Brake circuit and autonomous operation equipment

Abstract

The utility model discloses a brake circuit and autonomous operation equipment. The brake circuit comprises a relay and an inversion module; the relay comprises at least one normally-closed contact, the first end of the normally-closed contact is connected with a first power supply and the power supply end of the inversion module, the second end of the normally-closed contact of the relay is connected with the control ends of at least two phases of target bridge arms of the inversion module, and the output end of the inversion module is used for being connected with equipment to be braked; the first end of the normally-closed contact is used for receiving reverse electromotive force generated by equipment to be braked through the power supply end of the inversion module under the condition that the first power supply loses power; and the second end of the normally closed contact is used for outputting reverse electromotive force to the control end of each target bridge arm of the inversion module under the condition that the first power supply loses power, and short-circuiting each target bridge arm so as to control the to-be-braked equipment to brake. According to the technical scheme provided by the embodiment of the utility model, the speed reduction time of the equipment to be braked is shortened.

Description

TECHNICAL FIELD

[0001] The utility model relates to brake control technical field especially relates to a brake circuit and autonomous operation equipment. BACKGROUND

[0002] When the power supply of autonomous operation equipment is lost, the autonomous operation equipment will lose the control of the standby brake equipment due to power failure, so that the speed of the standby brake equipment cannot be adjusted. Then due to inertia, the standby brake equipment will slowly stop running, and if the standby brake equipment is connected with a blade device, the standby brake equipment cannot stop in time, which has certain danger. The speed of the power mechanism of the existing technology of the standby brake equipment is high, the speed reduction time is long, and the speed reduction effect is poor. SUMMARY

[0003] The utility model provides a kind of brake circuit and autonomous operation equipment, to solve the problem of long speed reduction time of standby brake equipment.

[0004] According to an aspect of the utility model, a kind of brake circuit is provided, comprising: relay and inverter module;

[0005] The relay includes at least one normally closed contact, the first end of the normally closed contact is connected with first power supply and the power supply end of the inverter module, the second end of the normally closed contact of the relay is connected with the control end of the at least two-phase target bridge arm of the inverter module, and the output end of the inverter module is used to connect standby brake equipment;

[0006] The first end of the normally closed contact is used to receive the counter electromotive force generated by the standby brake equipment through the power supply end of the inverter module in the case where the first power supply is lost;

[0007] The second end of the normally closed contact is used to output the counter electromotive force to the control end of each target bridge arm of the inverter module in the case where the first power supply is lost, and each target bridge arm is short-circuited, to control the brake of the standby brake equipment.

[0008] Optionally, the relay includes: first normally closed contact and second normally closed contact;The inverter module includes: first inverter unit and second inverter unit;

[0009] The first end of the first normally closed contact is connected with first power supply and the power supply end of the first inverter unit, and the second end of the first normally closed contact is connected with the control end of the at least two-phase target bridge arm of the first inverter unit, and the output end of the first inverter unit is used to connect first standby brake equipment;

[0010] The first end of the first normally closed contact is configured to receive a back electromotive force generated by the first to-be-braked device through the power supply end of the first inverter unit in the case that the first power supply loses power;

[0011] The second end of the first normally closed contact is configured to transmit the back electromotive force to the control end of each of the target bridge arms of the first inverter unit in the case that the first power supply loses power, and each of the target bridge arms is configured to turn on and short circuit according to the back electromotive force to control the first to-be-braked device to brake.

[0012] The first end of the second normally closed contact is connected with the first power supply and the power supply end of the second inverter unit, and the second end of the second normally closed contact is connected with the control end of at least two-phase target bridge arms of the second inverter unit, and the output end of the second inverter unit is configured to be connected with a second to-be-braked device.

[0013] The first end of the second normally closed contact is configured to receive a back electromotive force generated by the second to-be-braked device through the power supply end of the second inverter unit in the case that the first power supply loses power;

[0014] The second end of the second normally closed contact is configured to transmit the back electromotive force to the control end of each of the target bridge arms of the second inverter unit in the case that the first power supply loses power, and each of the target bridge arms is configured to turn on and short circuit according to the back electromotive force to control the second to-be-braked device to brake.

[0015] Optionally, the first end of the target bridge arm is configured to be connected with the to-be-braked device, and the second end of the target bridge arm is connected with a ground end, and the target bridge arm is configured to turn on and short circuit according to the back electromotive force to control the to-be-braked device to brake.

[0016] Optionally, the target bridge arm includes a first-phase target bridge arm, a second-phase target bridge arm, and a third-phase target bridge arm.

[0017] The first end of the first-phase target bridge arm, the second-phase target bridge arm, and the third-phase target bridge arm is connected with the to-be-braked device, and the second end of the first-phase target bridge arm, the second-phase target bridge arm, and the third-phase target bridge arm is connected with a first node, and the first node is connected with a ground end.

[0018] The control end of the first-phase target bridge arm, the second-phase target bridge arm, and the third-phase target bridge arm is connected with the second end of the normally closed contact of the relay, and is configured to turn on and short circuit the first-phase target bridge arm, the second-phase target bridge arm, and the third-phase target bridge arm to control the to-be-braked device to brake in the case that the back electromotive force output by the second end of the normally closed contact is received.

