motor, a water suction motor, and a high-pressure water pump. The first load 41 and the second load 42 can each correspond to different equivalent energy storage capacitors. When the robot switches from the first load 41 to the second load 42, the load type or load combination connected to the output terminal of the switch protection module 20 changes, causing a change in the equivalent capacitance value corresponding to the output terminal of the switch protection module 20. The switch protection module 20 can obtain the first capacitance value of the energy storage module 30 before the load switch and the second capacitance value of the energy storage module 30 after the load switch, and determine the amount of change in capacitance value based on the first capacitance value and the second capacitance value. The switch protection module 20 determines the power difference between the first load 41 and the second load 42 based on the detected amount of change in capacitance value.

[0027] When the power difference between the first load 41 and the second load 42 is large, it indicates that a large charging demand or starting current may be generated after the load switch, and the switch protection module 20 will correspondingly extend the soft start time. When the power difference between the first load 41 and the second load 42 is small, the switch protection module 20 can use a shorter soft start time. By adjusting the soft start time according to the change in the capacitance value of the energy storage module 30 during the load switch, the switch protection module 20 can adapt to the switching of different loads or different load combinations of the robot, reduce the surge current caused by the sudden access of high-power loads, and avoid using an excessively long soft start time when the load power change is small, which would affect the robot's response speed.

[0028] Figure 3 This is a schematic diagram of a power supply switching protection circuit for a robot, provided as an embodiment of the present invention. Figure 3 As shown, based on the above embodiment, optionally, the switch protection module 20 includes a controller 21 and a switch tube 22. The input terminal of the switch tube 22 is connected to the robot power supply 10, the output terminal of the switch tube 22 is connected to the load 40, and the control terminal of the switch tube 22 is connected to the controller 21. The controller 21 is used to detect the capacitance value of the energy storage module 30, determine the soft-start duration based on the capacitance value and the preset soft-start target power, and control the conduction state of the switch tube 22 according to the soft-start duration during the soft-start process.

[0029] Specifically, the switching transistor 22 can be connected in series between the robot power supply 10 and the load 40. The input terminal of the switching transistor 22 is connected to the robot power supply 10, and the output terminal of the switching transistor 22 is connected to the load 40 and the energy storage module 30 respectively. The control terminal of the switching transistor 22 is connected to the controller 21. The switching transistor 22 may include a metal-oxide-semiconductor field-effect transistor, or other power switching devices capable of adjusting the conduction state according to the control signal. The controller 21 can be integrated with the switching transistor 22 in the same switch protection chip. The controller 21 is used to detect the capacitance value of the energy storage module 30 and determine the soft-start duration based on the capacitance value of the energy storage module 30 and the preset soft-start target power. During the soft-start process, the controller 21 outputs a control signal to the switching transistor 22 according to the determined soft-start duration to control the switching transistor 22 to gradually switch from the off state to the fully on state. For example, the controller 21 can adjust the conduction degree of the switching transistor 22 by controlling the voltage of the control terminal of the switching transistor 22, thereby limiting the current or power transmitted from the robot power supply 10 to the energy storage module 30 and the load 40. The longer the soft-start duration, the slower the switching transistor 22 changes from the off state to the fully on state; the shorter the soft-start duration, the faster the switching transistor 22 changes from the off state to the fully on state.

[0030] Figure 4This is a schematic diagram of another power supply switching protection circuit for a robot provided in an embodiment of the present invention. (See diagram below.) Figure 4 As shown, based on the above embodiments, optionally, the robot's power supply switch protection circuit includes at least two switch protection modules 20. The input terminals of the at least two switch protection modules 20 are respectively connected to the robot power supply 10, and the at least two switch protection modules 20 are communicatively connected. One of the at least two switch protection modules 20 operates in master mode, while the other switch protection modules 20 operate in slave mode. It can be understood that the switch protection module includes one master switch protection module and at least one slave switch protection module.

[0031] For example, Figure 4 The following description uses one main switch protection module 20a and at least one slave switch protection module 20b as an example. Specifically, the input terminals of at least two switch protection modules 20 are respectively connected to the robot power supply 10, enabling the robot power supply 10 to provide input power to the main switch protection module 20a and the slave switch protection module 20b respectively. The at least two switch protection modules 20 are communicatively connected to each other to transmit data such as soft-start parameters, protection parameters, and operating status information among the multiple switch protection modules 20.

