Double isolation type closed-loop control circuit

Abstract

The utility model provides a dual-isolation type closed-loop control circuit. The dual-isolation type closed-loop control circuit comprises a core management module, an emission isolation driving module, an emission control output module, an emission control output acquisition module, an emission control output isolation re-inspection module, a source signal isolation acquisition module and a source signal re-inspection module. Driving isolation, detection isolation, a closed-loop control loop of an isolation type emission signal and a closed-loop back-detection circuit of an isolation type source signal are realized by constructing a double isolation type closed-loop control circuit, logic analysis and data processing of the emission signal and the source signal are realized, and in the emission process, a remote display device is used for displaying the data of the emission signal and the source signal. The working state of each signal is monitored and analyzed, so that the normal or fault judgment of the transmitting process is facilitated, the controllability, the measurability and the checkability of the whole transmitting closed-loop control process are realized, and the safety and the reliability of the transmitting process are improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of robot control, and particularly to a dual-isolation type closed-loop control circuit. Background Art

[0002] Robot gutter roadway launching means that a boat is used as a carrier for robot launching in the gutter roadway. After the boat launching is completed, the boat and the machine are separated. Its control process is complex, and the launching process is dangerous. The surrounding environment of the robot is extremely dangerous and dark during launching, and the operator cannot approach the robot. In the actual launching process, it is inevitable that the robot launching fails. Due to the special scenario limitations of the launching, it becomes extremely difficult and dangerous to troubleshoot and locate the faults when the launching fails, and the safety and reliability during the launching process cannot be guaranteed. Summary of the Utility Model

[0003] The purpose of the embodiments of the present disclosure is to provide a dual-isolation type closed-loop control circuit to solve the problem of low safety and reliability in the process of robot gutter roadway launching in the prior art.

[0004] The embodiments of the present disclosure adopt the following technical solutions: A dual-isolation type closed-loop control circuit includes: a core management module for outputting a driving signal; a launch isolation driving module for receiving the driving signal, generating and outputting an isolation driving signal; a launch control output module connected to a source signal input terminal for receiving the isolation driving signal, accessing the source signal under the drive of the isolation driving signal, and forming a launch signal from the source signal and outputting it to the robot; a launch control output acquisition module for acquiring the launch signal to form a first acquisition signal; a launch control output isolation feedback module for receiving the first acquisition signal, performing isolation processing on the first acquisition signal to form a first feedback signal, and sending the first feedback signal to the core management module; a source signal isolation acquisition module connected to the source signal input terminal for acquiring the source signal and performing isolation processing to form a second acquisition signal; and a source signal feedback module for receiving the second acquisition signal, converting the second acquisition signal to form a second feedback signal, and sending the second feedback signal to the core management module.

[0005] The beneficial effects of the embodiments of the present disclosure are as follows: By constructing a dual-isolation type closed-loop control circuit, drive isolation and signal detection isolation are achieved, including a closed-loop control circuit for the isolated transmitted signal and a closed-loop feedback circuit for the isolated source signal, realizing the logical analysis and data processing of the transmitted signal and the source signal. During the transmission process, it can further cooperate with a long-distance display device to monitor and analyze the working states of various signals, facilitating the judgment of whether the transmission process is normal or faulty, and achieving controllability, measurability, and traceability of the entire transmission closed-loop control process, improving the safety and reliability of the transmission process. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] In order to more clearly illustrate the technical solutions in one or more embodiments of this specification or the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments recorded in this specification. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0007] Figure 1 Structural schematic diagram of the dual-isolation type closed-loop control circuit in this embodiment;

[0008] Figure 2 Circuit structure diagram of the core management module in this embodiment;

[0009] Figure 3 Circuit structure diagram of the transmission isolation drive module in this embodiment;

[0010] Figure 4 Circuit structure diagram of the transmission control output module in this embodiment;

[0011] Figure 5 Circuit structure diagram of the transmission control output acquisition module in this embodiment;

[0012] Figure 6 Circuit structure diagram of the transmission control output isolation feedback module in this embodiment;

[0013] Figure 7 Circuit structure diagram of the source signal isolation acquisition module in this embodiment;

[0014] Figure 8 Circuit structure diagram of the source signal feedback module in this embodiment;

[0015] Figure 9 Specific implementation circuit diagram of a dual-isolation type closed-loop control circuit in this embodiment;

[0016] Figure 10 Circuit structure diagram of the status indication module in this embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] To enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below in conjunction with the accompanying drawings in one or more embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of this specification, rather than all the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this document.