[0019] Optionally, the brake circuit further comprises a detection module and a control module, the detection module and the control module are connected;

[0020] The relay comprises at least one normally open contact, the first end of the normally open contact shares the first end of the normally closed contact, the second end of the normally open contact of the relay is connected with the detection module;

[0021] The first end of the normally open contact is used to receive the power supply voltage of the first power supply in the case of power-on of the first power supply;

[0022] The second end of the normally open contact is used to transmit the power supply voltage of the first power supply to the detection module in the case of power-on of the first power supply;

[0023] The detection module is used to generate electrical signal data according to the power supply voltage of the first power supply, and the control module is used to detect the closing state of the normally open contact according to the electrical signal data.

[0024] Optionally, the relay comprises a first normally open contact and a second normally open contact; the detection module comprises a first detection unit and a second detection unit; the first detection unit and the second detection unit are connected with the control module;

[0025] The first end of the first normally open contact and the first end of the second normally open contact both share the first end of the normally closed contact; the second end of the first normally open contact is connected with the first detection unit, and the second end of the second normally open contact is connected with the second detection unit;

[0026] The first end of the first normally open contact and the first end of the second normally open contact are both used to receive the power supply voltage of the first power supply in the case of power-on of the first power supply;

[0027] The second end of the first normally open contact is used to output the power supply voltage of the first power supply to the first detection unit in the case of power-on of the first power supply; the first detection unit is used to generate a first electrical signal according to the power supply voltage of the first power supply, and the control module is used to detect the closing state of the first normally open contact according to the first electrical signal;

[0028] The second end of the second normally open contact is used to output the power supply voltage of the first power supply to the second detection unit in the case of power-on of the first power supply; the first detection unit is used to generate a second electrical signal according to the power supply voltage of the first power supply, and the control module is used to detect the closing state of the second normally open contact according to the second electrical signal.

[0029] Optionally, the first detection unit comprises a first resistor and a second resistor;

[0030] a first end of the first resistor is connected to a second end of the first normally open contact, a second end of the first resistor is connected to a first end of the second resistor, a second end of the second resistor is grounded, and the second end of the first resistor is also connected to the control module; the first resistor and the second resistor are used to divide a power supply voltage of the first power supply and generate a first electrical signal;

[0031] The second detection unit includes a third resistor and a fourth resistor.

[0032] a first end of the third resistor is connected to a second end of the second normally open contact, a second end of the third resistor is connected to a first end of the fourth resistor, a second end of the fourth resistor is grounded, and the second end of the third resistor is also connected to the control module; the third resistor and the fourth resistor are used to divide a power supply voltage of the first power supply and generate a second electrical signal.

[0033] Optionally, the brake circuit further includes a power-on control module; and the relay further includes a relay coil.

[0034] a first end of the power-on control module is connected to a second power supply, a power supply voltage of the second power supply is less than a power supply voltage of the first power supply; a second end of the power-on control module is connected to a first end of the relay coil, a third end of the power-on control module is connected to a second end of the relay coil, and a fourth end of the power-on control module is grounded; and a control end of the power-on control module is connected to the control module.

[0035] the power-on control module is configured to receive a first level signal of the control module in the case that the first power supply is powered on, the power-on control module is configured to control the relay coil to be powered on according to the first level signal, and the relay coil is configured to control a normally closed contact of the relay to be opened and a normally open contact of the relay to be closed.

[0036] the power-on control module is configured to receive a second level signal of the control module in the case that the first power supply is powered off, the power-on control module is configured to control the relay coil to be powered off according to the second level signal, and the relay coil is configured to control the normally closed contact of the relay to be closed and the normally open contact of the relay to be opened.

[0037] Optionally, the power-on control module includes a first triode, a first end of the first triode is connected to the second end of the relay coil, a second end of the first triode is grounded, a control end of the first triode is connected to the control module, and the first triode is configured to be turned on according to the first level signal and turned off according to the second level signal.

[0038] According to another aspect of the present application, a kind of autonomous working equipment is provided, comprising: the brake circuit described in any embodiment of the present application.

[0039] The technical scheme provided by the embodiment of the present application, by setting relay, when the power supply of the to-be-braked equipment loses power, the internal normally closed contact is quickly closed, so that the reverse electromotive force generated by the to-be-braked equipment can be quickly input into the target bridge arm of the inverter module through the normally closed contact of the relay, so that each target bridge arm is short-circuited, and then the rapid braking of the to-be-braked equipment is controlled. Because the relay has a fast response time, the normally closed contact can be closed in the instant when the power supply loses power. Therefore, the present application has a faster response speed, so that the to-be-braked equipment can brake more quickly, thereby shortening the speed reduction time of the to-be-braked equipment and having higher safety.

[0040] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained according to these drawings without creative labor for those skilled in the art.

[0042] Figure 1 is a structural schematic view of a brake circuit according to an embodiment of the present application;

[0043] Figure 2 is a structural schematic view of another brake circuit according to an embodiment of the present application;

[0044] Figure 3 is a structural schematic view of an inverter module according to an embodiment of the present application;

[0045] Figure 4 is a structural schematic view of another brake circuit according to an embodiment of the present application;

[0046] Figure 5 is a structural schematic view of another brake circuit according to an embodiment of the present application;

[0047] Figure 6 is a structural schematic view of another brake circuit according to an embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to make the person skilled in the art better understand the technical scheme of the present application, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the scope of protection of the present application.

