Power supply control device and autonomous mobile robot

Abstract

The utility model relates to a power supply control device and an autonomous mobile robot, and the device comprises a mainboard power supply circuit which is electrically connected with a mainboard and is used for supplying power to the mainboard; the module power supply circuit is electrically connected with the mainboard and the functional module and is used for supplying power to the functional module based on the output of the mainboard; and the driving circuit is electrically connected with the mainboard power supply circuit and is used for controlling the output state of the mainboard power supply circuit. Firstly, only after the mainboard is powered on, the functional module can be powered on subsequently, the mainboard and the functional module cannot be started at the same time, the instantaneous discharge current of the current is not too large, the mainboard and the functional module can be started even when the battery is aged or the instantaneous discharge capacity is insufficient, and the starting reliability is improved. And secondly, as the power supply control of the mainboard and the functional module is separated, the power-off of the functional module which does not need to be kept in a power-on state can be selectively controlled in the sleep mode, so that the power consumption of the battery is reduced, and the endurance is finally guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of power supplies, and in particular, to a power supply control device and an autonomous mobile robot. Background Art

[0002] An autonomous mobile robot (AMR) is a robot with comprehension ability that can move independently in its environment. The autonomous mobile robot uses a set of complex sensors, artificial intelligence, and machine learning technologies to calculate path planning to understand the environment and navigate within it, without being restricted by a wired power supply.

[0003] Traditional power supply solutions for autonomous mobile robots usually adopt a master control switch method to achieve "powering on together when starting up" or "powering off together when shutting down" for the main board and functional modules in the autonomous mobile robot.

[0004] First of all, the traditional solution will cause all electrical loads to start simultaneously, resulting in too large an instantaneous discharge current of the battery. When the battery ages or the instantaneous discharge capacity is insufficient, it is prone to problems such as inability to start. In addition, in the sleep mode, the functional modules that do not need to maintain the powered-on state in the traditional solution will still be in the powered-on state, thus increasing the battery power consumption and reducing the battery life. Utility Model Content

[0005] Embodiments of the present application provide a power supply control device and an autonomous mobile robot, which can prevent all electrical loads from starting simultaneously and improve the reliability of startup, so as to at least partially solve the above technical problems.

[0006] To achieve the above object, according to the first aspect of the present application, a power supply control device is provided, including:

[0007] A main board power supply circuit, electrically connected to the main board, for supplying power to the main board;

[0008] A module power supply circuit, electrically connected to the main board and the functional module, for supplying power to the functional module based on the output of the main board; and

[0009] A drive circuit, electrically connected to the main board power supply circuit, for controlling the output state of the main board power supply circuit.

[0010] Optionally, the drive circuit includes a manual switch and a drive output unit;

[0011] The drive output unit includes a controlled end electrically connected to the manual switch and an output end electrically connected to the drive end of the main board power supply circuit;

[0012] The manual switch is used to control the output state of the drive output unit.

[0013] Optionally, the manual switch includes a push-button switch, and the drive output unit includes a first NAND gate and a second NAND gate, with the first NAND gate operating prior to the second NAND gate.

[0014] The first NAND gate includes a first input terminal electrically connected to the first access terminal of the push-button switch and used for accessing the trigger voltage, a second input terminal electrically connected to the output terminal of the second NAND gate, and an output terminal electrically connected to the drive terminal of the main board power supply circuit and the first input terminal of the second NAND gate respectively.

[0015] The push-button switch further includes a second access terminal for grounding, and the second NAND gate further includes a second input terminal for accessing the operating voltage.

[0016] Optionally, the drive output unit further includes a first tri-state buffer, a delay unit, and a first switch unit.

[0017] The first tri-state buffer includes an input terminal electrically connected to the first access terminal of the push-button switch and the controlled terminal of the first switch unit, an enable terminal electrically connected to the second input terminal of the second NAND gate and the first access terminal of the first switch unit respectively, and an output terminal electrically connected to the first input terminal of the first NAND gate and used for accessing the operating voltage.

[0018] The first switch unit further includes a second access terminal for grounding, and the delay unit is electrically connected to the first switch unit.

[0019] The first switch unit is configured to control the second input terminal of the second NAND gate to be connected to the ground after the voltage at its controlled terminal is continuously pulled low for a preset duration under the control of the delay unit.

[0020] Optionally, the delay unit includes a current-limiting resistor and a charging capacitor, and the first switch unit includes a first switching transistor and a second switching transistor.

[0021] The first switching transistor includes a first access terminal electrically connected to the second input terminal of the second NAND gate and the enable terminal of the first tri-state buffer respectively, a second access terminal for grounding, and a controlled terminal electrically connected to the first terminal of the charging capacitor, the first access terminal of the second switching transistor, and the first terminal of the current-limiting resistor respectively.

[0022] The charging capacitor further includes a second terminal for grounding, the current-limiting resistor further includes a second terminal for accessing the operating voltage, the second switching transistor further includes a second access terminal for grounding, and a controlled terminal electrically connected to the first access terminal of the push-button switch and the input terminal of the first tri-state buffer respectively.

[0023] Optionally, the drive output unit further includes a second tri-state buffer.

[0024] The second tri-state buffer includes an input terminal electrically connected to the output terminal of the first NAND gate, an output terminal electrically connected to the drive terminal of the main board power supply circuit, and an enable terminal for accessing the operating voltage.

[0025] Optionally, the driving circuit further includes an indicating unit;

[0026] The indicating unit is electrically connected to the output end of the driving output unit and is configured to perform corresponding indication according to the voltage of its controlled end.

[0027] Optionally, the indicating unit includes a light-emitting diode, a third switching transistor, and a fourth switching transistor;

[0028] The light-emitting diode includes a cathode for grounding and an anode electrically connected to the second access end of the third switching transistor. The third switching transistor further includes a first access end for accessing the working voltage and a controlled end electrically connected to the first access end of the fourth switching transistor;

[0029] The fourth switching transistor further includes a second access end for grounding and a controlled end electrically connected to the output end of the driving output unit.