[0032] The main switch protection module 20a can generate or receive operating parameters shared by multiple switch protection modules 20 and synchronize these parameters to the slave switch protection module 20b. The slave switch protection module 20b operates according to the operating parameters synchronized by the main switch protection module 20a, ensuring coordinated operation among the multiple switch protection modules 20. Optionally, different switch protection modules 20 can be configured into master or slave operating modes using different address configuration information. For example, each switch protection module 20 can include an address configuration terminal, which is grounded through a corresponding external resistor. Different resistance values ​​of the external resistor are used to configure different communication addresses, enabling the corresponding switch protection module 20 to operate in either master or slave operating mode.

[0033] Based on the above embodiments, see below. Figure 4 Optionally, the robot's power supply switching protection circuit includes at least two energy storage modules 30. Each of the two energy storage modules 30 corresponds to one of the two switching protection modules 20. The first terminal of each energy storage module 30 is connected to the output terminal of the corresponding switching protection module 20, and the second terminal of each energy storage module is grounded.

[0034] Specifically, the first terminal of the first energy storage module 30a is connected to the output terminal of the main switch protection module 20a, and the second terminal of the first energy storage module 30a is grounded; the first terminal of the second energy storage module 30b is connected to the output terminal of the slave switch protection module 20b, and the second terminal of the second energy storage module 30b is grounded. Each switch protection module 20 can detect the capacitance value of its corresponding energy storage module 30 and determine its own soft-start parameters based on the capacitance value of its corresponding energy storage module 30. By setting a corresponding energy storage module 30 for each switch protection module 20, each switch protection module 20 can detect and control the energy storage demand of its corresponding output branch.

[0035] In one alternative implementation, see continue to see Figure 4 At least two switch protection modules 20 have their output terminals connected to the same load 40, and the main switch protection module 20a and the slave switch protection module 20b jointly supply power to the load 40.

[0036] In this power supply mode, the output terminals of the main switch protection module 20a and the slave switch protection module 20b form a common output node. The first energy storage module 30a and the second energy storage module 30b are respectively connected between the common output node and ground. Therefore, the first energy storage module 30a and the second energy storage module 30b are electrically connected in parallel and together form an equivalent energy storage module connected to the input side of the load 40. The parallel operation of multiple switch protection modules 20 can increase the output current that the switch protection circuit can provide to the load 40. When the output capacity of a single switch protection module 20 cannot meet the power supply requirements of a high-power load 40, the output capacity of the switch protection circuit can be expanded by increasing the number of slave switch protection modules 20b. The main switch protection module 20a and the slave switch protection module 20b work in coordination to avoid inconsistent start-up times or uneven distribution of output current among the multiple switch protection modules 20.

[0037] Figure 5 This is a schematic diagram of the power supply switching protection circuit for a robot, provided as an embodiment of the present invention. (See diagram below.) Figure 5 As shown, in another alternative embodiment, the power supply switching protection circuit of the robot includes at least two loads 40, and at least two switching protection modules 20 are connected to at least two loads 40 in a one-to-one correspondence.

[0038] For example, such as Figure 5 As shown, the output terminal of the main switch protection module 20a is connected to the first load 41, and the output terminal of the slave switch protection module 20b is connected to the second load 42. The first energy storage module 30a is connected between the output terminal of the main switch protection module 20a and ground, and the second energy storage module 30b is connected between the output terminal of the slave switch protection module 20b and ground.

[0039] The first load 41 and the second load 42 can be different electrical devices in the robot. For example, the first load 41 can be a hub motor, and the second load 42 can be a roller brush motor, a water suction motor, or a high-pressure water pump. Each switch protection module 20 controls the power supply status of its corresponding load 40 and controls the soft-start process of its corresponding load 40 according to the capacitance value of its corresponding energy storage module 30. By associating multiple switch protection modules 20 with multiple loads 40 one-to-one, branch power supply and independent protection can be provided for different loads 40 of the robot. When one of the loads 40 fails, the corresponding switch protection module 20 can quickly identify the faulty branch and control the faulty branch or all branches to stop output according to the preset protection strategy.

[0040] See also Figure 4 Based on the above embodiments, optionally, the power supply switching protection circuit of the robot further includes a communication bus 50, through which at least two switching protection modules 20 are communicatively connected. When at least two switching protection modules 20 are connected to the same load 40, the switching protection module 20 in the master working mode is used to determine the target soft start duration based on the capacitance value of the energy storage module 30 and the preset soft start target power; the switching protection module 20 in the master working mode is also used to synchronize the target soft start duration with the switching protection module 20 in the slave working mode via the communication bus 50; the switching protection module 20 in the master working mode and the switching protection module 20 in the slave working mode are used to start synchronously according to the target soft start duration.