[0018] The robot launch in the trench roadway means that in the trench roadway, a moored ship is used as the carrier for robot launch. After the moored ship is launched, the ship and the machine are separated. Its control process is complex, and the launch process is dangerous. The surrounding environment of the robot is extremely dangerous and dark during launch, and the operator cannot approach the robot. In the actual launch process, it is inevitable that the robot launch fails. Due to the special scene limitations of the launch, it becomes extremely difficult and dangerous to troubleshoot and locate the faults when the launch fails, and the safety and reliability during the launch process cannot be guaranteed.

[0019] To solve the above problems, the embodiments of the present disclosure provide a dual-isolation type closed-loop control circuit. As the pre-stage circuit of the robot, this closed-loop control circuit performs isolated closed-loop control, closed-loop isolated acquisition and feedback inspection, and isolated status display on the signals output to the robot. Specifically, Figure 1 FIG. shows the structural schematic diagram of the dual-isolation type closed-loop control circuit in the embodiments of the present disclosure. Among them, this closed-loop control circuit mainly includes the following functional modules: a core management module 10, a launch isolation drive module 20, a launch control output module 30, a launch control output acquisition module 40, a launch control output isolation feedback inspection module 50, a source signal isolation acquisition module 60, and a source signal feedback inspection module 70.

[0020] In this embodiment, the core management module 10 is mainly used to output a drive signal when the conditions for the robot to be launched into the trench roadway are met. The drive signal refers to the control signal issued by the core management module 10 when the robot launch conditions are met, which is used to control the source signal to be output to the robot 100, and the source signal is the signal for powering the robot to enable its launch. The launch isolation drive module 20 is mainly used to receive the drive signal, convert it through an isolation drive circuit, and form an isolated drive signal for output; the launch control output module 30 is connected to the source signal input terminal, and when it receives the isolated drive signal, it accesses the source signal and forms a launch signal for output to the robot 100; the launch control output acquisition module 40 is a downstream circuit of the launch control output module 30, and it is connected between the launch control output module 30 and the robot 100, and is used to collect the launch signal output by the launch control output module 30 to form a first acquisition signal for output; the launch control output isolation feedback module 50 receives the first acquisition signal, converts and processes it into a first feedback signal that can be recognized by the core management module 10, and sends the first feedback signal to the core management module 10; the source signal isolation acquisition module 60 is connected between the source signal input terminal and the launch control output module, and is used to collect the source signal and form a second acquisition signal for output; the source signal feedback module 70 is used to receive the second acquisition signal, convert and process it into a second feedback signal that can be recognized by the core management module 10, and send the second feedback signal to the core management module 10.

[0021] Based on the configuration of the above modules, the closed-loop control circuit in this embodiment forms a total of two isolated closed-loop control loops. One is the isolated closed-loop control loop for the transmitted signal, including the core management module 10, the transmit isolation drive module 20, the transmit control output module 30, the transmit control output acquisition module 40, and the transmit control output isolation feedback module 50. Among them, the transmit isolation drive module 20 uses an isolation drive circuit to isolate the detection circuit from the control circuit, and the transmit control output isolation feedback module 50 isolates the acquisition circuit between the core management module 10 and the transmit control output acquisition module 40. The other is the isolated closed-loop control loop for the source signal, including the core management module 10, the source signal isolation acquisition module 60, and the source signal feedback module 70, which isolates the source signal from the source signal feedback module 60 using the source signal isolation acquisition module 60. Specifically, the transmit control output acquisition module 40 and the transmit control output isolation feedback module 50 are equivalent to detecting whether a correct transmit signal is given to the robot, and feeding back the specific situation of the transmit signal to the core management module through the first feedback signal. However, when the first feedback signal indicates that the transmit signal is abnormal or no transmit signal is acquired, it is impossible to further determine whether it is because the drive signal transmission fails to connect the source signal, or the source signal itself fails to connect and causes the abnormality. Therefore, the source signal isolation acquisition module 60 and the source signal feedback module 70 are used to perform acquisition and feedback of the source signal, and the second feedback signal is used to indicate whether the source signal is abnormal. If both the first feedback signal and the second feedback signal indicate abnormalities, it means that the robot fails to transmit due to the abnormal source signal. If the first feedback signal is abnormal but the second feedback signal is normal, it means that the robot fails to transmit due to the abnormal transmit signal.