[0030] Optionally, the module power supply circuit includes at least one of a core module power supply circuit, a switch module power supply circuit, and a peripheral module power supply circuit;

[0031] The core module power supply circuit includes a driving end electrically connected to the first output end of the main board and an output end electrically connected to the power supply end of the core module;

[0032] The switch module power supply circuit includes a driving end electrically connected to the second output end of the main board and an output end electrically connected to the power supply end of the switch module;

[0033] The peripheral module power supply circuit includes a driving end electrically connected to the third output end of the main board and an output end electrically connected to the power supply end of the peripheral module;

[0034] Wherein, the core module includes a wireless communication module and / or a hard disk module, and the peripheral module includes at least one of a camera module, a display module, a motor module, a sensor module, a speaker module, and a light strip module.

[0035] Optionally, the core module power supply circuit includes a first input signal processing unit, a first power supply chip, and a first output signal processing unit, and the switch module power supply circuit includes a second input signal processing unit, a second power supply chip, and a second output signal processing unit;

[0036] The first power supply chip includes an input end electrically connected to the output end of the first input signal processing unit, an enable end electrically connected to the first output end of the main board, and an output end electrically connected to the first output signal processing unit; the first input signal processing unit further includes an input end for accessing the working voltage, and the first output signal processing unit further includes an output end electrically connected to the power supply end of the core module;

[0037] The second power supply chip includes an input terminal electrically connected to the output terminal of the second input signal processing unit, an enable terminal electrically connected to the second output terminal of the main board, and an output terminal electrically connected to the second output signal processing unit; the second input signal processing unit further includes an input terminal for accessing the operating voltage, and the second output signal processing unit further includes an output terminal electrically connected to the power supply terminal of the switch module.

[0038] Optionally, the peripheral module power supply circuit includes a control unit power supply circuit, a control unit, and a power supply final stage;

[0039] The control unit includes a power supply terminal electrically connected to the output terminal of the control unit power supply circuit and an output terminal electrically connected to the driving terminal of the power supply final stage. The control unit power supply circuit further includes a driving terminal electrically connected to the third output terminal of the main board, and the power supply final stage further includes an output terminal electrically connected to the power supply terminal of the peripheral module.

[0040] Optionally, the control unit power supply circuit includes a third input signal processing unit, a third power supply chip, and a third output signal processing unit;

[0041] The third power supply chip includes an input terminal electrically connected to the output terminal of the third input signal processing unit, an enable terminal electrically connected to the third output terminal of the main board, and an output terminal electrically connected to the third output signal processing unit; the third input signal processing unit further includes an input terminal for accessing the operating voltage; the third output signal processing unit further includes an output terminal electrically connected to the power supply terminal of the control unit.

[0042] Optionally, the power supply final stage includes a fifth switching tube and a sixth switching tube;

[0043] The fifth switching tube includes a controlled terminal electrically connected to the output terminal of the control unit, a first access terminal electrically connected to the controlled terminal of the sixth switching tube, and a second access terminal for grounding; the sixth switching tube further includes a first access terminal for accessing the operating voltage and a second access terminal electrically connected to the power supply terminal of the peripheral module.

[0044] According to a second aspect of the present application, there is provided an autonomous mobile robot, including the power supply control device in any of the above embodiments.

[0045] In the power supply control device according to the embodiment of the present application, a drive circuit is provided to supply power to the main board power supply circuit through the drive circuit, thereby realizing the power supply control of the main board. The module power supply circuit responsible for module power supply is powered by the main board. First, only after the main board is powered on can the subsequent power-on of the functional module be completed. The main board and the functional module do not start simultaneously, and the instantaneous discharge current will not be too large. Even when the battery is aging or the instantaneous discharge capacity is insufficient, it can still start, improving the reliability of startup. Second, since the power supply control of the main board and the functional module is separated, when in the sleep mode, the functional modules that do not need to maintain the power-on state can be selectively controlled to power off to reduce the battery power consumption and ultimately ensure the battery life.

[0046] Other features and advantages of the present application will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0048] In order to more fully understand the present application and its beneficial effects, the following will be described in conjunction with the drawings, where the same reference numerals represent the same parts in the following description.

[0049] Figure 1 It is a schematic structural diagram of the power supply control device provided in the exemplary embodiment disclosed in the present application;

[0050] Figure 2 It is a specific circuit schematic diagram of the manual switch and the drive output unit in the exemplary embodiment disclosed in the present application;

[0051] Figure 3 It is a specific circuit schematic diagram of the drive circuit in the exemplary embodiment disclosed in the present application;

[0052] Figure 4 It is a specific circuit schematic diagram of the core module power supply circuit in the exemplary embodiment disclosed in the present application;

[0053] Figure 5 It is a specific circuit schematic diagram of the switch module power supply circuit in the exemplary embodiment disclosed in the present application;

[0054] Figure 6 It is a specific circuit schematic diagram of the control unit power supply circuit in the exemplary embodiment disclosed in the present application;

[0055] Figure 7It is a schematic diagram of the specific circuit of the last stage of power supply in the exemplary embodiments disclosed in this application. Specific Embodiments

[0056] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of this application.

[0057] According to the first aspect of this application, as Figure 1 shown, a power supply control device is provided, including:

[0058] A main board power supply circuit, electrically connected to the main board, for supplying power to the main board;

[0059] A module power supply circuit, electrically connected to the main board and the functional module, for supplying power to the functional module based on the output of the main board;

[0060] And a drive circuit, the drive circuit is electrically connected to the main board power supply circuit, for controlling the output state of the main board power supply circuit.

[0061] In Figure 1 it, specifically, the main board power supply circuit includes a drive end electrically connected to the output end of the drive circuit and an output end electrically connected to the power supply end of the main board, and the module power supply circuit includes a drive end electrically connected to the output end of the main board and an output end electrically connected to the power supply end of the functional module.