[0041] Specifically, the main switch protection module 20a and at least one slave switch protection module 20b are respectively connected to the communication bus 50 to transmit operating parameters and synchronization signals. The communication bus 50 can be a single bus, such as an OWI bus. When the outputs of the main switch protection module 20a and the slave switch protection module 20b are connected in parallel to the same load 40, the main switch protection module 20a detects the capacitance value of the energy storage module 30 connected to the output node. The main switch protection module 20a determines the target soft-start duration based on the capacitance value and a preset soft-start target power. The main switch protection module 20a sends soft-start parameters corresponding to the target soft-start duration to the slave switch protection module 20b through the communication bus 50, so that the slave switch protection module 20b obtains the same target soft-start duration as the main switch protection module 20a. When starting the load 40, the main switch protection module 20a and the slave switch protection module 20b start synchronously according to the target soft-start duration.

[0042] This can be understood as follows: the main switch protection module 20a can send a start synchronization signal via the communication bus 50. Responding to the start synchronization signal, the main switch protection module 20a and the slave switch protection module 20b control their respective internal switching transistors 22 to gradually switch from the off state to the fully on state. By synchronizing the target soft-start duration to each slave switch protection module 20b before startup and controlling multiple switch protection modules 20 to start synchronously with the same target soft-start duration, it is possible to avoid one switch protection module 20 bearing excessive startup current due to asynchronous startup of multiple switch protection modules 20, thereby improving the safety and stability of the parallel startup process of multiple switch protection modules 20.

[0043] See also Figure 4 Based on the above embodiments, optionally, the power supply switch protection circuit of the robot further includes a fault bus 60, and each switch protection module 20 includes a fault type output terminal 23, with the fault type output terminals 23 of at least two switch protection modules respectively connected to the fault bus 60. When any switch protection module 20 fails, the faulty switch protection module 20 transmits a fault signal to other switch protection modules 20 through the fault bus 60 to control at least two switch protection modules 20 to stop outputting.

[0044] Specifically, each switch protection module 20 can detect at least one of its own operating parameters, including input voltage, output voltage, output current, and temperature, and determine whether it has malfunctioned based on these parameters. Faults can include at least one of short-circuit faults, continuous overcurrent faults, input undervoltage faults, input overvoltage faults, and overtemperature faults. When any switch protection module 20 malfunctions, the malfunctioning module stops outputting in response to the detected fault and outputs a fault signal to the fault bus 60 through the corresponding fault type output terminal 23. Other switch protection modules 20, upon detecting the fault signal on the fault bus 60, control themselves to stop outputting, thereby causing at least two switch protection modules 20 to jointly stop supplying power to the load 40.

[0045] For example, when the switch protection module 20b detects a short circuit at its output, it controls its internal switch transistor 22 to turn off and outputs a short-circuit fault signal to the fault bus 60 through the fault type output terminal 23. After the main switch protection module 20a detects the short-circuit fault signal on the fault bus 60, it synchronously controls its internal switch transistor 22 to turn off, thereby stopping the robot power supply 10 from outputting power to the load 40. It should be noted that the fault type output terminal 23 can output simulated fault signals with different voltage values ​​according to different fault types. Other switch protection modules 20 can directly stop outputting when the voltage on the fault bus 60 meets the preset shutdown conditions, without waiting for an external controller to send a shutdown command. This shortens the fault linkage time between multiple switch protection modules 20, preventing other switch protection modules 20 from continuing to supply power to the fault point when one switch protection module 20 experiences a short circuit, overcurrent, or overtemperature fault, thus improving the safety and reliability of the robot power supply 10 and the load 40.

[0046] Figure 6 This is a schematic diagram of a power supply protection system for a robot, provided as an embodiment of the present invention. Figure 6 As shown, the robot power supply protection system includes a switch protection circuit and a control module 70 for the robot power supply provided in any of the above embodiments of the present invention. The switch protection module 20 is connected to the control module 70; the control module 70 is used to acquire the operating information of at least one switch protection module 20, and determine the target switch protection module 20 that has failed and the fault type of the target switch protection module 20 based on the operating information.

[0047] Specifically, the control module 70 can be the robot's main controller, such as a microcontroller unit. The control module 70 can be connected to each switch protection module 20 to control the start-up, shutdown, and fault recovery of each switch protection module 20, and to acquire operating information such as input voltage, output voltage, output current, temperature, working status, and fault status of each switch protection module 20.