[0049] It should be noted that the terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0050] The embodiment of the present application provides a brake circuit. Figure 1 The structure diagram of the brake circuit provided by the embodiment of the present application is shown in Figure 1 The brake circuit comprises a relay 1 and an inverter module 2. The relay 1 comprises at least one normally closed contact 11, the first end of the normally closed contact 11 is connected with a first power supply and a power supply end of the inverter module 2, the second end of the normally closed contact of the relay 1 is connected with the control end of at least two target bridge arms of the inverter module 2, and the output end of the inverter module 2 is used for connecting a to-be-braked device 3. The first end of the normally closed contact 11 is used for receiving the reverse electromotive force generated by the to-be-braked device 3 through the power supply end of the inverter module 2 in the case that the first power supply loses power. The second end of the normally closed contact 11 is used for outputting the reverse electromotive force to the control end of each target bridge arm of the inverter module 2 in the case that the first power supply loses power, and short-circuiting each target bridge arm, so as to control the to-be-braked device 3 to brake.

[0051] The inverter module 2 has a plurality of bridge arms, when the first power supply supplies power to the inverter module 2, the inverter module 2 can supply power to the to-be-braked equipment 3 according to the opening or closing of each bridge arm, so that the to-be-braked equipment 3 operates. Exemplarily, the inverter module 2 has a plurality of upper bridge arms and lower bridge arms, the to-be-braked equipment 3 is arranged in the autonomous working equipment, and the to-be-braked equipment 3 can include a motor, and the rotating speed of the motor can be controlled by the circulation of the opening or closing between each upper bridge arm and lower bridge arm. For example, the autonomous working equipment 3 can be a mower, the motor is connected with a blade, and the mower performs mowing operation by rotating.

[0052] When the first power supply loses power, each bridge arm of the inverter module 2 is closed, and the control of the to-be-braked equipment 3 is lost. Due to inertia, the to-be-braked equipment 3 will continue to rotate for a certain time. In order to improve the safety of the operation of the to-be-braked equipment 3, the to-be-braked equipment 3 needs to be controlled to brake, so that emergency braking is performed.

[0053] Specifically, the first end of the normally closed contact 11 of the relay 1 is connected with the first power supply, when the first power supply loses power, the normally closed contact of the relay 1 is in a closed state. The first end of the normally closed contact 11 of the relay 1 is also connected with the inverter module 2. Due to the inertia of the to-be-braked equipment 3, the to-be-braked equipment 3 still rotates after the first power supply loses power. The to-be-braked equipment 3 generates a reverse electromotive force, which can be input to the first end of the normally closed contact 11 of the relay 1 through the power supply end of the inverter module 2, and input to the control end of each target bridge arm of the inverter module 2 through the second end of the normally closed contact 11. Each target bridge arm is turned on due to receiving the reverse electromotive force. Exemplarily, each target bridge arm can be a lower bridge arm of the inverter module 2, when each lower bridge arm is turned on, each lower bridge arm is short-circuited with each other, which is equivalent to short-circuiting all stator windings of the to-be-braked equipment 3, and the to-be-braked equipment 3 in the power generation state is equivalent to a short-circuited power supply. Because the resistance of the winding is relatively small, a large short-circuit current can be generated, the kinetic energy of the to-be-braked equipment 3 is rapidly released, so that the to-be-braked equipment 3 generates a large braking torque instantaneously, and the effect of rapid braking is achieved.

[0054] The technical scheme provided by the embodiment of the utility model, through setting relay, can when the power supply of to-be-braked equipment loses power, fast close the inside normally closed contact, make to-be-braked equipment generated reverse electromotive force can fast input the target bridge arm of inverter module through the normally closed contact of relay, make each target bridge arm short-circuit, and then control the rapid braking of to-be-braked equipment. Because the relay has fast response time, the normally closed contact can be closed in the moment when the power supply loses power. Therefore, the utility model has faster response speed, so that the to-be-braked equipment can brake more quickly, and the speed reduction time of the to-be-braked equipment is shortened, and the safety is higher.

[0055] Figure 2Another brake circuit structure schematic diagram provided by the embodiment of the utility model, reference Figure 2 On the basis of the above embodiments, optionally, the relay 1 comprises: a first normally closed contact 111 and a second normally closed contact 112; the inverter module 2 comprises: a first inverter unit 21 and a second inverter unit 22. The first end of the first normally closed contact 111 is connected with the first power supply and the power supply end of the first inverter unit 21, and the second end of the first normally closed contact 111 is connected with the control end of the at least two-phase target bridge arm of the first inverter unit 21, and the output end of the first inverter unit 21 is used to connect the first brake equipment 31. The first end of the first normally closed contact 111 is used to receive the reverse electromotive force generated by the first brake equipment 31 through the power supply end of the first inverter unit 21 in the case of power failure of the first power supply. The second end of the first normally closed contact 11 is used to transmit the reverse electromotive force to the control end of each target bridge arm of the first inverter unit 21 in the case of power failure of the first power supply, and each target bridge arm is used to conduct and short according to the reverse electromotive force to control the first brake equipment 31. The first end of the second normally closed contact 112 is connected with the first power supply and the power supply end of the second inverter unit 22, and the second end of the second normally closed contact 112 is connected with the control end of the at least two-phase target bridge arm of the second inverter unit 22, and the output end of the second inverter unit 22 is used to connect the second brake equipment 32. The first end of the second normally closed contact 112 is used to receive the reverse electromotive force generated by the second brake equipment 32 through the power supply end of the second inverter unit 22 in the case of power failure of the first power supply. The second end of the second normally closed contact 112 is used to transmit the reverse electromotive force to the control end of each target bridge arm of the second inverter unit 22 in the case of power failure of the first power supply, and each target bridge arm is used to conduct and short according to the reverse electromotive force to control the second brake equipment 32.