[0062] Among them, the main board power supply circuit is used to perform related processing on the input power supply, including rectification, surge protection, voltage regulation, constant current, filtering, amplitude adjustment and other processing operations, and then provide the processed power supply to the main board for power supply; and the drive circuit is used to control the working state of the main board power supply circuit. For example, the drive circuit can send a drive signal representing starting power supply to the main board power supply circuit, and then the main board power supply circuit starts to supply power to the main board. For another example, the drive circuit can send a drive signal representing stopping power supply to the main board power supply circuit, and then the main board power supply circuit stops supplying power to the main board.

[0063] Among them, similarly, the module power supply circuit is used to process the input power supply and then provide the processed power supply to the functional module for power supply. The difference between the module power supply circuit and the main board power supply circuit lies in the different driving entities of the two. The driving entity of the module power supply circuit is the main board, while the driving entity of the main board power supply circuit is the driving circuit. In this scenario, the main board is used to control the working state of the module power supply circuit. For example, the main board can send a driving signal representing the start of power supply to the module power supply circuit, and then the module power supply circuit starts to supply power to the functional module. Another example is that the main board can send a driving signal representing the stop of power supply to the module power supply circuit, and then the module power supply circuit stops supplying power to the functional module.

[0064] Among them, since the driving entity of the module power supply circuit is the main board, the module must be in the power-off state before the main board is powered on. Only after the main board is powered on can the functional module perform the power-on operation. Specifically, the main board power supply circuit can supply power to the main board only after receiving the corresponding driving signal, so as to start the main board. After the main board is powered on and started, it needs to perform initialization and other operations, and then it can send the corresponding driving signal to the module power supply circuit. The module power supply circuit can supply power to the functional module only after receiving the corresponding driving signal. That is to say, there must be a time interval between the main board power supply circuit supplying power to the main board and the module power supply circuit supplying power to the functional module, so as to finally achieve the purpose of powering on the main board and the functional module successively.

[0065] Among them, in order to increase the above time interval, the main board can actively delay for a period of time after initialization and then send the corresponding driving signal to the module power supply circuit.

[0066] In the power supply control device of the embodiment of the present application, a driving circuit is set, so as to supply power to drive the main board power supply circuit through the driving circuit, and then realize the power supply control of the main board. The module power supply circuit responsible for module power supply is powered by the main board. First, only after the main board is powered on can the power-on of the functional module be completed subsequently. The main board and the functional module will not start at the same time, and the instantaneous discharge current will not be too large. Even when the battery is aging or the instantaneous discharge capacity is insufficient, it can still be started, improving the reliability of startup. Second, since the power supply control of the main board and the functional module is separated, when in the sleep mode, the functional module that does not need to maintain the power-on state can be selectively controlled to power off, so as to reduce the battery power consumption and finally ensure the battery life.

[0067] Optionally, as Figure 1 shown, the driving circuit includes a manual switch and a driving output unit.

[0068] Among them, in Figure 1 the driving output unit includes a controlled end electrically connected to the manual switch and an output end electrically connected to the driving end of the main board power supply circuit.

[0069] The manual switch is used to control the output state of the drive output unit.

[0070] Among them, the manual switch can be a DIP switch or the like. The manual switch is set so that the management personnel can control the power supply of the main board through the manual switch.

[0071] Among them, in Figure 1 , the connection relationship between the manual switch and the drive output unit is schematic, only indicating that there is an electrical connection between the manual switch and the drive output unit. The specific connection relationship between the manual switch and the drive output unit depends on the specific structure of the manual switch, the specific structure of the drive output unit, and the function to be realized by the above-mentioned manual switch.

[0072] Optionally, as Figure 2 shown, the manual switch includes a key switch (such as the switch part in the switch module S3 in Figure 2 ), and the drive output unit includes a first NAND gate U24 and a second NAND gate U25. The first NAND gate U24 works prior to the second NAND gate U25.

[0073] Among them, in Figure 2 , the first NAND gate U24 includes a first input terminal electrically connected to the first access terminal of the key switch (such as pin 2 of the switch module S3) and used to access the trigger voltage PWR_BTN*, a second input terminal electrically connected to the output terminal of the second NAND gate U25, and an output terminal respectively electrically connected to the drive terminal of the main board power supply circuit and the first input terminal of the second NAND gate U25 to output a corresponding drive signal POWER_EN_Q.

[0074] Among them, in Figure 2 , the key switch further includes a second access terminal for grounding (such as pin 1 of the switch module S3), and the second NAND gate U25 further includes a second input terminal for accessing the working voltage (such as a 5V working voltage).

[0075] Among them, after the system accesses the power supply, the trigger voltage PWR_BTN* is always at a high level.

[0076] Among them, when the key switch is not pressed, the line between pin 1 and pin 2 of the switch module S3 is disconnected, the trigger voltage PWR_BTN* is not pulled low, and the first input terminal of the first NAND gate U24 accesses a high level. Since the first NAND gate U24 works prior to the second NAND gate U25 (relying on Figure 2The capacitor C137 therein first charges the capacitor C137 when the operating voltage of the second input terminal of the second NAND gate U25 is connected, so that the second input terminal of the second NAND gate U25 cannot access the high level in time. At this time, the output terminal of the second NAND gate U25 forcibly outputs the high-level POWER_EN_Q_BAR signal, so that the second input terminal of the first NAND gate U24 accesses the high level, and the output terminal of the first NAND gate U24 outputs the low-level POWER_EN_Q signal, which cannot drive the main board power supply circuit, and the main board cannot be powered on. The first input terminal of the second NAND gate U25 accesses the low level, so that the output terminal of the second NAND gate U25 keeps outputting the high-level POWER_EN_Q_BAR signal.

[0077] Among them, when the key switch is pressed, the circuit between pin 1 and pin 2 of the switch module S3 is turned on, and the trigger voltage PWR_BTN* is pulled low. The first input terminal of the first NAND gate U24 accesses the low level, so that the output terminal of the first NAND gate U24 outputs the high-level POWER_EN_Q signal, which can drive the main board power supply circuit, and the main board is then powered on. The first input terminal of the second NAND gate U25 accesses the high level. Since the second input terminal of the second NAND gate U25 also accesses the high level, the output terminal of the second NAND gate U25 outputs the low-level POWER_EN_Q_BAR signal.