[0048] When the robot power supply protection system includes multiple switch protection modules 20, each switch protection module 20 can have a corresponding module identifier. The module identifier can be the communication address of the switch protection module 20, or other identification information that can distinguish different switch protection modules 20. The control module 70 reads the operating information of each switch protection module 20 according to the module identifier, and determines the target switch protection module 20 that has experienced a fault based on the operating information of each switch protection module 20. For example, when the control module 70 reads that the switch protection module 20 corresponding to a certain communication address has fault status information, it can determine the switch protection module 20 corresponding to that communication address as the target switch protection module 20, and determine its fault type based on the fault status information fed back by the target switch protection module 20. By configuring different module identifiers for each switch protection module 20, the specific power supply branch that has experienced a fault can be accurately determined when multiple switch protection modules 20 are working together.

[0049] Each switch protection module 20 includes a fault type output terminal 23, and the fault type output terminals 23 of multiple switch protection modules 20 are respectively connected to the fault bus 60. The fault type output terminal 23 is used to output an analog voltage signal corresponding to the fault type when different types of faults occur in the switch protection module 20.

[0050] The control module 70 also includes an analog-to-digital sampling terminal 71, which is connected to the fault bus 60. The control module 70 acquires the analog voltage signal on the fault bus 60 through the analog-to-digital sampling terminal 71 and determines the fault type based on the voltage value of the analog voltage signal. The fault type may include at least one of short-circuit fault, continuous overcurrent fault, input undervoltage fault, input overvoltage fault, and overtemperature fault. The switch protection module 20 may pre-store the correspondence between fault types and analog voltage values. When the switch protection module 20 malfunctions, the fault type output terminal 23 outputs an analog voltage signal with the corresponding voltage value according to the current fault type. The control module 70 performs analog-to-digital sampling on the analog voltage signal on the fault bus 60 and queries the pre-stored correspondence based on the analog-to-digital sampling result to determine the fault type.

[0051] For example, a short-circuit fault may correspond to a first analog voltage, a continuous overcurrent fault may correspond to a second analog voltage, an input undervoltage fault or an input overvoltage fault may correspond to a third analog voltage, and an overtemperature fault may correspond to a fourth analog voltage. At least some of the first, second, third, and fourth analog voltages are different from each other, thereby enabling the control module 70 to quickly identify the corresponding fault type based on the analog voltage signal. For example, the first analog voltage may be 1.5V, the second analog voltage may be 1.2V, the third analog voltage may be 0.9V, and the fourth analog voltage may be 0.6V. The specific voltage values ​​described above are only one optional implementation and do not constitute a limitation on the scope of protection of this invention.

[0052] The switch protection module 20 also includes an analog-to-digital converter (ADC) and a non-volatile memory unit. The ADC can acquire the operating parameters of the switch protection module 20; the non-volatile memory unit can store fault information when a fault occurs in the switch protection module 20. The ADC can acquire at least one of the following operating parameters of the switch protection module 20: input voltage, output voltage, output current, peak current, and temperature. The ADC can acquire operating parameters according to a preset sampling period and convert the acquired analog operating parameters into digital operating parameters. The controller of the switch protection module 20 can monitor its own operating status based on the digital operating parameters and determine whether faults such as short circuit, continuous overcurrent, input undervoltage, input overvoltage, or overtemperature have occurred.

[0053] When the switch protection module 20 fails, the non-volatile storage unit can store the corresponding fault information, providing a data basis for subsequent fault analysis. The fault information may include the fault type, the fault occurrence time, and the operating parameters at the time of the fault. The fault occurrence time can be a timestamp corresponding to the fault event, and the operating parameters at the time of the fault may include at least one of the following: input voltage, output voltage, output current, peak current, and temperature within a preset time range before or after the fault.

[0054] The switch protection module 20 includes a data interface and a clock interface. Both the data interface and clock interface are connected to the control module 70, forming a power management bus with the control module 70. The data interface can be a serial data interface, and the clock interface can be a serial clock interface. The power management bus can be a PM Bus, the data interface can be an SDA interface, and the clock interface can be an SCL interface. The control module 70 can access each switch protection module 20 via the power management bus according to its communication address. The control module 70 reads fault information stored in the non-volatile memory unit via the power management bus and determines the target switch protection module 20 with the fault and its fault type based on the read fault information.