[0022] The following will combine Figures 2 to 8 the shown circuit structure diagram to specifically illustrate the above functional modules.

[0023] Figure 2 shows the circuit structure diagram of the core management module 10. As Figure 2As shown in the figure, the core management module 10 at least includes the following circuits or components: a microprocessing unit U4, a power supply circuit 11, a clock circuit 12, and a reset circuit 13. Among them, the microprocessing unit U4 can use an embedded microprocessor, an 8-bit / 16-bit / 32-bit single-chip microcomputer chip, a logic control chip CPLD or FPGA, and a system-on-chip SoPC, etc. As the core of the closed-loop control system, it realizes the logical processing and closed-loop control functions of the emission; the power supply circuit 11 mainly includes a power supply chip U7, capacitors C15, C16, C17, and C19, and is used to supply power to the microprocessing unit U4; the clock circuit 12 mainly includes a clock chip CY1, capacitors C11, C18, and an inductor FB1, and is used to provide a reference clock signal to the microprocessing unit U4 under the power supply of a 5V operating voltage; the reset circuit 13 mainly includes a reset chip U5, a switch S1, a resistor R17, and capacitors C9 and C10, and is used to perform a reset process on the microprocessing unit U4 after power-on. Further, the microprocessing unit U4 at least includes a drive control pin for outputting a drive signal, corresponding to Figure 2 pin 10 of U4 in the figure. In addition, it also includes a first feedback pin for receiving the first feedback signal output by the emission control output isolation feedback module, corresponding to Figure 2 pins 12, 14, 16, and 18 of U4 in the figure. It also includes a second feedback pin for receiving the second feedback signal output by the source signal feedback module, corresponding to Figure 2 pin 9 of U4 in the figure. It should be noted that the specific functions and connection conditions of each pin in the above U4 are only for illustration. In actual implementation, based on different selections of U4, there should be other different pin configurations and connection methods, which can be set according to the actual situation, and this embodiment will not be described in detail.

[0024] In actual implementation, the microprocessing unit U4 should have a memory function or a storage function, and can store the received feedback signals for subsequent fault troubleshooting. At the same time, it can combine the clock signal to record in detail the time when the fault occurs, etc.

[0025] Figure 3 The circuit structure diagram of the emission isolation drive module 20 is shown. As Figure 3As shown, the emission isolation drive module 20 mainly includes: a first current-limiting resistor R7, a second current-limiting resistor R8, a third current-limiting resistor R6, a fourth current-limiting resistor R11, and an isolation drive circuit U2. Among them, the first ends of the first current-limiting resistor and the second current-limiting resistor are simultaneously connected to the drive control pin. The second end of the first current-limiting resistor is connected to the first input pin of the isolation drive circuit, and the second end of the second current-limiting resistor is connected to the second input pin of the isolation drive circuit. The first output pin of the isolation drive circuit is used to output a first isolation drive signal, and the second output pin of the isolation drive circuit is used to output a second isolation drive signal. The first ground terminal and the second ground terminal of the isolation drive circuit are grounded simultaneously. The third ground terminal of the isolation drive circuit is grounded after being connected in series with the third current-limiting resistor, and the fourth ground terminal of the isolation drive circuit is grounded after being connected in series with the fourth current-limiting resistor. In some embodiments, the isolation drive circuit U2 can be an optocoupler, which realizes electrical isolation between the input end and the output end and protects the core management module from being affected by the subsequent-stage signal. At the same time, the isolation drive circuit U2 includes two parallel redundant circuits, enabling the access drive signals to enter the isolation drive circuit U2 after being current-limited by different current-limiting resistors respectively, and using the optocoupler to drive the secondary-side switch tube to turn on, forming two parallel paths, so that the two isolation drive signals have a mutual backup function and have high reliability.