[0078] Among them, when the pressed key switch is released, the circuit between pin 1 and pin 2 of the switch module S3 is disconnected, and the trigger voltage PWR_BTN* is not pulled low. The first input terminal of the first NAND gate U24 accesses the high level. However, since the second input terminal of the first NAND gate U24 accesses the low-level POWER_EN_Q_BAR signal before release, the output terminal of the first NAND gate U24 keeps outputting the high-level POWER_EN_Q signal at this time, and the output terminal of the second NAND gate U25 also keeps outputting the low-level POWER_EN_Q_BAR signal. Thus, under the action of the second NAND gate U25, the self-locking of the first NAND gate U24 is realized, so that the first NAND gate U24 maintains the output state before release. That is to say, after the key switch is released, the main board power supply circuit can also be driven.

[0079] Optionally, as Figure 3 shown, the drive output unit further includes a first tri-state buffer U22, a delay unit (including a current-limiting resistor R180 and a charging capacitor C138), and a first switch unit (including a first MOS transistor Q9 and a second MOS transistor Q10). In other embodiments, the delay unit can also adopt a dedicated delay chip, etc. The first switch unit can also adopt other types of switching tubes, such as triodes, IGBT tubes, etc. The first switch unit can also adopt mechanical switches other than semiconductor tubes, such as contactors, relays, etc.

[0080] Among them, in Figure 3 The first tri-state buffer U22 includes an input terminal A electrically connected to the 2nd pin of the switch module S3 and the gate of the second MOS transistor Q10, an enable terminal OE respectively electrically connected to the second input terminal of the second NAND gate U25 and the first source-drain of the first MOS transistor Q9, and an output terminal Y electrically connected to the first input terminal of the first NAND gate U24 and used to access the operating voltage (such as a 5V operating voltage). The first MOS transistor Q9 further includes a second source-drain for grounding. The charging capacitor U138 includes a first terminal respectively electrically connected to the gate of the first MOS transistor Q9, the first end of the current-limiting resistor R180, and the first source-drain of the second MOS transistor Q10, and a second terminal for grounding. The current-limiting resistor R180 further includes a second end for accessing the operating voltage (such as a 5V operating voltage). The second MOS transistor Q10 further includes a second source-drain for grounding.

[0081] Among them, when the key switch is not pressed, the line between the 1st pin and the 2nd pin of the switch module S3 is disconnected, the trigger voltage PWR_BTN* is not pulled low, the second MOS transistor Q10 accesses a high level, the second MOS transistor Q10 conducts, the gate of the first MOS transistor Q9 accesses a low level, the first MOS transistor Q9 disconnects, the second input terminal of the second NAND gate U25 and the enable terminal OE of the first tri-state buffer U22 respectively access the high-level LATCH_RESET signal, the first tri-state buffer U22 operates normally (its output is equal to the input), and the first input terminal of the first NAND gate U24 accesses a high level. The level logic of each subsequent link can refer to the above embodiment and will not be elaborated here.

[0082] Among them, when the key switch is pressed, the line between the 1st pin and the 2nd pin of the switch module S3 is conducted, the trigger voltage PWR_BTN* is pulled low, the second MOS transistor Q10 disconnects, but at this time, the applied operating voltage first charges the charging capacitor C138 through the current-limiting resistor R180, so that the first MOS transistor Q9 still remains disconnected. The second input terminal of the second NAND gate U25 and the enable terminal OE of the first tri-state buffer U22 respectively access the high-level LATCH_RESET signal, the first tri-state buffer U22 operates normally, and the first input terminal of the first NAND gate U24 accesses a low level. The level logic of each subsequent link can refer to the above embodiment and will not be elaborated here.

[0083] Among them, when the pressed key switch is released, the circuit between pin 1 and pin 2 of the switch module S3 is disconnected, the trigger voltage PWR_BTN* is not pulled low, the second MOS transistor Q10 conducts, the first MOS transistor Q9 disconnects, the second input terminal of the second NAND gate U25 and the enable terminal OE of the first tri-state buffer U22 are respectively connected to the high-level LATCH_RESET signal, the first tri-state buffer U22 works normally, and the first input terminal of the first NAND gate U24 is connected to a high level. The level logic of the subsequent links can refer to the above embodiments and will not be elaborated here.

[0084] Among them, when the key switch is long-pressed, the circuit between pin 1 and pin 2 of the switch module S3 remains conducting, the trigger voltage PWR_BTN* is pulled low, the second MOS transistor Q10 disconnects. At this time, the applied working voltage first charges the charging capacitor C138 through the current-limiting resistor R180. When the charging is completed, the first MOS transistor Q9 conducts, the second input terminal of the second NAND gate U25 and the enable terminal OE of the first tri-state buffer U22 are respectively connected to the low-level LATCH_RESET signal, and the first tri-state buffer U22 cannot work normally (its output is in a high-impedance state). Since the first input terminal of the first NAND gate U24 is also connected to the working voltage through the pull-up resistor R174, the first input terminal of the first NAND gate U24 is connected to a high level. Since the second input terminal of the second NAND gate U25 is connected to the low-level LATCH_RESET signal, the output terminal of the second NAND gate U25 outputs the high-level POWER_EN_Q_BAR signal. At this time, both input terminals of the first NAND gate U24 are respectively connected to a high level, so that the output terminal of the first NAND gate U24 outputs the low-level POWER_EN_Q signal, which cannot drive the main board power supply circuit, and the main board shuts down. The long-press time needs to be greater than the charging time of the charging capacitor C138. For example, in this embodiment, the long-press time can be set to 3s.