[0056] Among them, the relay 1 can simultaneously control the brake of two brake equipment by setting the first normally closed contact 111 and the second normally closed contact 112. Exemplarily, the first brake equipment 31 and the second brake equipment 32 can be arranged in the same autonomous working equipment, and when the first power supply fails, the first brake equipment 31 and the second brake equipment 32 need to be braked at the same time.

[0057] Specifically, the first end of the first normally closed contact 111 and the second normally closed contact 112 is connected with the first power supply. When the first power supply fails, the reverse electromotive force generated by the first inverter unit 21 is input to the first end of the first normally closed contact 111 through the first inverter unit 21, and the relay 1 inputs the reverse electromotive force to the control end of the at least two-phase target bridge arm of the first inverter unit 21 through the second end of the first normally closed contact 111, and the target bridge arm is turned on and shorted due to receiving the reverse electromotive force, so that the first brake equipment 31 is quickly braked.

[0058] Meanwhile, the reverse electromotive force generated by the second inverter unit 22 is input to the first end of the second normally closed contact 112, and the relay 1 inputs the reverse electromotive force to the control end of the at least two target bridge arms of the second inverter unit 22 through the second end of the second normally closed contact 112, the target bridge arms are turned on and short-circuited with each other due to receiving the reverse electromotive force, and the second to-be-braked device 32 is quickly braked.

[0059] The relay provided in the embodiment of the utility model realizes the simultaneous control of the first to-be-braked device and the second to-be-braked device by arranging the first normally closed contact and the second normally closed contact, can control the first to-be-braked device and the second to-be-braked device to brake simultaneously when the first power is powered off, and has a relatively efficient control effect.

[0060] Figure 3 The structure diagram of the inverter module provided in the embodiment of the utility model is combined with Figure 1 and Figure 3 On the basis of the above embodiments, optionally, the first end of the target bridge arm 23 is used for connecting the to-be-braked device 3, the second end of the target bridge arm 23 is grounded, and the target bridge arm 23 is used for turning on and short-circuiting according to the reverse electromotive force, so as to control the to-be-braked device 3 to brake.

[0061] The inverter module 2 includes an upper bridge arm 24 and a lower bridge arm, and the lower bridge arm is the target bridge arm 23. The control end of the target bridge arm 23 is connected with the second end of the normally closed contact of the relay 1. The upper bridge arm 24 and the lower bridge arm can each include a transistor, and the transistor is used for controlling the turn-on or turn-off of each bridge arm. The control end of the transistor is the control end of the bridge arm.

[0062] Exemplarily, the control end of the transistor can be connected with the second end of the normally closed contact 11 of the relay 1 through the fifth resistor R5, and the sixth resistor R6 and the first capacitor C1 can be connected in parallel between the second end and the control end of the transistor. The fifth resistor R5 can be used for current limiting, and the first capacitor C1 can be used for stabilizing the voltage on the sixth resistor R6.

[0063] When the first power is powered off, the upper bridge arm 24 and the target bridge arm 23 are in the turn-off state due to being powered off. The normally closed contact of the relay 1 is closed, the reverse electromotive force generated by the motor is input to the upper bridge arm 24 from the first end of the target bridge arm 23, the body diode in the transistor of the upper bridge arm 24 has unidirectional conductivity, can input the reverse electromotive force to the first end of the normally closed contact 11 of the relay 1, and input the reverse electromotive force to the control end of each target bridge arm 23 through the second end of the normally closed contact 11, so that each target bridge arm 23 is turned on, and the second end of each target bridge arm 23 is connected to a point, so when each target bridge arm 23 is turned on, each target bridge arm 23 is short-circuited with each other, so that the to-be-braked device 3 can be quickly braked.

[0064] continue to combineFigure 1 and Figure 3 On the basis of the above-mentioned embodiments, optionally, the target bridge arm 23 comprises: a first-phase target bridge arm 231, a second-phase target bridge arm 232 and a third-phase target bridge arm 233. The first ends of the first-phase target bridge arm 231, the second-phase target bridge arm 232 and the third-phase target bridge arm 233 are connected with the to-be-braked equipment 3, the second ends of the first-phase target bridge arm 231, the second-phase target bridge arm 232 and the third-phase target bridge arm 233 are connected with the first node, and the first node is connected with the ground end. The control ends of the first-phase target bridge arm 231, the second-phase target bridge arm 232 and the third-phase target bridge arm 233 are connected with the second end of the normally closed contact 11 of the relay 1, for conducting and short-circuiting the first-phase target bridge arm 231, the second-phase target bridge arm 232 and the third-phase target bridge arm 233 to control the braking of the to-be-braked equipment 3 in the case of receiving the reverse electromotive force output by the second end of the normally closed contact 11.

[0065] The first-phase target bridge arm 231 is connected with the first-phase upper bridge arm 241, the second-phase target bridge arm 232 is connected with the second-phase upper bridge arm 242, and the third-phase target bridge arm 233 is connected with the third-phase upper bridge arm 243, and the first-phase upper bridge arm 241, the second-phase upper bridge arm 242 and the third-phase upper bridge arm 243 can all be connected with the first power supply.