[0026] Figure 4 The circuit structure diagram of the emission control output module 30 is shown. As Figure 4As shown in the figure, the emission control output module 30 mainly includes: a first pull-up resistor C3, a first pull-up capacitor R4, a first switching transistor Q1, a second pull-up resistor R9, a second pull-up capacitor C6, and a second switching transistor Q2. Among them, the first pole of the first pull-up capacitor is grounded, the second pole of the first pull-up capacitor is connected to the first end of the first pull-up resistor and the source signal input terminal, the second end of the first pull-up resistor is connected to the first output pin and the control pole of the first switching transistor, the first pole of the first switching transistor is connected to the source signal input terminal, the second pole of the first switching transistor is connected to the second pole of the second switching transistor, and serves as the output terminal of the emission control output module to be connected to the robot. The first pole of the second pull-up capacitor is grounded, the second pole of the second pull-up capacitor is connected to the first end of the second pull-up resistor and the source signal input terminal, the second end of the second pull-up resistor is connected to the second output pin and the control pole of the second switching transistor, and the first pole of the second switching transistor is connected to the source signal input terminal. Specifically, the first pull-up resistor C3 and the first pull-up capacitor R4 form a first pull-up circuit, and the second pull-up resistor R9 and the second pull-up capacitor C6 form a second pull-up circuit, which are used to perform pull-up processing on the received isolated drive signals respectively. The switching transistor can be a PMOS transistor, a Darlington transistor, a thyristor, or a silicon-controlled rectifier, etc. When the isolated drive signal after pull-up processing meets the turn-on threshold of the switching transistor, the source signal connected to the first pole of the switching transistor can be output. At the same time, two redundant circuit configurations are also designed in the emission control output module 30, so that the two emission signals have a mutual backup function to improve the overall reliability of the circuit.

[0027] Figure 5 The circuit structure diagram of the emission control output acquisition module 40 is shown. As Figure 5As shown, the emission control output acquisition module 40 mainly includes: a first filter capacitor C4, a second filter capacitor C5, a first filter inductor B2, a first voltage-dividing resistor R5, a second voltage-dividing resistor R10, a voltage-dividing capacitor C7, a protection diode D1, and an operational amplifier U3A. Among them, the first pole of the first filter capacitor is connected to the robot, the second pole of the first filter inductor is grounded, the first end of the first filter inductor is connected to the first pole of the first filter capacitor, the second end of the first filter inductor is connected to the first pole of the second filter capacitor and the first end of the first voltage-dividing resistor, the second pole of the second filter capacitor is grounded, the second end of the first voltage-dividing resistor is connected to the first pole of the voltage-dividing capacitor and the first end of the second voltage-dividing resistor, and the second end of the second voltage-dividing resistor and the second pole of the voltage-dividing capacitor are connected to the analog ground; the negative pole of the protection diode is connected to the first end of the second voltage-dividing resistor, and the positive pole of the protection diode is connected to the analog ground; the non-inverting input terminal of the operational amplifier is connected to the negative pole of the protection diode, the output terminal of the operational amplifier is connected to the inverting input terminal of the operational amplifier, and the output terminal of the operational amplifier serves as the output terminal of the emission control output acquisition module and is connected to the emission control output isolation feedback module. Specifically, after the emission control output acquisition module 40 filters and divides the voltage of the emission signal, it enters the operational amplifier for detection, and the detection result is output as the first acquisition signal. This first acquisition signal is the analog signal ADC_CH1; this acquisition module has a filter circuit and a protection circuit to ensure the accuracy and safety of the emission signal acquisition.