[0085] Among them, when the long-pressed key switch is released, the circuit between pin 1 and pin 2 of the switch module S3 is disconnected, the trigger voltage PWR_BTN* is not pulled down, the second MOS transistor Q10 conducts, the first MOS transistor Q9 disconnects, the second input terminal of the second NAND gate U25 and the enable terminal OE of the first tri-state buffer U22 are respectively connected to the high-level LATCH_RESET signal, the first tri-state buffer U22 works normally, and the first input terminal of the first NAND gate U24 is connected to the high level. Before releasing, the output terminal of the second NAND gate U25 outputs the high-level POWER_EN_Q_BAR signal, so that the output terminal of the first NAND gate U24 keeps outputting the low-level POWER_EN_Q signal. Under the action of the second NAND gate U25, self-locking of the first NAND gate U24 is achieved, so that the first NAND gate U24 keeps the output state before releasing. That is to say, after the long-pressed key switch is released, the driving of the main board power supply circuit can also be stopped.

[0086] Optionally, as Figure 3 shown, the drive output unit further includes a second tri-state buffer U23.

[0087] Among them, in Figure 3 , the second tri-state buffer U23 includes an input terminal A electrically connected to the output terminal of the first NAND gate U24, an output terminal Y electrically connected to the drive terminal of the main board power supply circuit (for outputting the POWER_EN signal), and an enable terminal OE for accessing the working voltage (such as a 5V working voltage).

[0088] Among them, since the enable terminal OE of the second tri-state buffer U23 is connected to the working voltage, it can always work normally. At this time, the main function of the second tri-state buffer U23 is drive amplification.

[0089] To make the technical solutions in the above embodiments clearer, as Figure 3 shown, the specific logic control levels involved in different stages are as follows:

[0090] (1) After the power is connected and the key switch is not pressed:

[0091] PWR_BTN* - High;

[0092] LATCH_SET - High;

[0093] LATCH_RESET - High;

[0094] POWER_EN_Q_BAR - High;

[0095] POWER_EN_Q - Low;

[0096] POWER_EN_Q_R - Low;

[0097] POWER_EN - low;

[0098] The main board is not powered on, and the system shuts down at this time.

[0099] (2) At the moment of briefly pressing the button switch:

[0100] PWR_BTN* - low;

[0101] LATCH_SET - low;

[0102] LATCH_RESET - high;

[0103] POWER_EN_Q_BAR - high;

[0104] POWER_EN_Q - high;

[0105] POWER_EN_Q_R - high;

[0106] POWER_EN - high;

[0107] The main board is powered on, and the system triggers a startup at this time.

[0108] (3) When the system starts up and the pressed button switch is released:

[0109] PWR_BTN* - high;

[0110] LATCH_SET - high;

[0111] LATCH_RESET - high;

[0112] POWER_EN_Q_BAR - low;

[0113] POWER_EN_Q - high;

[0114] POWER_EN_Q_R - high;

[0115] POWER_EN - high;

[0116] Make the first NAND gate U24 form a self - lock, maintaining the output state at the moment of briefly pressing the button and keeping the system powered on.

[0117] (4) Long - press the button switch for 3s:

[0118] PWR_BTN* - low;

[0119] Due to the addition of a current - limiting resistor R180 and a charging capacitor C138 as an RC delay circuit (RC delay time ≈ 3s), after being controlled by the second MOS transistor Q10, the first MOS transistor Q9 conducts after 3s, and LATCH_RESET - low;

[0120] POWER_EN_Q_BAR - High;

[0121] At this time, the enable terminal OE of the first tri - state buffer U22 is pulled low and ineffective, so LATCH_SET - High;

[0122] POWER_EN_Q - Low;

[0123] POWER_EN_Q_R - Low;

[0124] POWER_EN - Low;

[0125] Therefore, the system is shut down after 3s and remains shut down after releasing the long - pressed key switch.

[0126] Optionally, as Figure 1 shown, the drive circuit further includes an indication unit.

[0127] Among them, in Figure 1 the indication unit includes a controlled terminal electrically connected to the output terminal of the drive output unit.

[0128] The indication unit is used to make corresponding indications according to the voltage of its controlled terminal.

[0129] Among them, the indication unit can make different indications according to different voltages output by the drive output unit, including visual indications, etc. Thus, it is convenient for the management personnel to know the current drive state.

[0130] Optionally, as Figure 1 shown, the indication unit includes an indicator light unit. In other embodiments, the indication unit can also be a buzzer unit.

[0131] Among them, when the output terminal of the drive output unit outputs a high level, the indicator light unit can emit light. On the contrary, when the output terminal of the drive output unit outputs a low level, the indicator light unit does not emit light. The management personnel can determine the current drive state by whether the indicator light unit emits light.

[0132] Optionally, as Figure 3 shown, the indicator light unit includes a light - emitting diode (such as the diode part in the switch module S3), a third switching tube (such as the third MOS tube Q50) and a fourth switching tube (such as the fourth MOS tube Q51). In other embodiments, the third switching tube and the fourth switching tube can also be triodes, IGBT tubes, etc.

[0133] Among them, in Figure 1Among them, the light-emitting diode includes a cathode for grounding (such as pin 3 of the switch module S3) and an anode electrically connected to the second source-drain of the third MOS transistor Q50 (such as pin 4 of the switch module S3). The third MOS transistor Q50 further includes a first source-drain for accessing the operating voltage (such as a 5V operating voltage) and a gate electrically connected to the first source-drain of the fourth MOS transistor Q51. The fourth MOS transistor Q51 further includes a second source-drain for grounding and a gate electrically connected to the output terminal of the drive output unit to access the POWER_EN signal.

[0134] Among them, when the POWER_EN signal output to the drive terminal of the main board power supply circuit is at a high level, the main board power supply circuit can be driven. At the same time, the fourth MOS transistor Q51 conducts, the voltage of the gate of the third MOS transistor Q50 is pulled low, the third MOS transistor Q50 conducts, and the diode part in the switch module S3 emits light. Conversely, when the POWER_EN signal output to the drive terminal of the main board power supply circuit is at a low level, the main board power supply circuit cannot be driven. At the same time, the fourth MOS transistor Q51 is turned off, the voltage of the gate of the third MOS transistor Q50 is not pulled low, the third MOS transistor Q50 is turned off, and the diode part in the switch module S3 does not emit light.