[0066] When the first power supply loses power, the to-be-braked equipment 3 loses power, and due to inertia, the to-be-braked equipment 3 still maintains a rotating state and generates a reverse electromotive force. The reverse electromotive force can be input to the first end of the normally closed contact 11 of the relay 1 by the first end of the first-phase target bridge arm 231 through the first-phase upper bridge arm 241, can be input to the first end of the normally closed contact 11 of the relay 1 by the first end of the second-phase target bridge arm 232 through the second-phase upper bridge arm 242, and can be input to the first end of the normally closed contact 11 of the relay 1 by the first end of the third-phase target bridge arm 233 through the third-phase upper bridge arm 243.

[0067] Subsequently, the reverse electromotive force is input to the control end U1 of the first-phase target bridge arm 231, the control end V1 of the second-phase target bridge arm 232 and the control end W1 of the third-phase target bridge arm 233 through the second end of the normally closed contact 11, so that the first-phase target bridge arm 231, the second-phase target bridge arm 232 and the third-phase target bridge arm 233 are conducted, and the first-phase target bridge arm 231, the second-phase target bridge arm 232 and the third-phase target bridge arm 233 are short-circuited with each other, so that the to-be-braked equipment 3 can be quickly braked.

[0068] Figure 4 For another kind of brake circuit structure schematic view provided by the embodiments of the utility model, reference Figure 4 On the basis of the above-mentioned embodiments, optionally, the brake circuit further comprises: a detection module 4 and a control module 5, and the detection module 4 and the control module 5 are connected.

[0069] The relay 1 comprises at least one normally open contact 12, the first end of the normally open contact 12 sharing the first end of the normally closed contact 11, and the second end of the normally open contact 12 of the relay 1 being connected with the detection module 4. The first end of the normally open contact 12 is used to receive the power supply voltage of the first power supply in the case of the first power supply being powered on. The second end of the normally open contact 12 is used to transmit the power supply voltage of the first power supply to the detection module 4 in the case of the first power supply being powered on. The detection module 4 is used to generate electrical signal data according to the power supply voltage of the first power supply, and the control module 5 is used to detect the closed state of the normally open contact 12 according to the electrical signal data.

[0070] The normally open contact 12 is used to conduct in the case of the first power supply being powered on, at which time the normally closed contact 11 is in an open state. Therefore, the normally open contact 12 can output the power supply voltage at the first end to the detection module 4 from the second end, the detection module 4 can generate electrical signal data according to the power supply voltage of the first power supply and output to the control module 5, and the control module 5 can generate the power supply voltage of the first power supply according to the electrical signal data. When the control module 5 receives the electrical signal data output by the detection module 4, it indicates that the relay 1 has normally acted and the normally closed contact 11 is opened and the normally open contact 12 is closed. Exemplarily, the control module 5 can also judge the power supply state of the first power supply and detect whether the power supply voltage of the first power supply is stable through detection of the electrical signal data.

[0071] The control ends of the respective upper bridge arms and lower bridge arms in the inverter module 2 can also be connected with the control module, which can control the on-off of the respective upper bridge arms and lower bridge arms to realize speed control of the to-be-braked device 3 in the case of the first power supply being powered on. If the control module 5 cannot receive the electrical signal data output by the detection module 4, it indicates that the relay 1 is in an abnormal state, and mechanical failure may occur inside the relay 1 to cause the normally open contact 12 of the relay 1 to be unable to be closed, at which time the inverter module 2 can control the to-be-braked device 3 to stop running.

[0072] The utility model discloses a detection module and control module are set up, realized the state detection of relay, and when the relay is in the abnormal state, can stop the work of to-be-braked device through control module, improved the working stability of brake circuit.

[0073] Figure 5 Another brake circuit structure schematic view provided for the utility model embodiment, reference Figure 5On the basis of the above embodiments, optionally, the relay 1 comprises: a first normally open contact 121 and a second normally open contact 122; the detection module 4 comprises: a first detection unit 41 and a second detection unit 42; the first detection unit 41 and the second detection unit 42 are connected with the control module 5. The first end of the first normally open contact 121 and the first end of the second normally open contact 122 share the first end of the normally closed contact 11; the second end of the first normally open contact 121 is connected with the first detection unit 41, and the second end of the second normally open contact 122 is connected with the second detection unit 42. The first end of the first normally open contact 121 and the first end of the second normally open contact 122 are used to receive the power supply voltage of the first power supply in the case of power-on of the first power supply.

[0074] The second end of the first normally open contact 121 is used to output the power supply voltage of the first power supply to the first detection unit 41 in the case of power-on of the first power supply; the first detection unit 41 is used to generate a first electric signal according to the power supply voltage of the first power supply, and the control module 5 is used to detect the closing state of the first normally open contact 121 according to the first electric signal. The second end of the second normally open contact 122 is used to output the power supply voltage of the first power supply to the second detection unit 42 in the case of power-on of the first power supply; the first detection unit 41 is used to generate a second electric signal according to the power supply voltage of the first power supply, and the control module 5 is used to detect the closing state of the second normally open contact 122 according to the second electric signal.

[0075] Among them, the relay 1 is provided with the first normally open contact 121 and the second normally open contact 122, which can be turned on in the case of power-on of the first power supply, and transmit the power supply voltage of the first power supply to the first detection unit 41 and the second detection unit 42 respectively.

[0076] The first detection unit 41 can generate a first electric signal according to the power supply voltage of the first power supply, and when the control module 5 receives the first electric signal, it indicates that the first normally open contact 121 of the relay 1 is normally closed.