[0028] Figure 6 The circuit structure diagram of the emission control output isolation feedback module 50 is shown. As Figure 6 shown, the emission control output isolation feedback module 50 at least includes a data conversion chip U6, an impedance matching circuit R13 to R16, and a signal isolation chip U8; among them, the input pin of the data conversion chip is connected to the output terminal of the emission control output acquisition module, and is used to convert the first acquisition signal into a digital signal. The impedance matching circuit is connected in series between the data conversion chip and the signal isolation chip. The signal isolation chip is used to convert the digital signal matched by the impedance matching circuit into the first feedback signal and connect it to the first feedback pin of the microprocessing unit. Specifically, each resistor in the impedance matching circuit is respectively connected between different pins of U6 and U8 to achieve impedance matching between the chips. At the same time, the emission control output isolation feedback module 50 also includes pull-up resistors R12, R18, and filter capacitors C12, C13, C14, and E1. The emission control output isolation feedback module 50 converts the first acquisition signal of the analog signal into the first feedback signal of the digital signal through the data conversion chip U6 and the signal isolation chip U8 to feedback to the core management module, constructs a closed-loop control circuit for the emission signal, and further realizes the closed-loop control process of the robot emission signal.

[0029] Figure 7The circuit structure diagram of the source signal isolation acquisition module 60 is shown. As Figure 7 shown, the source signal isolation acquisition module 60 at least includes: a first acquisition resistor R1, a second acquisition resistor R2, an acquisition capacitor C2, and an optocoupler U1; wherein, the first end of the first acquisition resistor and the first pole of the acquisition capacitor are connected to the source signal input terminal, the first end of the second acquisition resistor is connected to the second end of the first acquisition resistor, the second end of the second acquisition resistor and the second pole of the acquisition capacitor are grounded simultaneously, the first pin of the optocoupler is connected to the first end of the second acquisition resistor, the second pin and the fourth pin of the optocoupler are grounded, and the third pin of the optocoupler serves as the output terminal of the source signal isolation acquisition module and is connected to the source signal feedback module. Specifically, the source signal isolation acquisition module 60 detects the source signal and outputs a second acquisition signal of the analog signal through the optocoupler U1. This acquisition module has a filtering circuit and an electrical isolation function to ensure the accuracy and safety of the source signal acquisition.

[0030] Figure 8 The circuit structure diagram of the source signal feedback module 70 is shown. As Figure 8 shown, the source signal feedback module 70 at least includes: a third pull-up resistor R3, a second filtering inductor B1, and a third filtering capacitor C1; wherein, the first end of the third pull-up resistor is connected to the working voltage, the second end of the third pull-up resistor is connected to the third pin of the optocoupler, the first end of the second filtering inductor is connected to the second end of the third pull-up resistor, the second end of the second filtering inductor is connected to the first pole of the third filtering capacitor, the second pole of the third filtering capacitor is grounded, and the first pole of the third filtering capacitor serves as the output terminal of the source signal feedback module and is connected to the second feedback pin of the microprocessing unit. Specifically, the source signal feedback module 70 processes the second acquisition signal through a pull-up circuit and a filtering circuit and then feeds it back to the core management module to construct a closed-loop control loop of the source signal, thereby realizing the closed-loop detection process of the source signal.

[0031] In some embodiments, the closed-loop control circuit may further include a status indication module 80, as Figure 1 shown, the status indication module 80 is mainly connected to the core management module 10 through wireless communication. It is usually set in a device with a display component and is controlled by on-site operators. After receiving the feedback signal (including the first feedback signal and / or the second feedback signal), the core management module 10 generates and sends a status indication signal corresponding to the feedback signal to the status indication module 80 according to the corresponding content of the feedback signal. After receiving the status indication signal, the status indication module 80 displays the robot status corresponding to the signal through the display component, facilitating on-site personnel to promptly know the robot status.

[0032] Specifically, Figure 10 The circuit structure diagram of the status indication module 80 is shown. As Figure 10As shown, the status indication module mainly includes a status indication chip J1, which is connected to the microprocessing unit U4 through pins 3 to 5, and visually displays the working states of various signals during the robot's launch process, including working states, control signals, source signals, closed-loop detection signals, launch output signals, etc., to achieve good human-machine interaction. Through the indication states of different signals, it is convenient to control the current working state of the robot launch process, achieving measurability, traceability, and visualization of the launch process. This status indication circuit module can be various display components such as LED indicator lights, liquid crystal displays, projection curtain walls, etc., including display driver circuits and display devices.