[0055] The switch protection module 20 can also detect its own output current and output an overload warning signal to the control module 70 when the output current reaches a preset percentage of the preset overcurrent protection threshold. The preset overcurrent protection threshold can be the current threshold corresponding to when the switch protection module 20 triggers overcurrent protection and stops outputting. The preset percentage can be less than 100%, for example, it can be 80% to 95%. In a specific embodiment, the preset percentage can be 85%. When the switch protection module 20 detects that the output current reaches 85% of the preset overcurrent protection threshold, the switch protection module 20 outputs an overload warning signal to the control module 70 before triggering overcurrent shutdown. The overload warning signal can be transmitted to the control module 70. The control module 70 is also connected to the load 40. After receiving the overload warning signal, the control module 70 sends a power reduction control signal to the load 40 or the driver corresponding to the load 40 to reduce the operating power of the load 40. After the control module 70 reduces the operating power of the load 40, the output current of the switch protection module 20 decreases accordingly. When the output current drops to the preset safe range, the switch protection module 20 can continue to supply power to the load 40, thereby avoiding direct triggering of the overcurrent protection and causing the robot to stop.

[0056] The robot's power supply protection system also includes an emergency stop module 90. The control module 70 includes multiple enable control terminals 73, each connected to the control interface of a multiple switch protection module 20. The emergency stop module 90 includes an emergency stop feedback terminal 91 and an emergency stop control terminal 92. The emergency stop feedback terminal 91 is connected to the input / output interface 72 of the control module 70 and is used to provide feedback on the operating status of the emergency stop module 90 to the control module 70. The emergency stop control terminal 92 is connected to the control interface of the multiple switch protection modules 20 and is used to perform hardware shutdown control on the multiple switch protection modules 20. During normal robot operation, the control module 70 outputs enable control signals to the corresponding switch protection module 20 through the multiple enable control terminals 73 to independently control the start or stop of each switch protection module 20. When the emergency stop module 90 is not triggered, the emergency stop control terminal 92 does not affect the normal control of the switch protection modules 20 by the control module 70. When the operator presses the emergency stop button or the robot detects a situation requiring an emergency stop, the emergency stop module 90 responds to the emergency stop operation by outputting an emergency stop feedback signal to the control module 70 through the emergency stop feedback terminal 91. Simultaneously, the emergency stop module 90 outputs a shutdown signal to the control interface of multiple switch protection modules 20 through the emergency stop control terminal 92, causing the multiple switch protection modules 20 to stop outputting power to the load 40. For example, the control interface of the switch protection module 20 can be an enable terminal, and the emergency stop module 90 can pull down the enable terminals of multiple switch protection modules 20 in response to the emergency stop operation. Even if the control module 70 fails to respond to the emergency stop feedback signal in a timely manner or malfunctions, the emergency stop module 90 can still directly shut down the multiple switch protection modules 20 through a hardware control path. An emergency stop status feedback path is formed between the emergency stop feedback terminal 91 and the control module 70, and an emergency stop hardware shutdown path is formed between the emergency stop control terminal 92 and the multiple switch protection modules 20. By setting up mutually cooperating emergency stop status feedback paths and emergency stop hardware shutdown paths, the control module 70 can record and report emergency stop statuses, and ensure that multiple switch protection modules 20 can quickly stop output in emergency situations, thereby improving the safety of the robot power supply protection system.

[0057] The robot power supply protection system also includes an auxiliary power supply module 100. The input terminal of the auxiliary power supply module 100 is connected to the robot power supply 10, and it is used to convert the voltage output by the robot power supply 10 into a power supply voltage suitable for the control module 70 or robot peripherals. The auxiliary power supply module 100 includes at least one step-down circuit 110. The step-down circuit 110 can be a DC-DC step-down circuit, used to convert the voltage output by the robot power supply 10 into a power supply voltage lower than the output voltage of the robot power supply 10, and to supply power to the control module 70 and / or the robot's peripherals. In one specific embodiment, such as... Figure 6As shown, the robot power supply 10 can output 24V voltage, and the auxiliary power supply module 100 can include three step-down circuits 110. The three step-down circuits 110 can convert the 24V voltage to 3.3V, 5V, and 12V respectively. Among them, the step-down circuit 110 that outputs 5V can supply power to the control module 70, the step-down circuit 110 that outputs 3.3V can supply power to the robot's low-voltage peripherals, and the step-down circuit 110 that outputs 12V can supply power to the robot's 12V electrical equipment.

[0058] The following specific embodiment illustrates the operation flow of the system, but it is not intended to limit the invention.