[0077] The second detection unit 42 can generate a second electric signal according to the power supply voltage of the first power supply, and when the control module 5 receives the second electric signal, it indicates that the second normally open contact 122 of the relay 1 is normally closed.

[0078] Exemplarily, when the structures of the first detection unit 41 and the second detection unit 42 are the same, the first electric signal and the second electric signal can be the same electric signal.

[0079] Figure 6 Another structure diagram of the brake circuit provided by the embodiment of the utility model, refer to Figure 6On the basis of each of the above embodiments, optionally, the first detection unit 41 comprises a first resistor R1 and a second resistor R2. A first end of the first resistor R1 is connected to the second end of the first normally open contact 121, a second end of the first resistor R1 is connected to a first end of the second resistor R2, a second end of the second resistor R2 is grounded, and the second end of the first resistor R1 is further connected to the control module; the first resistor R1 and the second resistor R2 are used to divide the power supply voltage of the first power supply and generate the first electric signal. The second detection unit 42 comprises a third resistor R3 and a fourth resistor R4. A first end of the third resistor R3 is connected to the second end of the second normally open contact 122, a second end of the third resistor R3 is connected to a first end of the fourth resistor R4, a second end of the fourth resistor R4 is grounded, and the second end of the third resistor R3 is further connected to the control module; the third resistor R3 and the fourth resistor R4 are used to divide the power supply voltage of the first power supply and generate the second electric signal.

[0080] When the first power supply is powered on, the first resistor R1 and the second resistor R2 can be used to divide the power supply voltage output by the second end of the first normally open contact 121 and generate the first electric signal. The third resistor R3 and the fourth resistor R4 can be used to divide the power supply voltage output by the second end of the second normally open contact 122 and generate the second electric signal.

[0081] For example, the first detection unit 41 can further comprise a first voltage stabilizing tube T1 and a second capacitor C2; the second detection unit 42 can further comprise a second voltage stabilizing tube T1 and a third capacitor C3. The second capacitor C2 and the third capacitor C3 filter the first electric signal and the second electric signal respectively. The first voltage stabilizing tube T1 and the second voltage stabilizing tube T1 can be a transient voltage suppressor (TVS), when a transient high voltage occurs in the circuit, the TVS rapidly reverses the breakdown, enters a low resistance state, and guides the transient current to the ground, so that the voltage across the protected circuit is clamped at a lower value, thereby avoiding damage to the control module caused by the transient high voltage.

[0082] Continuing to refer to Figure 6On the basis of each of the above embodiments, optionally, the brake circuit further comprises: a power-on control module 6; the relay 1 further comprises: a relay coil 13. The first end of the power-on control module 6 is connected to the second power supply, the power supply voltage of the second power supply is less than the power supply voltage of the first power supply; the second end of the power-on control module 6 is connected to the first end of the relay coil 13, the third end of the power-on control module 6 is connected to the second end of the relay coil 13, and the fourth end of the power-on control module 6 is grounded; the control end of the power-on control module 6 is connected to the control module. The power-on control module 6 is used to receive the first level signal of the control module in the case of power-on of the first power supply, the power-on control module 6 is used to control the power-on of the relay coil 13 according to the first level signal, and the relay coil 13 is used to control the disconnection of the normally closed contact 11 of the relay 1 and control the closure of the normally open contact 12 of the relay 1. The power-on control module 6 is used to receive the second level signal of the control module in the case of power-off of the first power supply, the power-on control module 6 is used to control the power-off of the relay coil 13 according to the second level signal, and the relay coil 13 is used to control the closure of the normally closed contact 11 of the relay 1 and control the disconnection of the normally open contact 12 of the relay 1.

[0083] Exemplarily, the first power supply can be used to provide a power supply voltage of 20V, and the second power supply can be used to provide a power supply voltage of 5V. The first power supply can be directly connected to the control module, when the first power supply is powered on, the control module can detect a power supply voltage of 20V, and output a first level signal to the power-on control module 6, the first level signal can be a high level signal. The power-on control module 6 can control the power-on of the relay coil 13 according to the first level signal, when the relay coil 13 is powered on, the magnetic field force generated will control the disconnection of the normally closed contact 11 of the relay 1, and the closure of the normally open contact 12 of the relay 1, so that the power supply voltage of the first power supply can be output to the detection module through the normally open contact 12.

[0084] When the first power supply is powered off, the control module receives the reverse electromotive force output by the to-be-braked device, at this time, the control module cannot detect a power supply voltage of 20V, the control module judges that the first power supply is powered off, the control module outputs a second level signal to the power-on control module 6, and the second level signal can be a low level signal. The power-on control module 6 can control the power-off of the relay coil 13 according to the second level signal, when the relay coil 13 is powered off, the normally closed contact 11 of the relay 1 returns to the closed state, and the normally open contact 12 of the relay 1 returns to the disconnected state, so that the reverse electromotive force output by the to-be-braked device can be output to the inverter module through the normally closed contact 11.