[0033] Figure 9 The specific implementation circuit diagram of a dual-isolation type closed-loop control circuit is shown, and the specific connection schematic between the various functional modules of the closed-loop control circuit is clearly shown in the figure. In some embodiments, the closed-loop control circuit may further include a communication module, which is connected to the core management module and is used to transmit any one or more of the first feedback signal, the second feedback signal, and the status indication signal to the ground control center through a long-distance transmission method, facilitating the operators at the ground control center to timely learn about the launch situation of the robot and enabling adjustment and control of the robot launch process through remote communication.

[0034] In this embodiment, drive isolation and detection isolation are achieved by constructing a dual-isolation type closed-loop control circuit, the closed-loop control loop of the isolated launch signal and the closed-loop feedback circuit of the isolated source signal, realizing the logical analysis and data processing of the launch signal and the source signal. During the launch process, the working states of each signal are monitored and analyzed through a long-distance display device to facilitate the judgment of the normality or fault of the launch process, achieving controllability, measurability, and traceability of the entire launch closed-loop control process, and improving the safety and reliability of the launch process.

[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, and are not intended to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A double-isolated closed-loop control circuit, characterized in that: include: Core management module, used to output drive signals; A transmitting isolation driving module, used for receiving the driving signal, generating and outputting an isolation driving signal; A transmission control output module is connected to the source signal input terminal, and is used to receive the isolation drive signal, and access the source signal under the drive of the isolation drive signal, and form the source signal into a transmission signal and output it to the robot; A transmission control output acquisition module, used for acquiring the transmission signal to form a first acquisition signal; A transmission control output isolation check module, used for receiving the first acquisition signal, isolating the first acquisition signal to form a first check signal, and sending the first check signal to the core management module; A source signal isolation acquisition module, connected to the source signal input terminal, for acquiring the source signal and performing isolation processing to form a second acquisition signal; as well as, The source signal checkback module is used to receive the second acquisition signal, convert the second acquisition signal into a second checkback signal, and send the second checkback signal to the core management module.

2. The closed-loop control circuit according to claim 1, characterized in that: The core management module at least includes: a microprocessor unit, a power supply circuit, a clock circuit and a reset circuit; wherein the power supply circuit is used to supply power to the microprocessor unit, the clock circuit is used to provide a clock signal to the microprocessor unit, and the reset circuit is used to reset the microprocessor unit. The microprocessor unit outputs a drive signal through a drive control pin, receives a first return signal output by the emission control output isolation return signal module through a first return signal pin, and receives a second return signal output by the source signal return signal module through a second return signal pin.

3. The closed-loop control circuit according to claim 2, characterized in that: The transmitting isolation driving module at least includes: a first current limiting resistor, a second current limiting resistor, a third current limiting resistor, a fourth current limiting resistor and an isolation driving circuit; wherein, the first end of the first current limiting resistor and the first end of the second current limiting resistor are simultaneously connected to the driving control pin, the second end of the first current limiting resistor is connected to the first input pin of the isolation driving circuit, the second end of the second current limiting resistor is connected to the second input pin of the isolation driving circuit, the first output pin of the isolation driving circuit is used to output a first isolation driving signal, the second output pin of the isolation driving circuit is used to output a second isolation driving signal, the first grounding terminal and the second grounding terminal of the isolation driving circuit are simultaneously grounded, the third grounding terminal of the isolation driving circuit is connected in series with the third current limiting resistor and then grounded, and the fourth grounding terminal of the isolation driving circuit is connected in series with the fourth current limiting resistor and then grounded.

4. The closed-loop control circuit according to claim 3, characterized in that: The emission control output module at least includes: a first pull-up resistor, a first pull-up capacitor, a first switch tube, a second pull-up resistor, a second pull-up capacitor and a second switch tube; Wherein, the first electrode of the first pull-up capacitor is grounded, the second electrode of the first pull-up capacitor is connected to the first end of the first pull-up resistor and the source signal input end, the second end of the first pull-up resistor is connected to the first output pin and the control electrode of the first switch tube, the first electrode of the first switch tube is connected to the source signal input end, the second electrode of the first switch tube is connected to the second electrode of the second switch tube, and is connected to the robot as the output end of the emission control output module; The first electrode of the second pull-up capacitor is grounded, the second electrode of the second pull-up capacitor is connected to the first end of the second pull-up resistor and the source signal input end, the second end of the second pull-up resistor is connected to the second output pin and the control electrode of the second switch tube, and the first electrode of the second switch tube is connected to the source signal input end.