[0059] This embodiment uses a high-power commercial cleaning robot employing the NCP82420 smart fuse chip as an example to illustrate the robot's power supply protection system. The robot's power supply protection system includes a 24V lithium battery pack, at least one power protection branch, the robot's main control MCU, a PM Bus communication bus, a single-bus OWI synchronization line, and the robot's power load. The robot's power load can include at least one of a hub motor, a roller brush motor, and a high-pressure water pump. Each power protection branch uses the NCP82420 smart fuse chip as a switching protection module to control the power supply path between the 24V lithium battery pack and the corresponding robot power load, and performs voltage detection, current detection, over-temperature detection, soft-start control, and fault protection during the power supply process.

[0060] The chip's input pin VIN serves as the input terminal of the switch protection module and is connected to the power output terminal of the 24V lithium battery pack. The chip's output power pin VOUT serves as the output terminal of the switch protection module and is connected to the robot's power load. The chip's power supply pin VDD is grounded through a voltage regulator capacitor. For example, the voltage regulator capacitor's capacitance can be greater than or equal to 4.7μF to reduce fluctuations in the chip's power supply voltage. The input voltage sampling pin VIN_S is connected to the power output terminal of the 24V lithium battery pack and is used to acquire the input voltage; the output voltage sampling pin VOUT_S is connected to the chip's output terminal and is used to acquire the output voltage. Thus, the chip can monitor the operating status of the power protection branch based on the input and output voltages. The chip's enable control pin ON serves as the control terminal of the switch protection module and is connected to the enable control terminal of the robot's main control MCU. The robot's main control MCU can control the corresponding chip to start or stop output by changing the level of the enable control pin ON, thereby controlling the operating status of each power protection branch. The chip's input undervoltage configuration pin UVLO and input overvoltage configuration pin OVLO are configured with voltage thresholds through voltage divider resistors. For example, the input undervoltage protection threshold can be configured to 20V, and the input overvoltage protection threshold can be configured to 30V. When the input voltage is lower than the input undervoltage protection threshold or higher than the input overvoltage protection threshold, the chip controls the corresponding power protection branch to stop outputting, so as to prevent abnormal voltage from the 24V lithium battery pack from being applied to the robot's power load.

[0061] The chip's steady-state current limiting configuration pin CLREF, overcurrent protection configuration pin OCPT, and short-circuit protection configuration pin RSCP are grounded through configuration resistors. Specifically, the steady-state current limiting configuration pin CLREF corresponds to the aforementioned steady-state current limiting configuration terminal, and the configuration resistor connected to it is used to configure the steady-state current limiting threshold of the power supply protection branch; the overcurrent protection configuration pin OCPT corresponds to the aforementioned overcurrent protection configuration terminal, and the configuration resistor connected to it is used to configure I... 2 T is the protection slope; the short-circuit protection configuration pin RSCP corresponds to the aforementioned short-circuit protection configuration terminal, and the configuration resistor connected to it is used to configure the short-circuit protection threshold. By setting the resistance value of the above configuration resistor, the overcurrent protection curve of the power supply protection branch can be matched with the starting current characteristics and stall current characteristics of the hub motor, roller brush motor, or high-pressure water pump, allowing the robot's power load to start normally while protecting against continuous overcurrent, load stall, and output short circuit.

[0062] The chip's data interface pin SDA and clock interface pin SCL are connected to the robot's main control MCU, forming a PM Bus communication bus with the MCU. The robot's main control MCU can write soft-start parameters, overcurrent protection parameters, and overtemperature protection parameters to the chip via the PM Bus communication bus, and read the chip's operating and fault information. Therefore, the robot's main control MCU can configure parameters, monitor operation, and diagnose faults for different power protection branches.

[0063] When the robot's power supply protection system includes multiple power protection branches, the single-bus interface pins (OWI) of multiple chips are interconnected to form a single-bus OWI synchronization line. One of the chips operates in master mode, serving as the master switch protection module; the remaining chips operate in slave mode, serving as slave switch protection modules. The master switch protection module can synchronize soft-start parameters and I / O pins to the slave switch protection modules. 2 Parameters such as overcurrent protection threshold and overtemperature protection threshold are used, and the startup process of multiple chips is coordinated through a single-bus OWI synchronization line, so that multiple chips start synchronously according to the same target soft-start duration.

[0064] Optionally, the main switch protection module can, according to the WRITE_TO_SLAVES command issued by the robot's main control MCU via the PM Bus communication bus, reset the soft-start parameters and I... 2 The overcurrent protection threshold and overtemperature protection threshold are written to each slave switch protection module. After parameter synchronization is completed, the master switch protection module and each slave switch protection module synchronize their startup status via the single-bus OWI synchronization line. By enabling multiple parallel-connected chips to enter the soft-start state synchronously, the uneven instantaneous current distribution caused by inconsistent startup times of each chip can be reduced, and current sharing among multiple chips can be achieved during the stable output phase.