[0135] It should be noted that in Figure 3 the voltage stabilizing diode D36, resistors R172, R176, R480, R481, R478, R479, R420, R175, R178, R179, R177, R171, capacitors C135, C136, and diode D38 are all basic components for realizing the basic functions of the circuit, and their principles and related details will not be elaborated here.

[0136] Optionally, as Figure 1 shown, the module power supply circuit includes at least one of a core module power supply circuit, a switch module power supply circuit, and a peripheral module power supply circuit.

[0137] Among them, in Figure 1 the core module power supply circuit includes a drive terminal electrically connected to the first output terminal of the main board and an output terminal electrically connected to the power supply terminal of the core module. The switch module power supply circuit includes a drive terminal electrically connected to the second output terminal of the main board and an output terminal electrically connected to the power supply terminal of the switch module. The peripheral module power supply circuit includes a drive terminal electrically connected to the third output terminal of the main board and an output terminal electrically connected to the power supply terminal of the peripheral module.

[0138] Among them, the core module includes a wireless communication module and / or a hard disk module, and the peripheral module includes at least one of a camera module, a display module, a motor module, a sensor module, a speaker module, and a light strip module.

[0139] Among them, the sensor module further includes an inertial navigation module.

[0140] Among them, when there are multiple types of functional modules, the main board can be provided with multiple output terminals, which are respectively electrically connected to the driving ends of the corresponding module power supply circuits. In order to further reduce the number of power-consuming loads started at the same time, the main board can send corresponding driving signals to the power supply circuits of various functional modules in a certain time sequence. For example, after the main board is powered on, it can send a corresponding driving signal to the driving end of the core module power supply circuit after a first time interval, and can send a corresponding driving signal to the driving end of the switch module power supply circuit after a second time interval, and can send a corresponding driving signal to the driving end of the peripheral module power supply circuit after a third time interval, where the first time interval < the second time interval < the third time interval.

[0141] Among them, the motor module in the peripheral module generates electricity when pushing, which is likely to cause current backflow and abnormal power-on of some modules, increasing potential safety hazards. Therefore, by controlling the power-on sequence of various modules, potential safety hazards can also be reduced.

[0142] Optionally, as Figure 4 shown, the core module power supply circuit includes a first input signal processing unit (including an input filter capacitor C173), a first power supply chip U31, and a first output signal processing unit (including a bootstrap capacitor C174, an output filter inductor L21, an output filter capacitor C175, an output filter capacitor C201, a feedback resistor R254, and a feedback resistor R255).

[0143] Among them, in Figure 4 , the first power supply chip U31 includes an input terminal VIN electrically connected to the first end of the input filter capacitor C173 and used for accessing a working voltage (such as a 5V working voltage), an enable terminal EN electrically connected to the first output terminal of the main board (used for accessing the PG_GOOD signal through a resistor R269), an output terminal SW respectively electrically connected to the first end of the output filter inductor L21 and the second end of the bootstrap capacitor C174, a bootstrap terminal CB electrically connected to the first end of the bootstrap capacitor C174, a feedback terminal FB respectively electrically connected to the second end of the feedback resistor R254 and the first end of the feedback resistor R255, and a ground terminal GND for grounding. The output filter inductor L21 further includes a second end respectively electrically connected to the first end of the feedback resistor R254, the first end of the output filter capacitor C175, and the first end of the output filter capacitor C201. The input filter capacitor C173 further includes a second end for grounding. The output filter capacitor C175 further includes a second end for grounding. The output filter capacitor C201 further includes a second end for grounding. The feedback resistor R255 further includes a second end for grounding.

[0144] Among them, after being driven, the core module power supply circuit outputs a power supply voltage of 3.3V to the power supply terminal of the core module according to the accessed operating voltage of 5V.

[0145] Optionally, as Figure 5 shown, the switch module power supply circuit includes a second input signal processing unit (including an input filter capacitor C213), a second power supply chip U38, and a first output signal processing unit (including a bootstrap capacitor C212, an output filter inductor L23, output filter capacitors C214, C215, feedback resistors R281 and R283).

[0146] Among them, in Figure 5 , the second power supply chip U38 includes an input terminal VIN electrically connected to the first end of the input filter capacitor C213 and used to access the operating voltage (such as an operating voltage of 5V), an enable terminal EN electrically connected to the second output terminal of the main board (used to access the RESET_L signal through resistors R282, R342, and R343), an output terminal SW electrically connected to the first end of the output filter inductor L23 and the second end of the bootstrap capacitor C212 respectively, a bootstrap terminal CB electrically connected to the first end of the bootstrap capacitor C212, a feedback terminal FB electrically connected to the second end of the feedback resistor R281 and the first end of the feedback resistor R283 respectively, and a ground terminal GND for grounding. The output filter inductor L23 further includes a second end electrically connected to the first end of the feedback resistor R281, the first end of the output filter capacitor C214, and the first end of the output filter capacitor C215 respectively. The input filter capacitor C213 further includes a second end for grounding. The output filter capacitor C214 further includes a second end for grounding. The output filter capacitor C215 further includes a second end for grounding. The feedback resistor R283 further includes a second end for grounding.

[0147] Among them, after being driven, the switch module power supply circuit outputs a power supply voltage of 3.3V to the power supply terminal of the switch module according to the accessed operating voltage of 5V.

[0148] Optionally, the peripheral module power supply circuit includes a control unit power supply circuit, a control unit, and a power supply final stage.

[0149] Among them, as Figure 6 shown, the control unit power supply circuit includes a third input signal processing unit (including an input filter capacitor C23), a third power supply chip U5, and a third output signal processing unit (including a bootstrap capacitor C22, an output filter inductor L3, output filter capacitors C24, C25, C26, feedback resistors R25, R30).