5. The closed-loop control circuit according to claim 4, characterized in that: The emission control output acquisition module at least includes: a first filter capacitor, a second filter capacitor, a first filter inductor, a first voltage divider resistor, a second voltage divider resistor, a voltage divider capacitor, a protection diode and an operational amplifier; wherein, The first pole of the first filter capacitor is connected to the robot, the second pole of the first filter inductor is grounded, the first end of the first filter inductor is connected to the first pole of the first filter capacitor, the second end of the first filter inductor is connected to the first pole of the second filter capacitor and the first end of the first voltage-dividing resistor, the second pole of the second filter capacitor is grounded, the second end of the first voltage-dividing resistor is connected to the first pole of the voltage-dividing capacitor and the first end of the second voltage-dividing resistor, and the second end of the second voltage-dividing resistor and the second pole of the voltage-dividing capacitor are connected to the analog ground; the cathode of the protection diode is connected to the first end of the second voltage-dividing resistor, and the anode of the protection diode is connected to the analog ground; the non-inverting input of the operational amplifier is connected to the cathode of the protection diode, the output of the operational amplifier is connected to the inverting input of the operational amplifier, and the output of the operational amplifier is connected to the emission control output isolation check module as the output of the emission control output acquisition module.

6. The closed-loop control circuit according to claim 5, characterized in that: The emission control output isolation check module at least includes: a data conversion chip, an impedance matching circuit and a signal isolation chip; wherein, the input pin of the data conversion chip is connected to the output end of the emission control output acquisition module, and is used to convert the first acquisition signal into a digital signal, the impedance matching circuit is connected in series between the data conversion chip and the signal isolation chip, and the signal isolation chip is used to convert the digital signal matched by the impedance matching circuit into a first check signal and connect it to the first check pin of the microprocessing unit.

7. The closed-loop control circuit according to claim 2, characterized in that: The source signal isolation acquisition module at least includes: a first acquisition resistor, a second acquisition resistor, an acquisition capacitor, and an optical coupler; wherein, The first end of the first acquisition resistor and the first electrode of the acquisition capacitor are connected to the source signal input end, the first end of the second acquisition resistor is connected to the second end of the first acquisition resistor, the second end of the second acquisition resistor and the second electrode of the acquisition capacitor are grounded at the same time, the first pin of the optocoupler is connected to the first end of the second acquisition resistor, the second pin and the fourth pin of the optocoupler are grounded, and the third pin of the optocoupler is connected to the source signal return detection module as the output end of the source signal isolation acquisition module.

8. The closed-loop control circuit according to claim 7, characterized in that: The source signal checkback module at least includes: a third pull-up resistor, a second filter inductor, and a third filter capacitor, wherein the first end of the third pull-up resistor is connected to the working voltage, the second end of the third pull-up resistor is connected to the third pin of the optocoupler, the first end of the second filter inductor is connected to the second end of the third pull-up resistor, the second end of the second filter inductor is connected to the first pole of the third filter capacitor, the second pole of the third filter capacitor is grounded, and the first pole of the third filter capacitor is connected to the second checkback pin of the microprocessing unit as the output end of the source signal checkback module.

9. The closed-loop control circuit according to any one of claims 1 to 8, characterized in that: The core management module is also used to generate a status indication signal according to the received return check signal; The closed-loop control circuit further includes: a status indication module, which is wirelessly connected to the core management module and is used to receive the status indication signal and display the robot status corresponding to the status indication signal through a display component.

10. The closed-loop control circuit according to claim 9, characterized in that: Also includes: A communication module is connected to the core management module and is used to transmit any one or more of the first backcheck signal, the second backcheck signal and the status indication signal to a ground control center over a long distance.

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