[0065] In one application, the robot's power supply protection system can operate in a single-chip independent mode, where a single chip forms a power protection branch, which then supplies power to the robot's load. This method is suitable for small to medium-sized floor scrubbers with an operating current of up to 35A.

[0066] In another application, the robot power supply protection system can operate in a master-slave multi-chip parallel mode, employing one chip operating in master mode and at least one chip operating in slave mode. The input terminals of multiple chips are connected to a 24V lithium battery pack, and the output power pins (VOUT) of the multiple chips are connected in parallel, collectively supplying power to the same robot load. By increasing the number of slave switch protection modules, the output current capability of the power protection system can be improved. For example, the master-slave multi-chip parallel mode can be used for high-power industrial cleaning robots with output currents exceeding 70A.

[0067] Before soft-start, the chip detects the capacitance value of the energy storage module 30 connected to its output terminal and determines the target soft-start duration based on the detected capacitance value and the preset soft-start target power. In single-chip independent operation mode, the chip controls its output power pin VOUT to gradually output power according to the determined target soft-start duration. In master-slave multi-chip parallel operation mode, the master switch protection module determines the target soft-start duration based on the capacitance value of the energy storage module 30 and the preset soft-start target power, and synchronizes the soft-start parameters corresponding to the target soft-start duration to each slave switch protection module through the single-bus OWI synchronization line, so that the master switch protection module and each slave switch protection module start synchronously according to the target soft-start duration.

[0068] Each chip includes a fault type output pin, FLT_TYPE. The FLT_TYPE pin corresponds to the aforementioned fault type output terminal. Multiple chips' FLT_TYPE pins are interconnected to form a fault bus, which is connected to the analog-to-digital sampling terminal of the robot's main control MCU. When any chip fails, it outputs an analog voltage signal corresponding to the fault type through its FLT_TYPE pin. This analog voltage signal is transmitted via the fault bus to the robot's main control MCU and other chips, enabling the robot's main control MCU to identify the fault type and triggering coordinated protection from multiple power supply protection branches.

[0069] For example, the fault type output pin FLT_TYPE can output a 1.5V analog voltage signal when a short-circuit fault occurs, a 1.2V analog voltage signal when a continuous overcurrent fault occurs, a 0.9V analog voltage signal when an input undervoltage fault or input overvoltage fault occurs, and a 0.6V analog voltage signal when a chip overtemperature fault occurs. The robot's main control MCU acquires the analog voltage signal on the fault bus through the analog-to-digital sampling terminal and determines the corresponding fault type based on the voltage value of the analog voltage signal, thereby quickly locating the root cause of the fault. The above voltage values ​​are only one example. In other embodiments, different voltage ranges corresponding to different fault types can be set according to the output characteristics of the fault type output pin FLT_TYPE and the analog-to-digital sampling range of the robot's main control MCU.

[0070] Each chip also includes multiple general-purpose output pins (GPOs). For example, the four general-purpose output pins (GPOs) can be configured as a power-ready output (PG), an overload warning output (D_OC), a global fault output (FAULT), and a temperature alarm output, respectively, and connected to the input / output interfaces of the robot's main control MCU. The power-ready output (PG) outputs a power-ready signal to the robot's main control MCU when the corresponding power protection branch meets the output conditions; the overload warning output (D_OC) outputs an overload warning signal to the robot's main control MCU when the output current reaches 85% of a preset overcurrent protection threshold; the global fault output (FAULT) outputs a global fault signal when the corresponding chip fails; and the temperature alarm output outputs a temperature alarm signal when the chip temperature reaches a preset temperature alarm threshold.

[0071] Upon receiving an overload warning signal, the robot's main control MCU can reduce the speed of the hub motor, the speed of the brush motor, and / or the output power of the high-pressure water pump before the chip executes overcurrent shutdown, thereby reducing the output current of the corresponding power protection branch. This allows the robot's power load to continue operating under derating conditions, reducing the likelihood of overcurrent protection being directly triggered by a sudden increase in load.