[0150] Among them, in Figure 6Among them, the third power supply chip U5 includes an input terminal VIN electrically connected to the first terminal of the input filter capacitor C23 and used to access the working voltage (such as a 24V working voltage), an enable terminal EN electrically connected to the third output terminal of the main board (used to access the MOD_SLEEP signal through resistors R24, R26, and R28), an output terminal SW electrically connected to the first terminal of the output filter inductor L3 and the second terminal of the bootstrap capacitor C22 respectively, a bootstrap terminal BOOT electrically connected to the first terminal of the bootstrap capacitor C22, a feedback terminal FB electrically connected to the second terminal of the feedback resistor R25 and the first terminal of the feedback resistor R30 respectively, and a ground terminal GND for grounding. The output filter inductor L3 further includes a second terminal electrically connected to the first terminal of the feedback resistor R25, the first terminal of the output filter capacitor C24, the first terminal of the output filter capacitor C25, and the first terminal of the output filter capacitor C26 respectively. The input filter capacitor C23 further includes a second terminal for grounding. The output filter capacitor C24 further includes a second terminal for grounding. The output filter capacitor C25 further includes a second terminal for grounding. The output filter capacitor C26 further includes a second terminal for grounding. The feedback resistor R30 further includes a second terminal for grounding.

[0151] Among them, after the control unit power supply circuit is driven, it outputs a 5V power supply voltage to the power supply terminal of the control unit according to the accessed 24V working voltage, and the control unit starts, so that it can send a driving signal to the final stage of power supply, and then realizes the power supply to the peripheral modules. The control unit can be a single-chip microcomputer (MCU).

[0152] Among them, it should be noted that Figure 6 the capacitor C27, capacitor C28, capacitor C29, resistor R27, resistor R29, and voltage regulator diode D3 in are all basic components for realizing the basic functions of the circuit, and their principles and related details will not be elaborated here.

[0153] Among them, as Figure 7 shown, the final stage of power supply includes a fifth switching tube (such as triode Q11) and a sixth switching tube (such as fifth MOS tube Q13). In other embodiments, the fifth switching tube can also adopt other types of switching tubes, such as MOS tubes, IGBT tubes, etc., and the sixth switching tube can also adopt other types of switching tubes, such as triodes, IGBT tubes, etc.

[0154] Among them, in Figure 7Among them, the triode Q11 includes a base electrically connected to the output terminal of the control unit (for accessing the MCU GPIO signal output by the control unit), a collector electrically connected to the gate of the fifth MOS transistor Q13, and an emitter for grounding. The fifth MOS transistor Q13 further includes a first source-drain for accessing a working voltage (such as a 24V working voltage) and a second source-drain electrically connected to the power supply terminal of the peripheral module to provide a corresponding power supply voltage (such as a 24V power supply voltage) to the peripheral module.

[0155] Among them, when the control unit is started, it outputs a high-level MCU GPIO signal, the triode Q11 is turned on, the voltage of the gate of the fifth MOS transistor Q13 is pulled down, the fifth MOS transistor Q13 is turned on, and a 24V power supply voltage can be output to the peripheral module. On the contrary, when the control unit is not started, it outputs a low-level MCU GPIO signal, the triode Q11 is turned off, the voltage of the gate of the fifth MOS transistor Q13 is not pulled down, the fifth MOS transistor Q13 is turned off, and a 24V power supply voltage cannot be output to the peripheral module.

[0156] Among them, when the system needs to enter the sleep mode, the main board sends a low-level MOD_SLEEP signal to the control unit power supply circuit, so that the control unit power supply circuit is not driven, it cannot provide a corresponding power supply voltage to the control unit, the control unit cannot be started, and finally the power supply final stage cannot provide a corresponding power supply voltage to the peripheral module, saving the power consumption of the peripheral module.

[0157] According to the second aspect of the present application, an autonomous mobile robot is provided, including the power supply control device in any of the above embodiments.

[0158] In the autonomous mobile robot according to the embodiment of the present application, a drive circuit is provided, so as to supply power to the main board power supply circuit through the drive circuit, and further realize the power supply control of the main board. The module power supply circuit responsible for module power supply is powered by the main board. First, only after the main board is powered on can the power-on of the functional module be completed subsequently. The main board and the functional module will not be started at the same time, and the instantaneous discharge current will not be too large. Even when the battery is aging or the instantaneous discharge capacity is insufficient, it can still be started, improving the reliability of startup. Second, since the power supply control of the main board and the functional module is separated, when in the sleep mode, the functional modules that do not need to maintain the power-on state can be selectively controlled to power off to reduce the battery power consumption and finally ensure the battery life.

[0159] In the description of this application, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of this application, "a plurality of" means two or more, unless otherwise specifically defined.

[0160] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0161] The embodiments, implementation manners and related technical features of this application can be combined and replaced with each other without conflict.

[0162] The above are only the preferred embodiments of this application and do not impose any formal restrictions on this application. In the embodiments of this application, the descriptions of the respective embodiments have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the relevant content of other embodiments. However, any brief modifications, equivalent changes and decorations made to the above embodiments based on the technical essence of this application without departing from the content of the technical solution of this application still fall within the scope of the technical solution of this application.

Claims

1. A power supply control device, characterized in that, Including: The main board power supply circuit, electrically connected to the main board, for supplying power to the main board; The module power supply circuit, electrically connected to the main board and the functional module, for supplying power to the functional module based on the output of the main board; And The drive circuit, electrically connected to the main board power supply circuit, for controlling the output state of the main board power supply circuit.

2. The power supply control device according to claim 1, characterized in that The drive circuit includes a manual switch and a drive output unit; The drive output unit includes a controlled end electrically connected to the manual switch and an output end electrically connected to the drive end of the main board power supply circuit; The manual switch is used to control the output state of the drive output unit.