[0085] For example, the first normally closed contact 111 of relay 1 can be connected to the ground terminal via a series connection of a ninth resistor R9 and a third diode D3. Between the ninth resistor R9 and the third diode D3, the output terminals U1 of the fourth diode D4, V1 of the fifth diode D5, and W1 of the sixth diode D6 are connected in parallel to the control terminals U1, V1, and W1 of the first phase target bridge arm of the first inverter unit, respectively. The second normally closed contact 112 of relay 1 can be connected to the ground terminal via a series connection of a tenth resistor R10 and a tenth diode D10. Between the tenth resistor R10 and the tenth diode D10, the output terminals U2 of the seventh diode D7, V2 of the eighth diode D8, and W2 of the ninth diode D9 are connected in parallel to the control terminals of the first phase target bridge arm, the second phase target bridge arm, and the third phase target bridge arm of the second inverter unit, respectively. Among them, the ninth resistor R9 and the tenth resistor R10 are used to limit the output current of the normally closed contact 11, and the third diode D3 and the tenth diode D10 are used to limit the power supply voltage. The fourth diode D4, the fifth diode D5, the sixth diode D6, the seventh diode D7, the eighth diode D8, and the ninth diode D9 have unidirectional conductivity and can be used to prevent the current in each target bridge arm from being reversed into the relay 1.

[0086] Continue to refer to Figure 6 Based on the above embodiments, optionally, the power-on control module 6 includes: a first transistor Q1, the first end of the first transistor Q1 is connected to the second end of the relay coil 13, the second end of the first transistor Q1 is grounded, the control end of the first transistor Q1 is connected to the control module, and the first transistor Q1 is used to turn on according to the first level signal and turn off according to the second level signal.

[0087] When the first power supply is powered on, the control module can output a first level signal to the control terminal of the first transistor Q1. When the first transistor Q1 receives the first level signal, it turns on. At this time, the second power supply can form a circuit between the relay coil 13, the first transistor Q1 and the ground terminal. The relay coil 13 is powered on, causing the normally closed contact 11 of the relay 1 to open and the normally open contact 12 of the relay 1 to close.

[0088] When the first power supply fails, the control module can output a second level signal to the control terminal of the first transistor Q1. The first transistor Q1 can be turned off according to the second level signal. At this time, the relay coil 13 is de-energized, causing the normally closed contact 11 of the relay 1 to close and the normally open contact 12 of the relay 1 to open.

[0089] Exemplarily, the control end of the first triode Q1 can also be connected with a seventh resistor R7 for limiting the current input to the control end of the first triode Q1. An eighth resistor R8 can be connected between the first end and the control end of the first triode Q1, which can be used to generate different voltages according to the first level signal or the second level signal to control the opening or closing of the first triode Q1. The second power supply is connected with the relay coil 13 through a second diode D2 for preventing reverse voltage from being input into the second power supply, and the second diode D2 and the relay coil 13 are also connected in parallel with a fourth capacitor C4 and a fifth capacitor C5 for filtering the power supply voltage of the second power supply. A first diode D1 is connected between the second end of the first triode Q1 and the fourth capacitor C4 for reverse breakdown when the power supply voltage of the second power supply is too high, so as to prevent the relay coil 13 from being damaged by the high voltage.

[0090] The embodiment of the utility model provides a kind of autonomous working equipment.The autonomous working equipment includes: brake circuit provided in any embodiment of the utility model, with similar beneficial effects with brake circuit, not repeated here.Exemplarily, autonomous working equipment can include lawn mower, and brake equipment can include motor in lawn mower.

[0091] It should be understood that the various forms of procedures shown above can be reordered, added to, or steps deleted. For example, the steps described in the utility model can be executed in parallel, sequentially or in different order, as long as the desired results of the technical solutions of the utility model can be achieved, which are not limited herein.

[0092] The above specific embodiments do not constitute a limitation on the scope of protection of the utility model. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement within the spirit and principles of the utility model should be included in the scope of protection of the utility model.

Claims

1. A brake circuit, characterized in that Comprising: a relay and an inverter module; the relay comprises at least one normally closed contact, a first end of the normally closed contact is connected with a first power supply and a power supply end of the inverter module, a second end of the normally closed contact of the relay is connected with control ends of at least two phase target bridge arms of the inverter module, and an output end of the inverter module is used for connecting a to-be-braked device; the first end of the normally closed contact is used for receiving a reverse electromotive force generated by the to-be-braked device through the power supply end of the inverter module in the case that the first power supply loses power; the second end of the normally closed contact is used for outputting the reverse electromotive force to the control end of each target bridge arm of the inverter module and short-circuiting each target bridge arm in the case that the first power supply loses power, so as to control the to-be-braked device to brake.

2. The brake circuit of claim 1, wherein, the relay comprises a first normally closed contact and a second normally closed contact, and the inverter module comprises a first inverter unit and a second inverter unit; a first end of the first normally closed contact is connected with a first power supply and a power supply end of the first inverter unit, a second end of the first normally closed contact is connected with control ends of at least two phase target bridge arms of the first inverter unit, and an output end of the first inverter unit is used for connecting a first to-be-braked device; the first end of the first normally closed contact is used for receiving a reverse electromotive force generated by the first to-be-braked device through the power supply end of the first inverter unit in the case that the first power supply loses power; the second end of the first normally closed contact is used for transmitting the reverse electromotive force to the control end of each target bridge arm of the first inverter unit, each target bridge arm is used for conducting and short-circuiting according to the reverse electromotive force, so as to control the first to-be-braked device to brake in the case that the first power supply loses power; a first end of the second normally closed contact is connected with a first power supply and a power supply end of the second inverter unit, a second end of the second normally closed contact is connected with control ends of at least two phase target bridge arms of the second inverter unit, and an output end of the second inverter unit is used for connecting a second to-be-braked device; the first end of the second normally closed contact is used for receiving a reverse electromotive force generated by the second to-be-braked device through the power supply end of the second inverter unit in the case that the first power supply loses power; the second end of the second normally closed contact is used for transmitting the reverse electromotive force to the control end of each target bridge arm of the second inverter module, each target bridge arm is used for conducting and short-circuiting according to the reverse electromotive force, so as to control the second to-be-braked device to brake in the case that the first power supply loses power.