[0072] The chip may also include a 12-bit analog-to-digital converter (ADC) and a non-volatile memory unit (NVM). The ADC is used to acquire real-time operating parameters such as input voltage, output voltage, output current, peak current, and chip junction temperature for the corresponding power protection branch. The NVM serves as a fault information storage unit, storing the fault type, fault occurrence time, and operating parameters at the time of the fault when a chip fails, thus forming a fault record for the corresponding power protection branch. The fault information remains in the NVM even after power loss. The robot's main control MCU can read the fault information stored in each chip via the PM Bus communication bus, which consists of the data interface pin SDA and the clock interface pin SCL. Based on the timestamp, fault type, and operating parameters in the fault information, it can determine the target power protection branch where the fault occurred and the operating status at the time of the fault, enabling fault location and tracing of the robot's power protection system.

[0073] This invention also provides a robot, including the robot power supply protection system provided in the above embodiments, which has the same beneficial effects as the above embodiments, and will not be repeated here.

[0074] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0075] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A power supply switching protection circuit for a robot, characterized in that, include: Energy storage module and at least one switch protection module; The input terminal of the switch protection module is used to connect to the robot's power supply, the output terminal of the switch protection module is used to connect to the robot's load, and the output terminal of the switch protection module is grounded through the energy storage module. The switch protection module is used to detect the capacitance value of the energy storage module and control the soft-start duration of the switch protection module according to the capacitance value and the preset soft-start target power.

2. The power supply switching protection circuit for the robot according to claim 1, characterized in that, The load includes a first load and a second load with different power; The switch protection module is also used to obtain the change in capacitance value of the energy storage module when switching from the first load to the second load, and to determine the power difference between the first load and the second load based on the change in capacitance value; The switch protection module is further configured to adjust the soft-start duration of the switch protection module according to the power difference, wherein the power difference is positively correlated with the soft-start duration.

3. The power supply switching protection circuit for the robot according to claim 2, characterized in that, The switch protection module includes a controller and a switch transistor; The input terminal of the switching transistor is used to connect to the power supply of the robot, the output terminal of the switching transistor is used to connect to the load, and the control terminal of the switching transistor is connected to the controller. The controller is used to detect the capacitance value of the energy storage module, determine the soft-start duration of the switching transistor based on the capacitance value and the preset soft-start target power, and control the conduction state of the switching transistor based on the soft-start duration.

4. The power supply switching protection circuit for the robot according to claim 1, characterized in that, The switch protection circuit includes at least two of the switch protection modules; The input terminals of at least two of the switch protection modules are respectively connected to the power supply of the robot, and the at least two switch protection modules are communicatively connected. The at least two switch protection modules include a master switch protection module and at least one slave switch protection module. The master switch protection module is used to operate in master mode, and the slave switch protection module is used to operate in slave mode.

5. The power supply switching protection circuit for the robot according to claim 4, characterized in that, The switch protection circuit includes at least two of the energy storage modules; The energy storage module and the switch protection module are configured in a one-to-one correspondence. The first end of each energy storage module is connected to the output end of the corresponding switch protection module, and the second end of each energy storage module is grounded.

6. The switching protection circuit for the robot power supply according to claim 5, characterized in that, The output terminals of at least two of the aforementioned switch protection modules are connected to the same load to jointly supply power to the load; Alternatively, the switch protection module can be connected to each load in a one-to-one correspondence to supply power to the corresponding load.

7. The power supply switching protection circuit for the robot according to claim 4 or 5, characterized in that, The switch protection circuit also includes a communication bus, through which at least two switch protection modules are connected in communication. When at least two of the switch protection modules are connected to the same load, the switch protection module in the host operating mode is used to determine the target soft start duration based on the capacitance value of the energy storage module and the preset soft start target power; The main switch protection module is also used to synchronize the target soft-start duration to the slave switch protection module via the communication bus; The main switch protection module and the slave switch protection module are used to start synchronously according to the target soft start duration.

8. The power supply switching protection circuit for the robot according to claim 4, characterized in that, The switch protection circuit also includes a fault bus, and each switch protection module includes a fault type output terminal. The fault type output terminals of at least two switch protection modules are respectively connected to the fault bus. When any of the switch protection modules fails, the faulty switch protection module is used to transmit a fault signal to the other switch protection modules through the fault bus to control at least two of the switch protection modules to stop output.

9. A power supply protection system for a robot, characterized in that, Includes the power supply switching protection circuit and control module of the robot as described in any one of claims 1-8; The switch protection module is connected to the control module; the control module is used to acquire the operating information of at least one of the switch protection modules, and determine the target switch protection module that has failed and the fault type of the target switch protection module based on the operating information.

10. A robot, characterized in that, The power supply protection system for the robot as described in claim 9.

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