3. The power supply control device according to claim 2, wherein, The manual switch includes a key switch, and the drive output unit includes a first NAND gate and a second NAND gate; The first NAND gate includes a first input terminal electrically connected to the first access terminal of the key switch and for accessing a trigger voltage, a second input terminal electrically connected to the output terminal of the second NAND gate, and an output terminal electrically connected to the drive end of the main board power supply circuit and the first input terminal of the second NAND gate respectively; The key switch further includes a second access terminal for grounding, and the second NAND gate further includes a second input terminal for accessing a working voltage.

4. The power supply control device according to claim 3, wherein The drive output unit further includes a first tri-state buffer, a delay unit and a first switch unit; The first tri-state buffer includes an input terminal electrically connected to the first access terminal of the key switch and the controlled end of the first switch unit, an enable terminal electrically connected to the second input terminal of the second NAND gate and the first access terminal of the first switch unit respectively, and an output terminal electrically connected to the first input terminal of the first NAND gate and for accessing a working voltage; The first switch unit further includes a second access terminal for grounding, and the delay unit is electrically connected to the first switch unit; The first switch unit is used to control the second input terminal of the second NAND gate to be connected to the ground after the voltage at its controlled end is continuously pulled low for a preset duration according to the control of the delay unit.

5. The power supply control device according to claim 4, characterized in that The delay unit includes a current-limiting resistor and a charging capacitor, and the first switch unit includes a first switching tube and a second switching tube; The first switching tube includes a first access terminal electrically connected to the second input terminal of the second NAND gate and the enable terminal of the first tri-state buffer respectively, a second access terminal for grounding, and a controlled end electrically connected to the first end of the charging capacitor, the first access terminal of the second switching tube and the first end of the current-limiting resistor respectively; The charging capacitor further includes a second end for grounding, and the current-limiting resistor further includes a second end for accessing a working voltage; The second switching tube further includes a second access terminal for grounding and a controlled end electrically connected to the first access terminal of the key switch and the input terminal of the first tri-state buffer respectively.

6. The power supply control device according to claim 4, wherein The drive output unit further includes a second tri-state buffer; The second tri-state buffer includes an input terminal electrically connected to the output terminal of the first NAND gate, an output terminal electrically connected to the drive end of the main board power supply circuit, and an enable terminal for accessing a working voltage.

7. The power supply control device according to claim 2, wherein The drive circuit further includes an indication unit; The indicating unit is electrically connected to the output end of the driving output unit, and is configured to perform corresponding indication according to the voltage output by the driving output unit.

8. The power supply control device according to claim 7, wherein The indicating unit includes a light-emitting diode, a third switching tube, and a fourth switching tube; The light-emitting diode includes a cathode for grounding and an anode electrically connected to the second access end of the third switching tube. The third switching tube further includes a first access end for accessing the operating voltage and a controlled end electrically connected to the first access end of the fourth switching tube; The fourth switching tube further includes a second access end for grounding and a controlled end electrically connected to the output end of the driving output unit.

9. The power supply control device according to claim 1, characterized in that The module power supply circuit includes at least one of a core module power supply circuit, a switch module power supply circuit, and a peripheral module power supply circuit; The core module power supply circuit includes a driving end electrically connected to the first output end of the main board and an output end electrically connected to the power supply end of the core module; The switch module power supply circuit includes a driving end electrically connected to the second output end of the main board and an output end electrically connected to the power supply end of the switch module; The peripheral module power supply circuit includes a driving end electrically connected to the third output end of the main board and an output end electrically connected to the power supply end of the peripheral module; Wherein, the core module includes a wireless communication module and / or a hard disk module, and the peripheral module includes at least one of a camera module, a display module, a motor module, a sensor module, a speaker module, and a light strip module.

10. The power supply control device according to claim 9, wherein The core module power supply circuit includes a first input signal processing unit, a first power supply chip, and a first output signal processing unit; the switch module power supply circuit includes a second input signal processing unit, a second power supply chip, and a second output signal processing unit; The first power supply chip includes an input end electrically connected to the output end of the first input signal processing unit, an enable end electrically connected to the first output end of the main board, and an output end electrically connected to the first output signal processing unit; the first input signal processing unit further includes an input end for accessing the operating voltage, and the first output signal processing unit further includes an output end electrically connected to the power supply end of the core module; The second power supply chip includes an input end electrically connected to the output end of the second input signal processing unit, an enable end electrically connected to the second output end of the main board, and an output end electrically connected to the second output signal processing unit; the second input signal processing unit further includes an input end for accessing the operating voltage, and the second output signal processing unit further includes an output end electrically connected to the power supply end of the switch module.

11. The power supply control device according to claim 9, characterized in that, The peripheral module power supply circuit includes a control unit power supply circuit, a control unit, and a power supply final stage; The control unit includes a power supply end electrically connected to the output end of the control unit power supply circuit and an output end electrically connected to the driving end of the power supply final stage. The control unit power supply circuit further includes a driving end electrically connected to the third output end of the main board, and the power supply final stage further includes an output end electrically connected to the power supply end of the peripheral module.

12. The power supply control device according to claim 11, characterized in that, The control unit power supply circuit includes a third input signal processing unit, a third power supply chip, and a third output signal processing unit; The third power supply chip includes an input end electrically connected to the output end of the third input signal processing unit, an enable end electrically connected to the third output end of the main board, and an output end electrically connected to the third output signal processing unit; the third input signal processing unit further includes an input end for accessing the working voltage; the third output signal processing unit further includes an output end electrically connected to the power supply end of the control unit.

13. The power supply control device according to claim 11, characterized in that, The final stage of the power supply includes a fifth switching tube and a sixth switching tube; The fifth switching tube includes a controlled end electrically connected to the output end of the control unit, a first access end electrically connected to the controlled end of the sixth switching tube, and a second access end for grounding; the sixth switching tube further includes a first access end for accessing the working voltage and a second access end electrically connected to the power supply end of the peripheral module.

14. An autonomous mobile robot, characterized in that, It includes the power supply control device according to any one of claims 1 to 13.

Images