3. The brake circuit of claim 1, wherein, a first end of the target bridge arm is used for connecting the to-be-braked device, a second end of the target bridge arm is grounded, and the target bridge arm is used for conducting and short-circuiting according to the reverse electromotive force, so as to control the to-be-braked device to brake.

4. The brake circuit of claim 3, wherein, the target bridge arm comprises a first phase target bridge arm, a second phase target bridge arm and a third phase target bridge arm; The first end of the first phase target bridge arm, the second phase target bridge arm and the third phase target bridge arm are connected with the equipment to be braked, and the second end of the first phase target bridge arm, the second phase target bridge arm and the third phase target bridge arm are connected with a first node, and the first node is connected with a ground terminal; The control end of the first phase target bridge arm, the second phase target bridge arm and the third phase target bridge arm is connected with the second end of the normally closed contact of the relay, for conducting in the case of receiving the reverse electromotive force output by the second end of the normally closed contact, and short-circuiting the first phase target bridge arm, the second phase target bridge arm and the third phase target bridge arm, to control the braking of the equipment to be braked.

5. The brake circuit of claim 1, wherein, Further comprising: a detection module and a control module, wherein the detection module and the control module are connected; The relay comprises at least one normally open contact, the first end of the normally open contact shares the first end of the normally closed contact, and the second end of the normally open contact of the relay is connected with the detection module; The first end of the normally open contact is used to receive the power supply voltage of the first power supply in the case of power-on of the first power supply; The second end of the normally open contact is used to transmit the power supply voltage of the first power supply to the detection module in the case of power-on of the first power supply; The detection module is used to generate electrical signal data according to the power supply voltage of the first power supply, and the control module is used to detect the closing state of the normally open contact according to the electrical signal data.

6. The brake circuit of claim 5, wherein, The relay comprises a first normally open contact and a second normally open contact; the detection module comprises a first detection unit and a second detection unit; the first detection unit and the second detection unit are connected with the control module; The first end of the first normally open contact and the first end of the second normally open contact share the first end of the normally closed contact; the second end of the first normally open contact is connected with the first detection unit, and the second end of the second normally open contact is connected with the second detection unit; The first end of the first normally open contact and the first end of the second normally open contact are used to receive the power supply voltage of the first power supply in the case of power-on of the first power supply; The second end of the first normally open contact is used to output the power supply voltage of the first power supply to the first detection unit in the case of power-on of the first power supply; the first detection unit is used to generate a first electrical signal according to the power supply voltage of the first power supply, and the control module is used to detect the closing state of the first normally open contact according to the first electrical signal; The second end of the second normally open contact is used to output the power supply voltage of the first power supply to the second detection unit in the case of power-on of the first power supply; the first detection unit is used to generate a second electrical signal according to the power supply voltage of the first power supply, and the control module is used to detect the closing state of the second normally open contact according to the second electrical signal.

7. The brake circuit of claim 6, wherein, The first detection unit comprises a first resistor and a second resistor; A first end of the first resistor is connected to a second end of the first normally open contact, a second end of the first resistor is connected to a first end of the second resistor, a second end of the second resistor is grounded, and the second end of the first resistor is also connected to the control module; the first resistor and the second resistor are used to divide the power supply voltage of the first power supply and generate a first electrical signal; The second detection unit comprises a third resistor and a fourth resistor. A first end of the third resistor is connected to a second end of the second normally open contact, a second end of the third resistor is connected to a first end of the fourth resistor, a second end of the fourth resistor is grounded, and the second end of the third resistor is also connected to the control module; the third resistor and the fourth resistor are used to divide the power supply voltage of the first power supply and generate a second electrical signal.

8. The brake circuit of claim 5, wherein, Further comprising: a power-on control module; The relay further comprises a relay coil; A first end of the power-on control module is connected to a second power supply, the power supply voltage of the second power supply is less than the power supply voltage of the first power supply; a second end of the power-on control module is connected to a first end of the relay coil, a third end of the power-on control module is connected to a second end of the relay coil, and a fourth end of the power-on control module is grounded; a control end of the power-on control module is connected to the control module; The power-on control module is used to receive a first level signal of the control module in the case of power-on of the first power supply, the power-on control module is used to control power-on of the relay coil according to the first level signal, and the relay coil is used to control opening of a normally closed contact of the relay and closing of a normally open contact of the relay; The power-on control module is used to receive a second level signal of the control module in the case of power-off of the first power supply, the power-on control module is used to control power-off of the relay coil according to the second level signal, and the relay coil is used to control closing of the normally closed contact of the relay and opening of the normally open contact of the relay.

9. The brake circuit of claim 8, wherein, The power-on control module comprises a first triode, a first end of the first triode is connected to a second end of the relay coil, a second end of the first triode is grounded, a control end of the first triode is connected to the control module, and the first triode is used to be turned on according to the first level signal and turned off according to the second level signal.

10. An autonomous work apparatus characterized by comprising: Comprising: The brake circuit of any one of claims 1-9.

Images